CN111573125A - Modular intelligent logistics system planning and designing method based on omnidirectional wheel - Google Patents

Modular intelligent logistics system planning and designing method based on omnidirectional wheel Download PDF

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CN111573125A
CN111573125A CN202010391985.0A CN202010391985A CN111573125A CN 111573125 A CN111573125 A CN 111573125A CN 202010391985 A CN202010391985 A CN 202010391985A CN 111573125 A CN111573125 A CN 111573125A
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intelligent logistics
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modules
wheel
planning
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肖海宁
李珲
徐成
武星
王龙军
石陈陈
周临震
陈博炜
张震宇
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Yancheng Institute of Technology
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G13/00—Roller-ways
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/34—Sorting according to other particular properties
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/34—Sorting according to other particular properties
    • B07C5/3412—Sorting according to other particular properties according to a code applied to the object which indicates a property of the object, e.g. quality class, contents or incorrect indication
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/36—Sorting apparatus characterised by the means used for distribution
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/52—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices
    • B65G47/64—Switching conveyors
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
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    • B65G2203/04—Detection means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/04—Detection means
    • B65G2203/041—Camera

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Abstract

The invention discloses a modular intelligent logistics system planning and designing method based on omnidirectional wheels. Aiming at the functional requirements of the logistics system for realizing material conveying, sorting and converging, the invention quickly determines the number of modules required by the logistics system according to the environmental characteristics of an industrial field, arranges and codes the modules, determines the adjacency relation among the modules, realizes the planning design of the logistics system and provides basic data for the control of the logistics system and the planning of a material distribution path.

Description

Modular intelligent logistics system planning and designing method based on omnidirectional wheel
Technical Field
The invention relates to the field of automatic material conveying and sorting, and discloses a modular intelligent logistics system planning and designing method based on omnidirectional wheels.
Background
The market competition of the current products is intense, and the logistics as the third profit source of enterprises becomes the new focus of the market competition. The production logistics, which is an important component of enterprise logistics, directly affects the production cost and delivery date of products, has become a key factor for improving the competitiveness of enterprises, and is receiving increasing attention. However, existing material handling and sorting systems are based on belt or chain conveyor technology. Its development faces the following problems: (1) the flexibility is insufficient, the conveying direction of each material conveying line is single, and different conveying directions cannot be set according to the material types; (2) the functions of sorting, converging, forming and the like can be realized only by matching with a mechanical arm and the like; (3) the robustness is poor, and the failure of a single conveying node can cause the breakdown of the whole logistics conveying system; the contradiction between the problems and the development trend of high efficiency and flexibility of modern logistics becomes acute, so that the inventor invents a modular intelligent logistics system (logistics system for short) based on omnidirectional wheels. This logistics system not only can realize functions such as the transport of material, letter sorting, confluence, formation, better self-reconfiguration nature moreover, when single module broke down, logistics system can guarantee unobstructed of material delivery through the replanning of delivery route, improves the flexibility and the robustness of carrying the route to realize logistics system's intellectuality.
However, the logistics system is composed of a plurality of intelligent logistics modules based on omnidirectional wheels, how to determine the number of modules required by the system according to the characteristics of industrial site environment, and finally form the logistics system by arranging and coding the modules, so that the functional requirements of material conveying, sorting, confluence and the like are met, and the logistics system is a difficult problem which must be solved firstly in the process of applying the logistics system.
Disclosure of Invention
The invention aims to quickly determine the number of modules required by a logistics system according to the environmental characteristics of an industrial field aiming at the functional requirements of material conveying, sorting and converging of the logistics system, arrange and code the modules, determine the adjacency relation among the modules, realize the planning and design of the logistics system and provide basic data for the control of the logistics system and the planning of a material distribution path.
In order to achieve the technical purpose, the invention adopts the technical scheme that:
the modularized intelligent logistics system planning and designing method based on the omnidirectional wheel is characterized in that the modularized intelligent logistics system of the omnidirectional wheel is a conveying plane formed by combining a plurality of intelligent logistics modules, the conveying, sorting and confluence of materials are realized through the relay of the intelligent logistics modules, and each intelligent logistics module comprises:
fixed frame, fixed frame is last to be opened there are a plurality of holes, is equipped with an all-round speed reduction drive wheel in every hole, and the partial wheel body of all-round speed reduction drive wheel stretches out fixed frame's upper surface sets up, and the frictional force through a plurality of all-round speed reduction drive wheel upper wheel body acts on the material jointly, realizes following purpose to the material through the cooperative control to a plurality of drive wheel rotation rates and direction:
firstly, driving the material to rotate to adjust the posture;
secondly, independently and directionally conveying the materials to a plurality of directions according to the requirement;
thirdly, relay transmission of a plurality of modules is realized through planning of a material distribution path;
the Internet of things data acquisition device is arranged on the intelligent logistics module and is used for judging whether materials and material types exist above the intelligent logistics module;
when no material exists above the modules, each module enters a low power consumption mode;
when materials exist above the modules, the materials are conveyed to the required directions according to the types of the materials;
the method is characterized by comprising the following steps:
s1, puffing treatment of the boundary and the non-layout area:
the non-layout area is the area that can't arrange intelligent logistics module for obstacle, equipment, artifical passageway etc. in order to avoid intelligent logistics module to cross non-layout area or environment boundary, at first to non-layout area and boundary carry out popped processing, popped size P is half of intelligent logistics module length of side L, popped step as follows: extracting boundary lines of the environment and the non-layout area, taking a linear boundary line as an example, assuming that the boundary line equation is Ax + By which is equal to C, and the boundary line equation after expansion is C
Figure BDA0002485961250000021
S2, X-and Y-direction scan:
the distance is the side length L of the intelligent logistics module, the expanded environment is scanned to generate a grid, a heuristic method is provided, and proper offset optimization is carried out on the grid line scanning starting point;
s3, finishing the arrangement of the intelligent logistics modules;
s4, modeling the adjacency relation among the modules:
encoding the intelligent logistics modules according to a certain sequence, determining the adjacent relation among the intelligent logistics modules according to the encoding, wherein the adjacent relation among the intelligent logistics modules passes through a first-order adjacent matrix
Figure BDA0002485961250000022
And the orientation matrix D ═ Dij]K×KThe method comprises the following steps of describing, and providing basic data for material distribution path planning of a logistics system, wherein i and j represent numbers of intelligent logistics modules;
k is the number of intelligent logistics modules in the system;
Figure BDA0002485961250000031
represents the shortest distance from module i to module j;
dijindicating the azimuth of slave i to module j.
Figure BDA0002485961250000032
The values of (A) are as follows:
Figure BDA0002485961250000033
wherein L is the side length of the module.
dijThe values of (A) are as follows:
Figure BDA0002485961250000034
the fixing frame includes:
a base plate;
the panel, through the bracing piece with the bottom plate supports and is connected, and it has a plurality of holes to open on the panel, and some of a plurality of all-round speed reduction drive wheels are all passed through the hole passes the panel to contact with the material.
The data acquisition device of the internet of things is one or more of an RFID card reader, a proximity switch, a two-dimensional code/bar code card reader and a camera.
On single intelligent logistics module the quantity of all-round speed reduction drive wheel be 4, 4 all-round speed reduction drive wheel winds the central symmetry setting of panel.
The all-round speed reduction drive wheel includes:
the motor, the mounting plate and the omnibearing speed reduction driving wheel;
the motor is connected with the input end of the omnibearing speed reduction driving wheel and drives the omnibearing speed reduction driving wheel to rotate;
the mounting panel adopts but not limited to L type mounting panel, L type mounting panel one end with bottom plate fixed connection, the other end and the first casing fixed connection of all-round speed reduction drive wheel.
Has the advantages that:
(1) the invention can effectively prevent the intelligent logistics module from crossing the boundary or the non-layout area through the bulking treatment of the boundary and the non-layout area.
(2) When the grid is generated by scanning in the X direction and the Y direction, the invention provides a heuristic method for carrying out proper offset optimization on the scanning starting point of the grid line, thereby improving the coverage rate of the intelligent logistics module of the system and being beneficial to expanding the range and the path flexibility of material distribution of the system.
(3) The invention provides an expression mode of module adjacency relation, which can provide basic data for the control of a logistics system and the planning of a material distribution path.
Drawings
FIG. 1 is a schematic diagram of an omnidirectional wheel-based modular intelligent logistics system;
wherein, 1, a schematic diagram of materials to be conveyed; 2. an intelligent logistics module based on an omnidirectional wheel;
FIG. 2 shows three arrangements of the omni-directional wheel on the panel according to the present invention;
wherein a is arranged in the center; b is an eccentric arrangement; c is a diagonal arrangement;
FIG. 3 is a schematic diagram of an exemplary structure of an intelligent logistics module based on an omnidirectional wheel;
2-1, manufacturing an Internet of things data acquisition device; 2-2, driving wheels with all-directional speed reduction; 2-3, a panel; 2-4, a bottom plate; 2-5, supporting rods;
FIG. 4 is a schematic view of an omni-directional deceleration driving wheel;
2-2-1, driving a motor; 2-2-2, an omnidirectional wheel; 2-2-3, mounting a plate; 2-2-4, a transmission device;
FIG. 5 is a control flow of the intelligent logistics module of the present invention;
FIG. 6 is a schematic diagram of 8 conveying directions and a material rotation structure according to an embodiment of the present invention;
FIG. 7 is a schematic view showing the start, stop and rotation directions of four omni-directional deceleration driving wheels corresponding to each material conveying direction according to the present invention;
FIG. 8 is a schematic view of the direction and speed of rotation and the material transfer speed and direction of four driving wheels according to the present invention;
FIG. 9 is a schematic view showing the rotation direction and speed of four driving wheels and the rotation speed and direction of the material;
FIG. 10 is a flow chart of the control of the intelligent logistics system of the present invention;
FIG. 11 is a schematic diagram of the module adjacency modeling and material transport path of the present invention;
FIG. 12 is a schematic view of an industrial field environment of the present invention;
FIG. 13 is a diagram of the planning and design steps of the present invention;
FIG. 14 is a schematic view of the environment after puffing of the non-deployment area;
FIG. 15 is a schematic view of an environment after X-direction and Y-direction scanning;
FIG. 16 is a schematic view of the environment after completion of the intelligent logistics module arrangement;
FIG. 17 is a schematic diagram of intelligent logistics module adjacency modeling;
FIG. 18 illustrates a step of planning a material transport path according to the present invention;
fig. 19 is a schematic diagram of two material dispensing paths conflicting with each other.
Detailed Description
The technical scheme of the invention is further explained in detail by combining the drawings and the specific embodiments in the specification.
As shown in fig. 1, the system is composed of a plurality of intelligent logistics modules based on omnidirectional wheels, which are hereinafter referred to as intelligent logistics modules, and a typical structural schematic diagram is shown in fig. 2, each module is provided with a plurality of power assemblies, so that the system not only can drive materials to rotate to adjust postures, but also can independently and directionally convey the materials to a plurality of directions as required, and the functions of conveying, sorting, converging and the like of the materials are realized through the relay of the modules.
Fig. 2 is a schematic diagram showing a typical structure of an intelligent logistics module, wherein the intelligent logistics module is provided with four omnidirectional wheel driving assemblies 2-2, and the four omnidirectional wheel driving assemblies have various optional layout schemes, as shown in fig. 2a, 2b and 2 c.
As shown in fig. 3, four omnibearing speed reducing driving wheels 2-2 are fixed on a bottom plate 2-4, the bottom plate 2-4 is fixed with a panel 2-3 through a supporting rod 2-5, the panel 2-3 is provided with four holes, a part of the four omnibearing speed reducing driving wheels 2-2 penetrates through the holes of the panel to be contacted with materials, the four omnibearing speed reducing driving wheels jointly act on the materials through friction force, the materials can be directionally conveyed to a plurality of selectable directions through the cooperative control of the rotating speed and the direction of the four driving wheels, and the conveying direction of the materials is jointly controlled by the four driving wheels.
As shown in fig. 3, the smart logistics module can arrange a plurality of manufactured internet of things data acquisition devices 2-1, and the specific form of the data acquisition device 2-1 can include, but is not limited to, one or more of an RFID reader, a proximity switch, a two-dimensional code/bar code reader, and a camera.
If the machine vision technology is adopted to distinguish the types of the materials according to the shapes of the materials, the data acquisition device of the Internet of things is a camera.
If the radio frequency technology is adopted to distinguish the material types, the data acquisition device of the internet of things is an RFID card reader, and corresponding radio frequency cards are arranged on the materials according to the material types.
If the two-dimension code identification technology is adopted to distinguish the material types, the data acquisition device of the Internet of things is a two-dimension code/bar code card reader, and corresponding two-dimension codes/bar codes are arranged on the materials according to the material types.
If the material type does not need to be distinguished, only the material above the identification module is needed to be identified, and the data acquisition device of the Internet of things is a proximity switch.
If the material types need to be identified by combining the technologies or whether materials exist above the module is judged, the data acquisition device of the internet of things is a combination of the sensors.
The installation position of the sensor can be installed in the idle area of the module unit on the premise of not interfering material conveying and module operation according to the parameters of the selected sensor, such as the overall dimension, the effective identification range and the like.
The omnibearing speed reduction driving wheel in the invention is the prior art, and particularly, the patent CN106364259B can be referred.
Two functions can be realized according to the data collected by the data collecting device 2-1:
(1) whether materials exist above the intelligent logistics module or not is automatically judged,
(2) the material type can be identified independently.
By utilizing the function (1), the four driving wheel assemblies only start to operate or operate at high speed when the intelligent logistics module detects materials, and the conveying and sorting module can enter a low-power-consumption state (the four driving wheel assemblies do not operate or operate at low speed) when the materials are not detected, so that the energy consumption is reduced; by utilizing the function (2), the intelligent logistics module can convey materials to different directions according to different types of the materials, so that the functions of sorting the materials, converging and the like are realized.
The structure schematic diagram of the omnibearing speed reduction driving wheel is shown in figure 4, the power of the component is provided by a motor 2-2-1, the omnibearing speed reduction driving wheel 2-2-2 is driven to rotate through a transmission device, and the transmission device is fixedly connected with a mounting plate 2-2-3.
The disclosed technical scheme further comprises a set of intelligent logistics module control method based on omnidirectional wheels, the control flow is shown in fig. 5, and the specific steps are as follows:
and Step1, when no material exists on the intelligent logistics module, the intelligent logistics module operates in a low-power-consumption mode, material data above the intelligent logistics module are collected through the internet of things data collection device at any time, and when the material data are collected, the Step2 is carried out.
And Step2, judging the material types according to the collected material data, judging the material conveying direction through the material conveying direction tables of the query module, and turning to Step3.
And Step3, the material is conveyed in the designated direction by using the material conveying control method, and the material is turned to Step1 after leaving the intelligent material flow module.
The disclosed technical scheme further comprises a set of intelligent logistics module material conveying direction control method, taking a centrally arranged module as shown in fig. 2a as an example, in order to enable an intelligent logistics module based on an omnidirectional wheel to have the capability of conveying materials in multiple directions, four driving wheel assemblies 2-2 must be cooperatively controlled, and the conveying direction of the materials is determined by the type of a motor 2-2-1 adopted by the omnidirectional deceleration driving wheel 2-2.
(a) Material conveying direction control method when non-servo motor is adopted by omnibearing speed reduction driving wheel 2-2
If the type of the motor 2-2-1 adopted by the omnibearing speed reduction driving wheel 2-2 is a non-servo motor, the material can be conveyed or the rotation of the material can be driven in 8 directions, namely, upward right, downward left and upward left, by controlling the starting, stopping and rotating directions of the four driving wheels, as shown in fig. 6, the starting, stopping and rotating directions of the four omnibearing speed reduction driving wheels corresponding to the conveying directions of the material are as shown in fig. 7, and the rotating direction of the omnibearing wheel marked in the figure is the direction of the linear velocity contact point of the omnibearing wheel and the material.
(b) Material conveying direction control method when servo motor is adopted by omnibearing speed reduction driving wheel 2-2
If the type of the motor 2-2-1 adopted by the omnidirectional moving wheel assembly 2-2 is a servo motor, the material can be conveyed in any direction or the material can be driven to rotate by controlling the rotating directions and speeds of the four driving wheels, the relationship diagram of the speed and direction of each omnidirectional wheel and the conveying speed and direction of the material is shown in fig. 8, and the relationship diagram of the speed and direction of each omnidirectional wheel and the rotating speed and direction of the material is shown in fig. 9 as follows.
As shown in fig. 8, the required moving speed of the material is V; the included angle between the material moving direction and the horizontal direction is phi, and the range is 0-360 degrees; d is the distance from the center of the omnidirectional wheel to the center of the module; linear velocity V of contact point of four omnidirectional wheels and material1、V2、V3And V4Comprises the following steps:
Figure BDA0002485961250000071
if the calculated value of a component of equation (1) is negative, it indicates that the direction is opposite to the direction specified in fig. 7. Assuming that the radius of the omnidirectional wheel is R; the reduction ratio of the transmission system of the omnidirectional wheel driving module is as follows; then the angular velocities ω of the four motors1、ω2、ω3And ω4Comprises the following steps:
Figure BDA0002485961250000081
as shown in fig. 9, the rotational angular velocity of the material is ω, clockwise is positive, and counterclockwise is negative; then the angular velocities ω of the four motors1、ω2、ω3And ω4Comprises the following steps:
Figure BDA0002485961250000082
an intelligent logistics system control method based on omnidirectional wheels comprises the following steps:
the intelligent logistics system based on the omnidirectional wheel is composed of a plurality of intelligent logistics modules, the disclosed intelligent logistics system control method based on the omnidirectional wheel is applied, the functions of conveying, sorting and converging of materials can be achieved, and the control flow of the intelligent logistics system is shown in figure 10.
The method comprises the following specific steps:
and Step1, monitoring the state of each intelligent logistics module in the system, and entering Step2 if a module fails or the system is initialized.
And Step2, modeling the adjacency relation of the intelligent logistics modules of the intelligent logistics system.
Numbering all modules in the system, and determining a first-order adjacency matrix among the modules according to the numbering
Figure BDA0002485961250000083
Orientation matrix D ═ Dij]N×NWherein i and j both represent the number of modules, N is the total number of modules in the system,
Figure BDA0002485961250000084
representing the shortest distance from module i to module j. dijIndicating the azimuth of slave i to module j.
Figure BDA0002485961250000085
The values of (A) are as follows:
Figure BDA0002485961250000091
wherein L is the side length of the module.
dijThe values of (A) are as follows:
Figure BDA0002485961250000092
with the system shown in fig. 11, the first order adjacency matrix and the orientation matrix are:
Figure BDA0002485961250000093
Figure BDA0002485961250000101
after completion, Step3 is entered.
Step3 planning various material conveying, sorting and merging paths
No matter the materials are conveyed, sorted or combined, the material conveying device corresponds to the starting point and the end point of various materials. The only difference is that the starting or ending point characteristics of each material are different. For example, in an application that implements material sorting, all materials start at the same point but end at different points. In the application of realizing material confluence, the starting points of the materials are different, but the end points of the materials are the same. Therefore, the functions can be realized by only planning the reachable path from the starting point to the end point for all materials, and the planning algorithm can adopt the classic Dijkstra algorithm and use a first-order adjacency matrix
Figure BDA0002485961250000102
The optimal path between the starting point and the end point of each material is output by taking the optimization of certain performance of the system as an input target. The optimization performance may be selected according to specific requirements to one or more of minimize the conveying distance, minimize the conveying time, and minimize the number of turns of the conveying path. In some applications, it is also necessary to avoid the opposite collision between different material conveying paths as shown in fig. 19 during planning, and after completion, Step4 is performed.
Such as: the layout of an intelligent logistics system based on an omnidirectional wheel is shown in fig. 9, a distribution path needs to be planned for four materials, the starting point and the end point of the four materials are shown in table 1, the minimum conveying path is taken as a target, and the path planned by applying the Dijkstra algorithm is shown in table 1.
TABLE 1 starting point, end point and planned route of materials
Kind of material Starting point Terminal point Planning a path
1 4 3 4-5-3
2 4 6 4-5-6
3 1 6 1-5-6
4 1 3 1-2-3
And Step4, determining the transmission direction of each material of all the modules according to the planned path of each material, storing the result into a material transmission direction table of each module, judging the material transmission direction of each module according to the collected material type data, and returning to Step1 after the judgment is finished.
The material transfer directions of the modules determined by the material planning paths shown in table 1 are shown in table 2.
TABLE 2 materials transfer directions of modules determined by the material planning paths shown in TABLE 1
Figure BDA0002485961250000111
The planning and design problem of the logistics system is as follows:
because the whole logistics system is composed of a plurality of intelligent logistics modules, for the planning and design of the whole logistics system, according to the industrial field environment of the system, some areas in the industrial field environment are occupied by walls, equipment, passageways and the like, and intelligent logistics modules are not required to be arranged, the areas can be collectively called as non-arrangement areas, and the schematic diagram is shown in fig. 12.
Planning and designing:
aiming at the logistics system planning and design problem, the planning steps provided by the invention are shown in fig. 13, and mainly comprise the steps of expanding processing of a non-layout area, determining scanning intervals, scanning in the X direction and the Y direction, counting the number of modules, coding the modules and the like, and are concretely as follows.
(1) Bulking of borders and non-layout areas
The non-layout area is the area that can't arrange intelligent logistics module for obstacle, equipment, artifical passageway etc. in order to avoid intelligent logistics module to cross non-layout area or environment boundary, at first to non-layout area and boundary carry out popped processing, popped size P is half of intelligent logistics module length of side L, popped step as follows: extracting boundary lines of environment and non-layout area to form linear boundary linesFor example, assume that the boundary line equation is Ax + By ═ C, and the boundary line equation after expansion is
Figure BDA0002485961250000112
The industrial field environment shown in fig. 5, the schematic diagram of the environment after bulking the non-deployment area is shown in fig. 14.
(2) X-and Y-direction scanning
The invention provides a heuristic method for improving the coverage rate of an intelligent logistics module in the environment, wherein the interval is the side length L of the intelligent logistics module, the expanded environment is scanned to generate a grid, the appropriate offset optimization is carried out on the scanning starting point of a grid line, and the scanning steps are as follows by taking the X direction as an example:
step1, initialization, setting N tentative grid scanning starting points:
Figure BDA0002485961250000121
step2 scanning the next grid:
Figure BDA0002485961250000122
step3, judge whether reach the boundary XUPPER：
Figure BDA0002485961250000123
Step4, determining the optimal grid lines:
Figure BDA0002485961250000124
Figure BDA0002485961250000131
the optimal grid line in the X direction is
Figure BDA0002485961250000132
Fig. 15 shows a schematic diagram of fig. 14 after X-direction and Y-direction scanning is performed by applying the above steps.
(3) The intelligent logistics module is arranged:
as shown in fig. 15, the intersection point of the scanning lines in the diagram is the central point of each intelligent logistics module, so that the number of the central points in the diagram is the number of modules required by the system, and the schematic diagram after the intelligent logistics modules are arranged is shown in fig. 16.
(4) Modeling the adjacency relation among the modules:
encoding the intelligent logistics modules according to a certain sequence, determining the adjacent relation among the intelligent logistics modules according to the encoding, wherein the adjacent relation among the intelligent logistics modules passes through a first-order adjacent matrix
Figure BDA0002485961250000133
And the orientation matrix D ═ Dij]K×KTo provide basic data for material distribution path planning of a logistics system. Wherein i and j represent the number of the intelligent logistics modules, K is the number of the intelligent logistics modules in the system,
Figure BDA0002485961250000134
representing the shortest distance from module i to module j. dijIndicating the azimuth of slave i to module j.
Figure BDA0002485961250000135
The values of (A) are as follows:
Figure BDA0002485961250000136
wherein L is the side length of the module.
dijThe values of (A) are as follows:
Figure BDA0002485961250000141
with the system shown in fig. 9, the first order adjacency matrix and the orientation matrix are:
Figure BDA0002485961250000142
Figure BDA0002485961250000143
logistics conveying path planning problem of logistics system
No matter the materials are conveyed, sorted or combined, the material conveying device corresponds to the starting point and the end point of various materials. The only difference is that the starting or ending point characteristics of each material are different. For example, in an application that implements material sorting, all materials start at the same point but end at different points. In the application of realizing material confluence, the starting points of the materials are different, but the end points of the materials are the same. Therefore, the function can be realized by only planning the reachable path from the starting point to the end point for all materials. Therefore, the logistics transportation path planning problem can be expressed as that the layout of each intelligent logistics module, the starting point and the end point of each material and the transportation flow rate (transportation amount in unit time) of each material of the known logistics system require to determine the optimal transportation path of each material.
Planning of material conveying path
Aiming at the problem of logistics system logistics conveying path planning, the invention provides a heuristic planning method based on traffic flow, which plans an optimal conveying path for each material in turn according to the sequence of flow from large to small, not only comprehensively considers the balance of transportation time and each module load in the planning process, but also can avoid the opposite conflict between a newly planned path and a planned path and avoid the deadlock of the system. The overall method is shown in fig. 18, and the specific steps are as follows.
Step S1: and (5) collecting the system state, and immediately turning to the step S2 to start the planning process of the system material conveying path once the following two types of events are collected.
Event 1. there is a new material delivery requirement: the new material is carried the demand flow and is higher, in order to guarantee the whole efficiency of material system, need plan again the material transport route.
Event 2, some intelligent logistics modules fail: in order to ensure the robustness of the system, a material conveying path needs to be re-planned in case of failure of part of the intelligent logistics modules, which may cause failure of some material distribution paths.
Step S2: preprocessing of material transport data
The starting point and the end point of all material distribution and the material distribution flow rate (the number of times of delivery in unit hour) are determined. Determining the planning sequence of each material distribution path, wherein the determining method can be based on the magnitude sequence of each material distribution flow, or based on other preset rules (such as material value, weight, etc.), and after determining the sequence, generating a material distribution path planning sequence table, so as to plan the distribution path for each material, and then turning to step S3.
Step S3: and continuing to plan the distribution path for the next material according to the planning sequence table, and turning to the step S4 after the distribution path is planned for each material.
The path planning steps are as follows:
s3.1, pretreatment of a logistics system.
And coding the intelligent logistics modules according to a certain sequence, and determining the adjacency relation of the modules according to the material conveying direction which can be realized by the intelligent logistics modules and whether the modules are in fault. The adjacent relation between the intelligent logistics modules is through a first-order adjacent matrix
Figure BDA0002485961250000151
And the orientation matrix D ═ Dij]K×KTo describe. Wherein i and j represent the number of the intelligent logistics modules, K is the number of the intelligent logistics modules in the system,
Figure BDA0002485961250000152
representing the transit time from module i to module j. dijIndicating the azimuth of slave i to module j.
Assuming that each intelligent logistics module can transfer materials to 8 directions as shown in fig. 7, the intelligent logistics module can transfer materials to the 8 directions
Figure BDA0002485961250000153
The values of (A) are as follows:
Figure BDA0002485961250000154
wherein T is the average material conveying time of adjacent intelligent logistics modules.
dijThe values of (A) are as follows:
Figure BDA0002485961250000161
taking the layout and state of each module of a certain logistics system as shown in fig. 7 as an example, the first-order adjacency matrix and the orientation matrix are respectively:
Figure BDA0002485961250000162
Figure BDA0002485961250000163
after completion, go to S3.2.
And S3.2, processing the information of the planned path library of the material.
The conveying flow of each material module is counted according to the planned path library of the materials to form an existing flow matrix of the material modules,
Figure BDA0002485961250000164
wherein, f (i) is the existing material distribution flow of the ith intelligent logistics module, NwThe total number of intelligent logistics modules in the system.
The planned material paths are stored in the material planned path library, and the number of materials of all the planned paths is assumed to be NP(ii) a The k-th material distribution path is defined as: the number of the intelligent logistics module, through which the material passes from the starting point to the end point, can be expressed as
Figure BDA0002485961250000165
Wherein the content of the first and second substances,
Figure BDA0002485961250000166
the serial number of the mth intelligent logistics module in the kth material distribution path. N is a radical ofkCounting the existing material conveying load of each intelligent logistics module for the total number of intelligent logistics modules in the kth material distribution path according to the following steps, and determining a material module flow matrix F ═ F (i)]1×KAnd flow information is provided for planning a material conveying path by subsequently applying a Dijkstra algorithm.
Figure BDA0002485961250000171
Wherein g (k) is the material dispensing flow rate of the kth material.
In order to avoid the conflict between the subsequently planned material distribution path and the planned material path (as shown in fig. 19, also called deadlock), the allowed conveying direction of each material module needs to be updated according to the library of the planned material distribution paths, and the first-order adjacency matrix needs to be updated. The updating steps are as follows:
Figure BDA0002485961250000172
after completion, go to S3.3.
And S3.3, planning a balanced anti-deadlock material distribution path.
According to the starting point and the end point of the current planning material, comprehensively considering the adjacency matrix processed by the information of the planned path library of the material
Figure BDA0002485961250000173
And the existing flow matrix of the material module F ═ F (i)]1×KAnd planning an optimal path from the material starting point s to the end point d by adopting an improved Dijkstra algorithm. The classic Dijkstra algorithm is a greedy algorithm and can obtain the shortest path and the shortest path between a source point and a destination point. Basic ideaIs a set V provided with two intelligent logistics modulesSAnd VD＝V/VSV is the set of all intelligent logistics modules, the set VSThe intelligent logistics module which is stored with the searched material starting point as a certain intelligent logistics module and the optimal path, and the set VDThe intelligent logistics module with the minimum cost of the starting point, including the conveying time and the flow information of all the intelligent logistics modules along the way) is searched for. At the beginning of VSOnly the starting point s, then from VDThe intelligent logistics module with the minimum cost of s, such as k, is selected and added into VSIn, set VSIn each time a new intelligent logistics module is added, the source points s to V are updatedDThe cost of all intelligent logistics modules. Until the target intelligent logistics module d is added with VSThe method comprises the following specific steps:
first step of initializing VS{ s } and VDI ∈ V and i ≠ s and the optimal path matrix P ═ Psi]1×NAnd the sum cost matrix H ═ Hi]1×NWherein p issiThe optimal path from the starting point s to the intelligent logistics module i is represented, and the optimal path is not searched
Figure BDA0002485961250000181
Only p at initializationss(s), the rest are
Figure BDA0002485961250000182
hiExpressing the cost of the intelligent logistics module i, and the calculation method is as follows:
Figure BDA0002485961250000183
second step search VDThe intelligent logistics module with the minimum cost is not set as the intelligent logistics module k, and the minimum cost is
Figure BDA0002485961250000184
The intelligent logistics module k is driven from VDMove into VSIn, i.e. VS＝VS∪{k}，VD＝VD/{ k }, and sets psk＝{s,k}，
Figure BDA0002485961250000185
And (6) turning to the third step.
Third step, updating VDThe cost, the optimal path and the first-order adjacency matrix of each intelligent logistics module are updated as follows for VDIs n. Its new cost hnComprises the following steps:
Figure BDA0002485961250000186
optimal path psnAlso according to tnAnd synchronously updating, wherein the updating method comprises the following steps:
Figure BDA0002485961250000187
and turning to the fourth step.
The fourth step is to judge newly added VSAnd if the intelligent logistics module k in the step (2) is the target intelligent logistics module, searching the optimal path if the k is d, and turning to the fifth step, otherwise, turning to the second step.
The fifth step is outputting the optimal path psdAnd updating the materials to a material planned path library, deleting the materials from the material distribution path planning sequence table, and turning to the step 4.
Step S4: checking whether the material distribution path planning sequence list is empty, if not, turning to the step S3, continuing to plan the distribution path for the next material, and if so, turning to the step S1.

Claims (5)

1. The modularized intelligent logistics system planning and designing method based on the omnidirectional wheel is characterized in that the modularized intelligent logistics system of the omnidirectional wheel is a conveying plane formed by combining a plurality of intelligent logistics modules, the conveying, sorting and confluence of materials are realized through the relay of the intelligent logistics modules, and each intelligent logistics module comprises:
fixed frame, fixed frame is last to be opened there are a plurality of holes, is equipped with an all-round speed reduction drive wheel in every hole, and the partial wheel body of all-round speed reduction drive wheel stretches out fixed frame's upper surface sets up, and the frictional force through a plurality of all-round speed reduction drive wheel upper wheel body acts on the material jointly, realizes following purpose to the material through the cooperative control to a plurality of drive wheel rotation rates and direction:
firstly, driving the material to rotate to adjust the posture;
secondly, independently and directionally conveying the materials to a plurality of directions according to the requirement;
thirdly, relay transmission of the intelligent logistics modules is achieved through planning of material distribution paths;
the Internet of things data acquisition device is arranged on the intelligent logistics module and is used for judging whether materials and material types exist above the intelligent logistics module;
when no material exists above the intelligent logistics module, each module enters a low power consumption mode;
when materials are arranged above the intelligent logistics module, the materials are conveyed to the required directions according to the types of the materials;
the method is characterized by comprising the following steps:
s1, puffing treatment of the boundary and the non-layout area:
the non-layout area is the area that can't arrange intelligent logistics module for obstacle, equipment, artifical passageway etc. in order to avoid intelligent logistics module to cross non-layout area or environment boundary, at first to non-layout area and boundary carry out popped processing, popped size P is half of intelligent logistics module length of side L, popped step as follows: extracting boundary lines of the environment and the non-layout area, taking a linear boundary line as an example, assuming that the boundary line equation is Ax + By which is equal to C, and the boundary line equation after expansion is C
Figure FDA0002485961240000011
S2, X-and Y-direction scan:
the distance is the side length L of the intelligent logistics module, the expanded environment is scanned to generate a grid, a heuristic method is provided, and proper offset optimization is carried out on the grid line scanning starting point;
s3, finishing the arrangement of the intelligent logistics modules;
s4, modeling the adjacency relation among the intelligent logistics modules:
encoding the intelligent logistics modules according to a certain sequence, determining the adjacent relation among the intelligent logistics modules according to the encoding, wherein the adjacent relation among the intelligent logistics modules passes through a first-order adjacent matrix
Figure FDA0002485961240000021
And the orientation matrix D ═ Dij]K×KThe method comprises the following steps of describing, and providing basic data for material distribution path planning of a logistics system, wherein i and j represent numbers of intelligent logistics modules;
k is the number of intelligent logistics modules in the system;
Figure FDA0002485961240000022
represents the shortest distance from the intelligent logistics module i to the intelligent logistics module j;
dijindicating the azimuth angle from intelligent logistics module i to intelligent logistics module j.
Figure FDA0002485961240000023
The values of (A) are as follows:
Figure FDA0002485961240000024
l is the length of side of intelligent logistics module in the formula.
dijThe values of (A) are as follows:
Figure FDA0002485961240000025
2. the omni-directional wheel-based modular intelligent logistics system planning and design method of claim 1, wherein the fixed frame comprises:
a base plate;
the panel, through the bracing piece with the bottom plate supports and is connected, and it has a plurality of holes to open on the panel, and some of a plurality of all-round speed reduction drive wheels are all passed through the hole passes the panel to contact with the material.
3. The omni-directional wheel-based modular intelligent logistics system planning and design method of claim 1, wherein the internet of things data acquisition device is one or more of an RFID card reader, a proximity switch, a two-dimensional code/bar code card reader and a camera.
4. An omnidirectional-wheel-based modular intelligent logistics system planning and design method as recited in claim 1, wherein the number of omnidirectional deceleration driving wheels on a single intelligent logistics module is 4, and the 4 omnidirectional deceleration driving wheels are symmetrically arranged around the center of the panel.
5. An omni-directional wheel based modular intelligent logistics system planning and design method as claimed in claim 1, wherein the omni-directional deceleration driving wheel comprises:
the motor, the mounting plate and the omnibearing speed reduction driving wheel;
the motor is connected with the input end of the omnibearing speed reduction driving wheel and drives the omnibearing speed reduction driving wheel to rotate;
the mounting panel adopts but not limited to L type mounting panel, L type mounting panel one end with bottom plate fixed connection, the other end and the first casing fixed connection of all-round speed reduction drive wheel.
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