CN112224793A - Intelligent logistics selection path planning system - Google Patents
Intelligent logistics selection path planning system Download PDFInfo
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- CN112224793A CN112224793A CN202011468101.3A CN202011468101A CN112224793A CN 112224793 A CN112224793 A CN 112224793A CN 202011468101 A CN202011468101 A CN 202011468101A CN 112224793 A CN112224793 A CN 112224793A
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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
- 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
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- 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
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- 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
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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
- B65G35/00—Mechanical conveyors not otherwise provided for
Abstract
The invention provides an intelligent logistics selection path planning system, which comprises a path initial device, a transportation device, a sensing device, a positioning device, a detection device, a distribution device, an interaction device and a processor, wherein the path initial device is constructed for loading a moving path and guiding the moving path of the transportation device based on the moving path; the transportation device is configured to collect data of the position of the goods and transport the goods; the distribution device is configured to regulate the transport device based on the size and weight of the cargo; the interaction device is configured to network information interaction channels between the transportation devices. According to the invention, the interaction between the data of the transportation devices is realized by adopting the cooperation of the interaction device and the transportation devices, and meanwhile, the collision between the transportation devices is prevented to the maximum extent based on the interaction between the transportation paths.
Description
Technical Field
The invention relates to the technical field of logistics transportation, in particular to an intelligent logistics selection path planning system.
Background
A huge express parcel sorting task can only be completed by stacking manpower overtime, so that the problem that how to improve the accuracy and sorting efficiency of manual sorting and reduce high labor cost becomes a pain point of logistics enterprises is solved.
For example, CN111582556A prior art discloses a path planning method for an intelligent parcel sorting system based on an RRT algorithm, but in most cases, the path planned by the RRT algorithm is mostly not the optimal path, and the latest location point is generated along the direction of selecting a child target point, so the formed path has a large number of turning points, and another disadvantage is that for a location point entering an obstacle area, the location point needs to be generated again, and there may be multiple iterations, which affects the quality of location point generation. And the planned path needs to be further smoothed to meet the actual requirement. Another typical automatic sorting system and sorting robot disclosed in the prior art of WO2019241906a1, and a path planning method and system, computer system and computer readable storage medium disclosed in the prior art of WO2020063064a1 relate to traffic control and real-time operation, but lack of planning research for parallel multiple automatic guided vehicles, which results in smaller planning solution space of the automatic guided vehicles, reduced feasible solutions, and unfavorable effective dispatching of the automatic guided vehicles in a warehouse.
The invention is made in order to solve the problems that turning marks are too complex, interaction between transportation devices is lacked, cooperative work cannot be achieved and the like in the field.
Disclosure of Invention
The invention aims to provide an intelligent logistics selection path planning system aiming at the defects of the existing logistics selection path planning and transportation efficiency.
In order to overcome the defects of the prior art, the invention adopts the following technical scheme:
an intelligent logistics selection path planning system comprises a path initialization device, a transportation device, a sensing device, a positioning device, a detection device, a distribution device, an interaction device and a processor, wherein the path initialization device is configured to load a moving path and guide the moving path of the transportation device based on the moving path; the transportation device is configured to collect data of the position of the goods; the sensing device is configured to sense a position of the transporter in real time; the transportation device is configured to collect data of the position of the goods and transport the goods; the detection device is configured to detect a shift range during movement of the transport device; the distribution device is configured to regulate the transportation device based on the size and weight of the cargo; the interaction device is configured to network information interaction channels between the transportation devices.
Optionally, the path initialization device includes a path setting device, a plurality of path reference points, and a path generation device, where the path setting device is configured to set an initial position and a transportation destination of the cargo, and set an initial transportation route for the position and the transportation destination based on the set initial position; each path reference point is configured to guide a moving turning point of the transport device; the path generation means is configured to generate a path based on the initial transportation route and along the position of each of the path reference points.
Optionally, the transportation device comprises an identification mechanism, a deflection mechanism and a mobile station, wherein the deflection mechanism is configured to correct the position of the identification mechanism; the mobile station is configured to transfer the positions of the recognition mechanism and the deflection mechanism while verifying the path of the path initialization device; the identification mechanism comprises an acquisition probe and an identification member, the acquisition probe being configured to acquire data of a position and a steering position of the cargo; the identification member is configured to arrange a number of turning reference points.
Optionally, the sensing device comprises a sensing mechanism and a calibration mechanism, the sensing mechanism is configured to acquire the real-time position of the transportation device, and the calibration mechanism is configured to perform a calibration operation based on the real-time position and a distance from an adjacent reference point; the sensing mechanism includes a status unit configured to detect operational data of the transportation device and to transmit the operational data through the upload unit, and an upload unit.
Optionally, the positioning device includes an air route sensing unit, a geographic database, a network connection unit, and an identification mechanism; the route sensing unit is configured to identify and sense the geographic database; the identification mechanism is configured to upload the data to a cloud server through the network connection unit, the geographic database comprises a camera of a moving path, and the data parameters of the camera are matched with the positioning data of the identification mechanism; if the positioning data are matched, marking the navigation points by touching the route sensing unit; and if the positioning data are not matched, uploading the positioning data to a cloud server.
Optionally, the detection device comprises an offset detection unit and a transmission unit, wherein the offset detection unit is configured to measure the offset of the transportation device; the transmission unit is configured to transmit data of the offset detection unit; the offset amount detection unit includes a plurality of positioning marks each configured to be distributed along a moving path, and a distance detection member configured to detect a distance closest to each of the positioning marks based on a position of the transportation device, and generate an offset correction amount in response to the distance.
Optionally, the dispensing device comprises a dispensing processing unit and a diagnostic mechanism; the diagnostic mechanism is configured to diagnose a path occupancy based on information of the path initiating device and the transport device; if the path is not occupied, the goods are transported through the distribution processing unit; if the moving path is occupied, sequencing; the allocation processing unit is configured to allocate the condition of the good and to ship the good based on a strategy of transportation.
Optionally, the interaction device includes an interaction unit, and the interaction unit is configured to perform data interaction on the running data; the data interaction comprises remote data received by the network connection device via the wireless network, and a plurality of reference positions of the transportation device are determined at corresponding time points, and positioning is carried out based on the path information of the reference positions.
Optionally, the mobile station includes a moving unit, a support plate, and a steering member, each of the moving units being configured to be disposed at one side of the support plate; the steering member is configured to steer the moving unit; the moving unit further includes a braking member configured to brake the steering wheel.
Optionally, the offset detection unit is further configured to collect remote data of the transporter during operation of the transporter; and the remote data includes at least one of braking information, acceleration information, geographic information, operating speed, time of day information, or performance data.
The beneficial effects obtained by the invention are as follows:
1. by adopting the cooperation of the interaction device and the transportation device, the data of the transportation device are interacted, the sharing of the transportation paths is realized, and meanwhile, the collision between the transportation devices is prevented to the maximum extent based on the interaction between the transportation paths;
2. by adopting the matching use between the induction device and the transportation device, the purpose and the route of the transportation device can be monitored in real time when the transportation device moves in the transportation path, and the jam of the transportation path caused by mistakes and omissions can be prevented;
3. the color adjuster and the acquisition probe are adopted to indicate the transportation route, so that the transportation device cannot deviate or coincide with the transportation route in the transportation process of the goods;
4. the recognition end is matched with the rotating unit for use, so that the recognition end can collect surrounding environments and integrate the data and geographic data based on the collected data, and a sailing route of the transportation device in the operation process can be displayed or screened;
5. the position of the transportation device is positioned by adopting each positioning mark and the distance detection component, so that the deviation of the transportation device is corrected, and the transportation device can be transported along a transportation path;
6. through adopting the data through collecting the conveyer to be used for the state monitoring to the conveyer for the conveyer can trigger alarm signal at critical moment, improves and carry out the skew detection through offset detecting element to the protection between the conveyer, through detecting the state of the operation of conveyer makes right the more accuracy in location of conveyer, simultaneously based on the state of conveyer is right the route of conveyer's transportation and the speed of conveyer's removal is discerned.
Drawings
The invention will be further understood from the following description in conjunction with the accompanying drawings. The components in the figures are not necessarily to scale, emphasis instead being placed upon illustrating the principles of the embodiments. Like reference numerals designate corresponding parts throughout the different views.
FIG. 1 is a schematic control flow diagram of the present invention.
Fig. 2 is a schematic structural view of the transportation device.
Fig. 3 is a schematic top view of the transport device.
Fig. 4 is a schematic structural view of the steering member.
Fig. 5 is a schematic structural diagram of the offset mechanism.
Fig. 6 is a schematic view of an application scenario of the transportation device.
The reference numbers illustrate: 1-a transportation device; 2-an identification mechanism; 3-a first steering wheel; 4-a steering rod; 5-a first steering drive mechanism; 6-tooth; 7-a second steerable wheel; 8-transposition base; 9-a second steering drive mechanism; 10-a path reference point; 11-base line; 12-turning reference point.
Detailed Description
In order to make the objects and advantages of the present invention more apparent, the present invention will be further described in detail with reference to the following embodiments; it should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. Other systems, methods, and/or features of the present embodiments will become apparent to those skilled in the art upon review of the following detailed description. It is intended that all such additional systems, methods, features and advantages be included within this description, be within the scope of the invention, and be protected by the accompanying claims. Additional features of the disclosed embodiments are described in, and will be apparent from, the detailed description that follows.
The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar components; in the description of the present invention, it should be understood that if there is an orientation or positional relationship indicated by the terms "upper" and "lower" and "left" and "right" etc., it is only for convenience of description and simplification of the description based on the orientation or positional relationship shown in the drawings, but it is not indicated or implied that the device or assembly referred to must have a specific orientation.
The first embodiment is as follows: an intelligent logistics selection path planning system comprises a path initialization device, a transportation device 1, a sensing device, a positioning device, a detection device, a distribution device, an interaction device and a processor, wherein the path initialization device is configured to load a moving path and guide the moving path of the transportation device 1 based on the moving path; the transportation device 1 is configured to collect data of the position of the cargo; the sensing device is configured to sense the position of the transporter 1 in real time; the transportation device 1 is configured to collect data of the position of the goods and transport the goods; the detection device is configured to detect a range of displacement during movement of the transportation device 1; the distribution device is configured to regulate the transportation device 1 based on the size and weight of the cargo; the interaction device is configured to network information interaction channels between the transportation devices 1; the path initialization device includes a path setting device, a plurality of path reference points 10, a path generation device, the path setting device is configured to set an initial position and a transportation destination of the cargo, and set an initial transportation route for the position and the transportation destination based on the set initial position; each path reference point 10 is configured to guide a moving turning point of the transportation device 1; the path generation means is configured to generate a path based on an initial transportation route and along the position of each of the path reference points 10; the transportation device 1 includes an identification mechanism 2, a deflection mechanism configured to correct a position of the identification mechanism 2, and a moving stage; the mobile station is configured to transfer the positions of the recognition mechanism 2 and the deflection mechanism while verifying the path of the path initialization device; the recognition mechanism 2 includes a collection probe configured to perform data collection of a position of the cargo and a steering position, and a recognition member; the identification means are configured to arrange a number of steering reference points 12; the sensing device comprises a sensing mechanism and a calibration mechanism, wherein the sensing mechanism is configured to acquire the real-time position of the transportation device 1, and the calibration mechanism is configured to perform calibration operation based on the real-time position and the distance between the real-time position and an adjacent reference point; the sensing mechanism comprises a status unit and an uploading unit, wherein the status unit is configured to detect the operation data of the transportation device 1 and transmit the operation data through the uploading unit; the positioning device comprises an air route sensing unit, a geographic database, a network connection unit and an identification mechanism 2; the route sensing unit is configured to identify and sense the geographic database; the identification mechanism 2 is configured to upload to a cloud server through the network connection unit, the geographic database includes a camera of a moving path, and is matched with the positioning data of the identification mechanism 2 based on the data parameter of the camera; if the positioning data are matched, marking the navigation points by touching the route sensing unit; if the positioning data are not matched, uploading the positioning data to a cloud server; the detection device includes an offset detection unit configured to measure an offset of the transport device 1 and a transmission unit; the transmission unit is configured to transmit data of the offset detection unit; the offset amount detection unit includes a plurality of positioning marks each configured to be distributed along a moving path, and distance detection means configured to detect a distance closest to each of the positioning marks based on a position of the transportation device 1, and generate an offset correction amount in response to the distance; the dispensing device comprises a dispensing processing unit and a diagnostic mechanism; the diagnostic means is configured to diagnose the path occupation based on the information of the path initiating device and the transport device 1; if the path is not occupied, the goods are transported through the distribution processing unit; if the moving path is occupied, sequencing; the allocation processing unit is configured to allocate the condition of the cargo and to ship the cargo based on a strategy for transportation; the interaction device comprises an interaction unit, wherein the interaction unit is used for carrying out data interaction on running data; the data interaction comprises remote data received by the network connection device via a wireless network, and a plurality of reference positions of the transportation device 1 are determined at corresponding time points, and positioning is carried out based on the path information of the reference positions; the mobile station includes a moving unit, a support plate, and a steering member, each of the moving units being configured to be disposed at one side of the support plate; the steering member is configured to steer the moving unit; the moving unit further includes a braking member configured to brake a steering wheel; the offset detection unit is further configured to collect remote data of the transportation device 1 during operation of the transportation device 1; and the remote data includes at least one of braking information, acceleration information, geographic information, operating speed, time of day information, or performance data.
Example two: this embodiment should be understood to include at least all of the features of any of the foregoing embodiments and further modifications thereon; providing an intelligent logistics selection path planning system, wherein the path planning system comprises a path initiating device, a transportation device 1, a sensing device, a positioning device, a detection device, a distribution device, an interaction device and a processor, wherein the path initiating device is configured to load a moving path and guide the moving path of the transportation device 1 based on the moving path; the transportation device 1 is configured to collect data of the position of the cargo; the sensing device is configured to sense the position of the transporter 1 in real time; the transportation device 1 is configured to collect data of the position of the goods and transport the goods; the detection device is configured to detect a range of displacement during movement of the transportation device 1; the distribution device is configured to regulate the transportation device 1 based on the size and weight of the cargo; the interaction device is configured to network information interaction channels between the transportation devices 1; the transportation device 1 is used for transporting goods and collecting water entering a moving path in real time; the path initial device is matched with the transportation device 1 for use, so that the transportation device 1 can move based on the set path and acquire data in real time in the moving process; the processor is respectively in control connection with the path initiating device, the transporting device 1, the sensing device, the positioning device, the detecting device, the distributing device and the interaction device, and realizes centralized control of all the devices based on the control operation of the processor.
The path initialization device includes a path setting device, a plurality of path reference points 10, a path generation device, the path setting device is configured to set an initial position and a transportation destination of the cargo, and set an initial transportation route for the position and the transportation destination based on the set initial position; each path reference point 10 is configured to guide a moving turning point of the transportation device 1; the path generation means is configured to generate a path based on an initial transportation route and along the position of each of the path reference points 10; the goods are placed in a goods sorting device, and the goods are sorted by the sorting device; the end point of the goods is set as the end point of the moving path; generating a plurality of guide paths through the initial position and the transportation terminal, wherein each guide path corresponds to one or a plurality of path reference points 10, the transportation device 1 distributes the paths through the distribution device by a processor, and meanwhile, the transportation routes are sorted according to the occupation degree in the same common path; regulating and controlling the transportation route based on the sequence of the sequencing and the shunting strategy; the path generating device also generates a corresponding moving path based on the set end point, and guides or turns the moving position of each path reference point 10 by considering the position of the path reference point; each of the path reference points 10 is configured to be disposed on the transportation route and serve as a sign of turning or turning of the transportation device 1 during movement; meanwhile, the transportation path is provided with a plurality of public routes, in the process of transporting the goods by the transportation device 1, the data of the distribution strategy and the positioning device are referred, if the distribution strategy is the same priority processing level, the data of the positioning device is triggered to be detected, the distance between the positioning device and the calibration position is detected, and the transportation is preferably carried out if the distance is short; if the diversion strategy is no longer at the same preferred processing level, the preferred processing level is higher and the goods are transported by the transporter 1.
In addition, the path setting device is configured to set an avoidance path for avoidance between the transportation devices 1; the avoidance path is configured to be arranged at one side of the avoidance path, and in the process of carrying out avoidance operation on the transportation device 1, the path setting device issues an avoidance program through a communication unit to trigger the avoidance operation of the transportation device 1 at the position; and an avoidance area between the two trolleys is marked as an early warning area; the other transportation devices 1 except the two transportation devices 1 executing the avoidance program in the early warning area are not allowed to pass through; the avoidance procedure is a means well known to those skilled in the art, and those skilled in the art can query the relevant technical manual to obtain the technique, so that details are not described in this embodiment.
The transportation device 1 includes an identification mechanism 2, a deflection mechanism configured to correct a position of the identification mechanism 2, and a moving stage; the mobile station is configured to transfer the positions of the recognition mechanism 2 and the deflection mechanism while verifying the path of the path initialization device; the recognition mechanism 2 includes a collection probe configured to perform data collection of a position of the cargo and a steering position, and a recognition member; said identification means being configured to identify a number of steering reference points 12 arranged; the transportation device 1 takes into account the transportation of goods and the development of a new route, so that the transportation route can be abundant and reasonable; and the development of the transportation path is based on the development within a set range so that the transportation path does not obstruct the storage of the goods or avoid a non-transportation area; the recognition mechanism 2 is configured to collect each path reference point 10, and perform steering or straight-going operation based on a signal of the collected path reference point 10, so that the transportation device 1 can move according to a set transportation route; the identification member comprises a color tuner and an identification probe, wherein the color tuner is arranged on one side of the detection probe for detecting the route and triggers the color tuner to detect a specific color.
In the present embodiment, the transportation path is set as an operation of the transportation device 1 to transport along a reference line 11, and an indicator lamp for navigation is provided on the reference line 11, the indicator lamp being configured to emit an indication color of various standard colors; the identification means is used for identifying the indication color and navigating the moving direction of the transportation device 1 based on the indication color; for example: setting red as the current transportation path, and when the color adjuster is used for detecting the red, shielding other colors, so that the identification probe can only identify the red; the deflection mechanism is used for steering or turning the movement of the mobile station, so that the mobile station can adjust the moving transportation path of the mobile station based on the offset of the offset mechanism; the deviation mechanism comprises a deviation seat 8, a support rod, a second steering wheel 7 and a second steering driving mechanism 9, the support rod is configured to be arranged coaxially with the second steering wheel 7, two ends of the support rod are fixedly connected with the deviation seat 8, teeth 6 are arranged on the outer wall of the deviation seat 8, and the second steering driving mechanism 9 is configured to be meshed with the teeth 6 and drive the deviation seat to rotate; the deflection mechanism further comprises a deviation detection component, the deviation detection component is used for detecting the steering angle of the deflection seat 8, in the steering process, the acquisition probe can detect the moving position of the mobile station and the feedback of the transportation route in real time, and when the acquisition probe detects that the deviation angle is consistent with the angle of the planned route, the processor stops the deviation or steering work of the deflection mechanism.
The mobile station includes a moving unit, a support plate, and a steering member, each of the moving units being configured to be disposed at one side of the support plate; the steering member is configured to steer the moving unit; the moving unit further includes a braking member configured to brake a steering wheel; the mobile unit is used for providing power for the mobile station, so that the mobile station can be driven, and the transportation device 1 can give consideration to the transportation of goods and the acquisition of data based on the driving of the mobile unit; the supporting plate is used for supporting the weight of the whole mobile station and the weight of the goods, so that the mobile station can carry out transportation or sorting operation on the goods; the system provided by the invention can also be applied to the goods sorting procedure of logistics transportation, so that the time for selecting or working is shortened, and the working efficiency is improved; the steering member includes a first steering wheel 3, a steering rod 4 and a first steering driving mechanism 5, the first steering wheel 3 is fixedly connected with the support plate through a connecting rod, the steering rod 4 is configured to be connected with the first steering wheel 3, and the other end of the steering rod 4 is connected with the first steering driving mechanism 5, and a steering request to the first steering wheel 3 is realized based on a driving operation of the first steering driving mechanism 5, so that the mobile station can perform a steering operation.
The sensing device comprises a sensing mechanism and a calibration mechanism, wherein the sensing mechanism is configured to acquire the real-time position of the transportation device 1, and the calibration mechanism is configured to perform calibration operation based on the real-time position and the distance between the real-time position and an adjacent sensing reference point; the sensing mechanism comprises a status unit and an uploading unit, wherein the status unit is configured to detect the operation data of the transportation device 1 and transmit the operation data through the uploading unit; a plurality of sensing reference points are arranged around the transportation path, and are used for sensing the position of the transportation path and calibrating the position of the transportation device 1 based on the position of each sensing reference point; the upload unit is configured to transmit the detected data of the status unit in real time; the sensing device is also used for collecting transportation data based on the transportation device 1, and the collected data comprises parameters such as operation data and cargo weight; through the cooperation use between induction system and the conveyer 1 for conveyer 1 is in when the transport route removes, can carry out real-time control to conveyer 1's purpose, route, prevents to appear the mistake and leak and cause the jam of transport route.
The positioning device comprises an air route sensing unit, a geographic database, a network connection unit and an identification mechanism 2; the route sensing unit is configured to identify and sense the geographic database; the identification mechanism 2 is configured to upload to a cloud server through the network connection unit, the geographic database includes a camera of a moving path, and is matched with the positioning data of the identification mechanism 2 based on the data parameter of the camera; if the positioning data are matched, marking the navigation points by touching the route sensing unit; if the positioning data are not matched, uploading the positioning data to a cloud server; the route sensing unit includes an identification end and a rotation unit configured to rotate an angle of the identification end; the identification end is matched with the rotating unit for use, so that the identification end can collect surrounding environment, and the collected data and the geographic data are integrated, so that a sailing route of the transportation device 1 in the operation process can be displayed or screened; the rotating unit comprises a rotating seat, a rotating rod, an angle adjusting component and a rotating driving mechanism, the rotating seat is configured to be in driving connection with the rotating driving mechanism, one end of the rotating rod is connected with the rotating seat, one end of the rotating rod, far away from the rotating seat, is connected with the angle adjusting component, and the detection end is arranged on the angle adjusting component; the angle adjusting component is configured to adjust the detection angle of the identification end, so that the identification end can acquire data in real time during the operation or driving of the transportation device 1; the data collected includes reference points, distinctive steering cards, and the like.
The detection device includes an offset detection unit configured to measure an offset of the transport device 1 and a transmission unit; the transmission unit is configured to transmit data of the offset detection unit; the offset amount detection unit includes a plurality of positioning marks each configured to be distributed along a moving path, and distance detection means configured to detect a distance closest to each of the positioning marks based on a position of the transportation device 1, and generate an offset correction amount in response to the distance; in addition, the offset amount detection unit detects a distance between the transportation device 1 and the reference mark, and calculates the offset amount based on the distance; the distance detection means include, but are not limited to, the following enumerated ones: the system comprises detection radars, a distance measurement sensor, a distance sensor or an ultrasonic sensor and other common distance measurement equipment, wherein each detection radar detects the distance between each detection radar and each positioning mark in real time and selects the distance between the detection radar and the nearest positioning mark to detect based on the distance between the detection radar and the positioning mark; in addition, in the process of positioning the transportation device 1, the distances of at least three positioning marks need to be collected, so that the offset can be accurately detected.
The offset detection unit is further configured to collect remote data of the transportation device 1 during operation of the transportation device 1; and the remote data comprises at least one of braking information, acceleration information, geographic information, operating speed, time information, or performance data; the offset detection unit is in control connection with the diagnosis port and is used for collecting data of the transportation device 1 and realizing remote data based on wireless network transmission; meanwhile, the diagnosis port is used for detecting the state of the transportation device 1 and adjusting the whole transportation device 1 based on the state of the transportation device; the processing data of the transportation device 1 comprises braking information, acceleration information, geographic information, speed and time information of the transportation device 1 or performance data of the transportation device 1, and the data of the transportation device 1 is collected to monitor the state of the transportation device 1, so that the transportation device 1 can trigger an alarm signal at an emergency moment, and the protection between the transportation devices 1 is improved; the diagnostic port comprises an alarm alert configured to determine a particular alarm level of a plurality of alarm levels to associate with the particular location based on a user profile and a location tag of a problem, such that the cloud server is operable to identify a fault with the transporter 1; in addition, the transportation device 1 is connected with the diagnosis port through a connecting line, so that the transportation device 1 can identify the state of the transportation device 1; detecting the state of operation of the transportation device 1 makes the positioning of the transportation device 1 more accurate, while identifying the route of transportation of the transportation device 1 and the speed of movement of the transportation device 1 based on the state of the transportation device 1.
The dispensing device comprises a dispensing processing unit and a diagnostic mechanism; the diagnostic means is configured to diagnose the path occupation based on the information of the path initiating device and the transport device 1; if the path is not occupied, the goods are transported through the distribution processing unit; if the moving path is occupied, sequencing; the allocation processing unit is configured to allocate the condition of the cargo and to transport the cargo based on a transport policy; the transportation strategy comprises sorting based on time, weight, priority, storage cavity and transportation capacity; the allocation processing unit detects the occupation of the transport path of the transport device 1.
The allocation processing unit is configured to determine a plurality of candidate transporters 1 and in response to determining that the number of a transporter 1 that has exceeded the distribution threshold, and to resend onto the determined performing task based on said transporter 1 that has exceeded the distribution threshold.
In addition, the threshold value is a time-based threshold value, and a distribution below the threshold value indicates that the transport device 1 fails to complete a transport task for the transport route within a predefined time period and triggers a change of transport route; triggering a re-planning of the transportation path if the threshold is a geographic location based threshold and a distribution below the threshold indicates that the distance over a predefined portion of the predefined geographic area exceeds a realizable metric; the allocation processing unit is configured to determine that the time historically spent by the transporter 1 within a predetermined area exceeds a predetermined time; setting the position as a preferred delivery area if a predetermined time is exceeded; at the same time, the diagnostic mechanism is also configured to determine a plurality of transport devices 1 located within a predetermined area and satisfying one or more predetermined seeding characteristic thresholds associated with that area; and adjust the characteristic threshold value according to the data of the transportation device 1.
The interaction device comprises an interaction unit, wherein the interaction unit is used for carrying out data interaction on running data; the data interaction comprises remote data received by the network connection device via a wireless network, and a plurality of reference positions of the transportation device 1 are determined at corresponding time points, and positioning is carried out based on the path information of the reference positions; in the data interaction process, data interaction is carried out among the transportation devices 1 around the positions of the waypoints of the route, and the data interaction is used for data interaction; the mutual positioning of the transportation devices 1 can be realized through the interaction of the data of the transportation devices 1, so that the problem that the data of the transportation devices 1 cannot be exchanged in the past is solved; in addition, the interaction device is configured to be disposed on the transportation devices 1, and to realize sharing of transportation paths based on interaction between data of the transportation devices 1, while preventing collision between the transportation devices 1 based on interaction between the transportation paths.
Example three: this embodiment should be understood to include at least all of the features of any of the foregoing embodiments and further modifications thereon; providing an intelligent logistics selection path planning system, wherein the path planning system comprises a path initiating device, a transportation device 1, a sensing device, a positioning device, a detection device, a distribution device, an interaction device and a processor, wherein the path initiating device is configured to load a moving path and guide the moving path of the transportation device 1 based on the moving path; the transportation device 1 is configured to collect data of the position of the cargo; the sensing device is configured to sense the position of the transporter 1 in real time; the transportation device 1 is configured to collect data of the position of the goods and transport the goods; the detection device is configured to detect a range of displacement during movement of the transportation device 1; the distribution device is configured to regulate the transportation device 1 based on the size and weight of the cargo; the interaction device is configured to network information interaction channels between the transportation devices 1; the transportation device 1 is used for transporting goods and collecting water entering a moving path in real time; the path initial device is matched with the transportation device 1 for use, so that the transportation device 1 can move based on the set path and acquire data in real time in the moving process; the processor is respectively in control connection with the path initiating device, the transporting device 1, the sensing device, the positioning device, the detecting device, the distributing device and the interaction device, and realizes centralized control of all the devices based on the control operation of the processor.
The detection device includes an offset detection unit configured to measure an offset of the transport device 1 and a transmission unit; the transmission unit is configured to transmit data of the offset detection unit; the offset amount detection unit includes a plurality of positioning marks each configured to be distributed along a moving path, and distance detection means configured to detect a distance closest to each of the positioning marks based on a position of the transportation device 1, and generate an offset correction amount in response to the distance; in addition, the offset amount detection unit detects a distance between the transportation device 1 and the reference mark, and calculates the offset amount based on the distance; the distance detection means include, but are not limited to, the following enumerated ones: the system comprises detection radars, a distance measurement sensor, a distance sensor or an ultrasonic sensor and other common distance measurement equipment, wherein each detection radar detects the distance between each detection radar and each positioning mark in real time and selects the distance between the detection radar and the nearest positioning mark to detect based on the distance between the detection radar and the positioning mark; in addition, in the process of positioning the transportation device 1, the distances of at least three positioning marks need to be collected, so that the offset can be accurately detected.
The offset detection unit is further configured to collect remote data of the transportation device 1 during operation of the transportation device 1; and the remote data comprises at least one of braking information, acceleration information, geographic information, operating speed, time information, or performance data; the offset detection unit is in control connection with the diagnosis port and is used for collecting data of the transportation device 1 and realizing remote data based on wireless network transmission; meanwhile, the diagnosis port is used for detecting the state of the transportation device 1 and adjusting the whole transportation device 1 based on the state of the transportation device; the processing data of the transportation device 1 comprises braking information, acceleration information, geographic information, speed and time information of the transportation device 1 or performance data of the transportation device 1, and the data of the transportation device 1 is collected to monitor the state of the transportation device 1, so that the transportation device 1 can trigger an alarm signal at an emergency moment, and the protection between the transportation devices 1 is improved; the diagnostic port comprises an alarm alert configured to determine a particular alarm level of a plurality of alarm levels to associate with the particular location based on a user profile and a location tag of a problem, such that the cloud server is operable to identify a fault with the transporter 1; in addition, the transportation device 1 is connected with the diagnosis port through a connecting line, so that the transportation device 1 can identify the state of the transportation device 1; detecting the state of operation of the transportation device 1 makes the positioning of the transportation device 1 more accurate, while identifying the route of transportation of the transportation device 1 and the speed of movement of the transportation device 1 based on the state of the transportation device 1.
In the process of linear transportation, the moving speed V of the transportation device 1 is collected, and a reference mark point A (A) is marked
,
) And reference mark points B (
,
) The point B is the closest reference mark point of the transportation device 1, and when the distance detection component detects that the distance from the point B is the minimum value, the detection of the offset is triggered; point a is the next reference mark point in the transport direction, and since the distance from point a to point B is known and the position of point B to the transport apparatus 1 is detected by the distance detection means, the threshold function of the change in the distance of the transport apparatus 1 from point a in the forward direction is given by formula (a),
wherein S is an offset amount, and when the distance detection means detects that the distance from the point A is a minimum value, the detection of the offset amount between the point B and the reference mark A is finished; the offset S of the current time and the offset of the last time period
If the same, the transport device 1 is not displaced.
After obtaining the offset between the transportation device 1 and the reference mark, detecting the offset of the transportation device 1 in real time to maintain the constant value.
Detecting the coordinates G of the offset
Deviation correction function of G point
The following equation was used to obtain,
wherein the content of the first and second substances,
is marked with a reference mark point A: (
,
) And reference mark points B (
,
) The cross-product of the vectors in between,
is marked with a reference mark point A: (
,
) And reference mark points B (
,
) The value of the theoretical standard deviation coefficient is determined by the deviation value between the transportation device 1 and the reference mark, and the value range is 0.265-12.36.
Taking the continuous twice data of the offset detection unit, and substituting the data into the following formula to obtain a distance function between the transportation device 1 and the positioning mark;
wherein v is the moving speed of the transportation device 1, k is a correction parameter, and the value range is 0.02-1.
The steering member of the transport device 1 is adjusted based on formula (c) such that the deflection of the transport device 1 is within an allowable range.
In addition, for the detection of the offset of the transportation device 1 at the corner, the detection may be converted into a straight line model and evaluated by referring to the offset of the straight line walking, which is a means well known to those skilled in the art, and those skilled in the art can query a relevant technical manual for obtaining the offset, so that the present embodiment is not described in detail.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
In summary, the intelligent logistics selection path planning system provided by the invention enables interaction among data of the transportation devices 1 by adopting the interaction device, realizes sharing of transportation paths, and simultaneously prevents collision among the transportation devices 1 to the maximum extent based on interaction among the transportation paths; by adopting the matching use of the induction device and the transportation device 1, the purpose and the route of the transportation device 1 can be monitored in real time when the transportation device 1 moves in the transportation path, so that the congestion of the transportation path caused by errors and omissions is prevented; the color adjuster and the identification probe are adopted to indicate the transportation route, so that the transportation device 1 cannot deviate or the transportation route is overlapped in the transportation process of the goods; by adopting the matching use of the identification end and the rotating unit, the identification end can collect the surrounding environment and integrate the data and the geographic data based on the collected data, so that the sailing route of the transportation device 1 can be shown or screened out in the running process; by positioning the position of the transportation device 1 by using the respective positioning marks and the distance detection means, the deviation of the transportation device 1 is corrected, ensuring that the transportation device 1 can be transported along the transportation path; by adopting the mode of monitoring the state of the transportation device 1 by collecting the data of the transportation device 1, the transportation device 1 can trigger an alarm signal at an emergency moment, and the protection between the transportation devices 1 is improved.
Although the invention has been described above with reference to various embodiments, it should be understood that many changes and modifications may be made without departing from the scope of the invention. That is, the methods, systems, and devices discussed above are examples. Various configurations may omit, substitute, or add various procedures or components as appropriate. For example, in alternative configurations, the methods may be performed in an order different than that described, and/or various components may be added, omitted, and/or combined. Moreover, features described with respect to certain configurations may be combined in various other configurations, as different aspects and elements of the configurations may be combined in a similar manner. Further, elements therein may be updated as technology evolves, i.e., many elements are examples and do not limit the scope of the disclosure or claims.
Specific details are given in the description to provide a thorough understanding of the exemplary configurations including implementations. However, configurations may be practiced without these specific details, for example, well-known circuits, processes, algorithms, structures, and techniques have been shown without unnecessary detail in order to avoid obscuring the configurations. This description provides example configurations only, and does not limit the scope, applicability, or configuration of the claims. Rather, the foregoing description of the configurations will provide those skilled in the art with an enabling description for implementing the described techniques. Various changes may be made in the function and arrangement of elements without departing from the spirit or scope of the disclosure.
In conclusion, it is intended that the foregoing detailed description be regarded as illustrative rather than limiting, and that it be understood that these examples are illustrative only and are not intended to limit the scope of the invention. After reading the description of the invention, the skilled person can make various changes or modifications to the invention, and these equivalent changes and modifications also fall into the scope of the invention defined by the claims.
Claims (10)
1. An intelligent logistics selection path planning system, characterized in that the path planning system comprises a path initiating device, a transportation device (1), a sensing device, a positioning device, a detection device, a distribution device, an interaction device and a processor, wherein the path initiating device is configured to load a moving path and guide the moving path of the transportation device (1) based on the moving path; the transportation device (1) is configured to collect data of the position of the goods and transport the goods; the sensing device is configured to sense the position of the transportation device (1) in real time; the transportation device (1) is configured to collect data of the position of the goods and transport the goods; the detection device is configured to detect a range of offset during movement of the transport device (1); the distribution device is configured to regulate the transportation device (1) based on the size and weight of the cargo; the interaction device is configured to network information interaction channels between the transportation devices (1).
2. The intelligent logistics selection path planning system of claim 1, wherein the path initialization device comprises a path setting device, a plurality of path reference points (10), a path generation device, and the path setting device is configured to set an initial position and a transportation destination of the cargo, and set an initial transportation route for the position and the transportation destination based on the set initial position and the set transportation destination; each path reference point (10) is configured to guide a moving turning point of the transport device (1); the path generation means are configured to perform the generation of a path based on an initial transportation route and along the position of each of the path reference points (10).
3. An intelligent logistics pick path planning system according to claim 1, characterized in that the transportation device (1) comprises an identification mechanism (2), a deflection mechanism and a mobile station, the deflection mechanism is configured to correct the position of the identification mechanism (2); the mobile station is configured to transfer the positions of the recognition means (2) and the deflection means, while verifying the path of the path initiation means; the identification mechanism (2) comprises an acquisition probe and an identification member, the acquisition probe being configured to perform data acquisition on the position and steering position of the cargo; the identification member is configured to arrange several turning reference points (12).
4. An intelligent logistics selection path planning system according to claim 1, wherein the sensing device comprises a sensing mechanism and a calibration mechanism, the sensing mechanism is configured to acquire a real-time position of the transportation device (1), and the calibration mechanism is configured to perform a calibration operation based on the real-time position and a distance from an adjacent reference point; the sensing device comprises a status unit and an upload unit, wherein the status unit is designed to detect the operating data of the transport device (1) and to transmit the operating data via the upload unit.
5. An intelligent logistics routing path planning system according to claim 1, wherein the positioning device comprises a route sensing unit, a geographic database, a network connection unit and an identification mechanism (2); the route sensing unit is configured to identify and sense the geographic database; the identification mechanism (2) is configured to upload the data to a cloud server through the network connection unit, the geographic database comprises a camera of a moving path, and the data parameters of the camera are matched with the positioning data of the identification mechanism (2); if the positioning data are matched, marking the navigation points by touching the route sensing unit; and if the positioning data are not matched, uploading the positioning data to a cloud server.
6. An intelligent logistics selection path planning system according to claim 1, characterized in that the detection device comprises an offset detection unit and a transmission unit, the offset detection unit is configured to measure the offset of the transportation device (1); the transmission unit is configured to transmit data of the offset detection unit; the offset amount detection unit includes a plurality of positioning marks each configured to be distributed along a movement path, and distance detection means configured to detect a distance closest to each of the positioning marks based on a position of the transport device (1), and generate an offset correction amount in response to the distance.
7. The intelligent logistics selection path planning system of claim 1, wherein the distribution device comprises a distribution processing unit and a diagnosis mechanism; the diagnostic means is designed to diagnose the path occupation on the basis of the information of the path initiating device and the transport device (1); if the path is not occupied, the goods are transported through the distribution processing unit; if the moving path is occupied, sequencing; the allocation processing unit is configured to allocate the condition of the good and to ship the good based on a strategy of transportation.
8. The intelligent logistics selection path planning system of claim 5, wherein the interaction means comprises an interaction unit configured to perform data interaction on the running data; the data interaction comprises remote data received via the wireless network by the network connection device and determines a plurality of reference positions of the transport means (1) at corresponding points in time, the positioning being carried out on the basis of the path information of the reference positions.
9. An intelligent logistics selection path planning system as claimed in claim 3, wherein said mobile station comprises mobile units, a support plate and a steering member, each of said mobile units being configured to be disposed on one side of said support plate; the steering member is configured to steer the moving unit; the moving unit further includes a braking member configured to brake the steering wheel.
10. An intelligent logistics pick path planning system according to claim 6, wherein the offset detection unit is further configured to collect remote data of the transportation device (1) during operation of the transportation device (1); and the remote data comprises at least one of braking information, acceleration information, geographic information, operating speed, time information, or performance data; the offset detection unit is in control connection with the diagnosis port and is used for collecting data of the transportation device (1) and realizing remote data based on wireless network transmission; meanwhile, the diagnosis port is used for detecting the state of the transportation device (1) and adjusting the whole transportation device (1) based on the state; the processing data of the transportation device (1) comprise braking information, acceleration information, geographic information, speed and time information of the transportation device (1) or performance data of the transportation device (1), and the data of the transportation device (1) are collected to monitor the state of the transportation device (1), so that the transportation device (1) can trigger an alarm signal at an emergency time, and the protection between the transportation devices (1) is improved; the diagnostic port comprises an alarm alert configured to determine a particular alarm level of a plurality of alarm levels to associate with the location of the particular alarm level based on a user profile and a location tag of a problem, such that a cloud server is capable of performing an operation of identifying a fault of the transporter (1); in addition, the transport device (1) is connected with the diagnosis port through a connecting line, so that the transport device (1) can identify the state of the transport device (1); detecting the state of operation of the transport device makes the positioning of the transport device (1) more accurate while identifying the route of transport of the transport device (1) and the speed of movement of the transport device (1) based on the state of the transport device (1);
in the process of linear transportation, the moving speed V of the transportation device (1) is collected, and a reference mark point A (A) is marked
,
) And reference mark points B (
,
) Wherein point B is the closest reference mark point of the transportation device (1), and when the distance detection component detects that the distance from the point B is the minimum value, the detection of the offset is triggered; point A being the next reference in the direction of transportA marking point, since the distance from the point A to the point B is known and the position of the point B to the transport device (1) is detected by the distance detection means, the threshold function of the change of the distance of the transport device (1) from the point A in the forward direction is given by the formula (a),
wherein S is an offset amount, and when the distance detection means detects that the distance from the point A is a minimum value, the detection of the offset amount between the point B and the reference mark A is finished; the offset S of the current time and the offset of the last time period
If the same, the transport device (1) is not displaced;
after the offset between the transportation device (1) and the reference mark is obtained, detecting the offset of the transportation device (1) in real time to maintain a constant value;
detecting the coordinates G of the offset
Deviation correction function of G point
The following equation was used to obtain,
wherein the content of the first and second substances,
is marked with a reference mark point A: (
,
) And reference mark points B (
,
) The cross-product of the vectors in between,
is marked with a reference mark point A: (
,
) And reference mark points B (
,
) The value of the theoretical standard deviation coefficient is determined by the deviation value between the transportation device (1) and the reference mark, and the value range is 0.265-12.36;
taking the data of the offset detection unit twice continuously, and substituting the data into the following formula to obtain a distance function between the transportation device (1) and the positioning mark;
wherein v is the moving speed of the transportation device (1), k is a correction parameter, and the value range is 0.02-1;
adjusting the steering member of the transport device (1) based on formula (c) such that the deflection of the transport device (1) is within an allowable range.
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