CN113359755A - Scheduling system and method for tracking transport vehicle - Google Patents
Scheduling system and method for tracking transport vehicle Download PDFInfo
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- G05D1/02—Control of position or course in two dimensions
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- G05D1/02—Control of position or course in two dimensions
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- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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Abstract
The invention discloses a dispatching system and a method of a tracking transport vehicle, wherein the system comprises a tracking trolley, a wireless positioning system for acquiring position information of the tracking trolley and a dispatching system for planning a driving path, the tracking trolley is provided with a microcontroller, a tracking module for identifying a ground driving track, an obstacle avoidance module for identifying an obstacle and a wireless positioning tag for positioning the tracking trolley, the microcontroller is respectively connected with the tracking module and the obstacle avoidance module, and the wireless positioning tag is wirelessly connected with the wireless positioning system; the wireless positioning system comprises a wireless positioning base station and a server, wherein the wireless positioning base station is used for positioning the wireless positioning tags, the server is in wireless connection with the wireless positioning base station, the server is in wireless connection with the scheduling system, and the scheduling system is in wireless connection with the microcontroller and is used for transmitting a driving route. The invention can effectively position the tracking trolley, realizes intelligent scheduling and distribution of the tracking trolley and improves the operation efficiency of the scheduling system.
Description
Technical Field
The application relates to the technical field of vehicle dispatching control, in particular to a dispatching system and a method of a tracking transport vehicle.
Background
At present, the automation degree of a plurality of domestic warehouse management systems is low, the traditional logistics storage industry transports and sorts goods through manual operation, and the following problems mainly exist: firstly, the labor cost is high, and a large amount of labor resources are consumed in the traditional operation mode; secondly, the operation efficiency is low, manual operation is needed in the links of picking, carrying and the like of goods, the operation speed is limited, and the operation accuracy rate is not too high; thirdly, the management of the warehouse requires manual decision, which is more confusing when the warehouse is large in scale, and therefore, it is urgently needed to research a warehouse management system to improve the efficiency of the logistics transportation operation.
Disclosure of Invention
In order to overcome the defects and shortcomings of the prior art, the invention provides a system and a method for scheduling a tracking transport vehicle, which aim at scheduling management of the tracking transport vehicle and effectively improve the efficiency of storage logistics transportation and management.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention provides a scheduling system of a tracking transport vehicle, comprising: the system comprises a tracking trolley, a wireless positioning system and a scheduling system for planning a driving path;
the tracking trolley is provided with a microcontroller, a tracking module for identifying a ground running track, an obstacle avoidance module for identifying obstacles, a wireless positioning tag for positioning the tracking trolley and a camera, wherein the microcontroller is respectively connected with the tracking module, the obstacle avoidance module and the camera for data interaction;
the wireless positioning system comprises a server and a wireless positioning base station, the server is in wireless connection with the wireless positioning base station, the wireless positioning base station identifies a wireless positioning tag of the tracking trolley, the positions of the wireless positioning base station and the wireless positioning tag are obtained through the UWB technology, the position information is sent to the server, and the server transmits the position information to the scheduling system;
the dispatching system receives the position information of the wireless positioning base station and the wireless positioning label through the wireless positioning system to plan a driving route, calculates the shortest driving path between a starting point and a terminal point, transmits the driving route to a microcontroller of the tracking trolley, carries out the dispatching control of the driving route of the tracking trolley, and simultaneously receives and displays a video image sent by the tracking trolley;
and the dispatching system carries out smoothing treatment on the shortest driving path between the starting point and the end point, traverses all nodes on the driving path, eliminates the middle node of the extension line when no obstacle exists on the connection line of the front node and the rear node of a certain node, updates the father node of the eliminated point, forms the driving path after smoothing treatment and outputs the driving path.
As the preferred technical scheme, the communication between the dispatching system and the tracking trolley and the wireless positioning system adopts a TCP/IP wireless communication protocol.
As an optimal technical scheme, a heartbeat detection mechanism is adopted to judge whether data receiving and sending between the dispatching system and the tracking trolley and between the dispatching system and the wireless positioning system are normal or not, and sleep time is set.
As a preferable technical scheme, the tracking module adopts at least 3 pairs of infrared reflection type photoelectric sensors, is arranged in front of the trolley and is in a linear or herringbone layout.
As a preferred technical scheme, the camera adopts a USB camera, and the obstacle avoidance module adopts any one or more of an ultrasonic obstacle avoidance sensor, an infrared obstacle avoidance sensor or a laser obstacle avoidance sensor.
The invention also provides a dispatching method of the tracking transport vehicle, which is provided with the dispatching system of the tracking transport vehicle and comprises the following steps:
after the microcontroller of the tracking trolley is connected with the dispatching system, the camera transmits the acquired video image to the dispatching system;
the wireless positioning system acquires the position information of a positioning label on the tracking trolley, acquires the positions of a wireless positioning base station and the wireless positioning label through a UWB technology, and transmits the position information to the dispatching system;
the dispatching system acquires the coordinates of the positioning label by accessing the server terminal, positions the position of the tracking trolley, plans the shortest driving path between the starting point and the end point, sends the planned path information to the tracking trolley, and simultaneously receives and displays the video image sent by the tracking trolley to realize the video monitoring function;
the dispatching system carries out smoothing processing on the shortest driving path between the starting point and the end point, traverses all nodes on the driving path, eliminates the middle node of the extension line when no obstacle exists on the connection line of the front node and the rear node of a certain node, updates the father node of the eliminated point, forms the driving path after smoothing processing and outputs the driving path;
the tracking trolley receives control information of the dispatching system, and the tracking trolley travels along the planned path in a tracking mode;
the tracking module identifies the track on the ground, the identification result is transmitted to the microcontroller, the microcontroller is compared with the planned path information to judge whether the running route of the trolley is correct, if the running route of the trolley deviates from the received path information, the running state of the tracking trolley is adjusted, and meanwhile, when the obstacle avoidance module detects that an obstacle exists in front of the trolley, a signal is sent to the microcontroller to adjust the running state of the tracking trolley;
and judging whether the tracking trolley reaches the end point, if not, continuing to adjust the running state of the tracking trolley, and if so, ending the dispatching of the tracking trolley.
As a preferred technical solution, the planning of the shortest driving path between the starting point and the ending point includes the specific steps of:
initializing the obtained topographic map, converting the topographic map into a grid map, and dividing a search area according to meshes;
establishing a queue set OpenList and a CloseList, wherein the OpenList is used for storing nodes waiting for expansion, the CloseList is used for storing the CloseList of the expanded nodes, and a starting point is added into the OpenList;
traversing OpenList, taking the node with the minimum weight value as the current node to be processed, and then moving the node to CloseList;
checking the 8-direction adjacent squares of the node currently to be processed one by one, if the square is not reachable or in CloseList, ignoring the square, otherwise, performing the following steps:
if the square is not in the OpenList, adding the square into the OpenList, and setting the node to be processed currently as a father node of the square;
if the square is already in OpenList, checking whether the weight reaching the square through the node to be processed currently is smaller, if so, setting the father node of the square as the node to be processed currently, and recalculating the weight of the square;
adding the end point into OpenList to obtain the shortest path, smoothing, traversing all nodes on the path, removing the middle nodes of the extension line when no obstacle exists on the connection line of the front node and the rear node of a certain node, updating the father nodes of the removed points, starting from the last end point after smoothing, and moving each square along the father nodes until the starting point to form the shortest path and outputting the shortest path.
Compared with the prior art, the invention has the following advantages and beneficial effects:
(1) the invention combines the internet of things technology and the indoor wireless positioning technology, can effectively position the tracking trolley, is convenient for a dispatching system to manage and dispatch tasks, takes the automatic tracking obstacle avoidance trolley as a control object, is connected with the tracking module and the obstacle avoidance module and performs data interaction, and is connected with the microcontroller of the trolley and used for sending a driving path, thereby fully utilizing the resources of the system and simultaneously improving the operating efficiency of the dispatching system.
(2) The invention adopts a TCP/IP wireless communication protocol and a heartbeat detection mechanism, improves the transmission efficiency of data and ensures the stable communication between the dispatching system and the tracking trolley and between the dispatching system and the positioning system.
(3) The invention adopts the video server to carry out real-time wireless image transmission, and is convenient for the dispatching system to record the images of the obstacles along the driving path of the trolley.
(4) The invention carries out the shortest path planning of the tracking trolley, solves the problem that the dispatching system can not find the shortest path quickly under the condition of an obstacle, reduces the consumption of time and electric energy and realizes the efficient operation of the dispatching system; aiming at the problems of more broken lines, more turning times and the like of the path obtained by the traditional path planning algorithm, the invention carries out smoothing treatment on the line, traverses all nodes on the obtained optimal path, eliminates the middle node of the extension line when no obstacles exist on the connecting line of the front node and the rear node of a certain node, and updates the father node of the eliminated point, thereby achieving the technical effect of reducing the number of the broken lines and the turning times of the line.
Drawings
FIG. 1 is a block diagram of a dispatching system of a tracked transport vehicle according to an embodiment;
FIG. 2 is a schematic diagram of a motor driving module of the dispatching system of the tracked transport vehicle according to the embodiment;
FIG. 3 is a schematic diagram of an infrared tracking module of the dispatching system for tracking a transportation vehicle according to the embodiment;
FIG. 4 is a schematic diagram of an external interface of a microcontroller of the dispatching system of the tracked transport vehicle according to the present embodiment;
fig. 5 is a schematic diagram of a shortest path planning process of the scheduling method of the tracked transportation vehicle according to the embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and 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.
Examples
As shown in fig. 1, the present embodiment provides a dispatching system for a tracking transportation vehicle, which includes a tracking trolley, a wireless positioning system, and a dispatching system for planning a driving path;
the communication between the dispatching system and the tracking trolley and the wireless positioning system adopts a TCP/IP wireless communication protocol, the TCP can ensure that all data sent to a certain subsystem can arrive correctly, and the IP sets all standards for circulation on the network; whether data receiving and sending between the scheduling system and the tracking trolley and between the scheduling system and the wireless positioning system are normal or not is judged by adopting a heartbeat detection mechanism, and the sleep time is set in a heartbeat detection thread without continuously sending ping messages, so that the unnecessary consumption of the system can be reduced; by modifying the thresholds of the delays of the nodes in the same subnet, network delays to a certain extent can be resolved.
The tracking trolley of the embodiment is provided with a microcontroller, a tracking module for identifying a ground running track, an obstacle avoidance module for identifying obstacles, a wireless positioning tag for positioning the tracking trolley and a camera, wherein the microcontroller is respectively connected with the tracking module, the obstacle avoidance module and the camera for data interaction;
the wireless positioning system comprises a server and a wireless positioning base station, wherein the server is in wireless connection with the wireless positioning base station, the wireless positioning base station identifies a wireless positioning tag of a tracking trolley, the positions of the wireless positioning base station and the wireless positioning tag are obtained through the UWB technology, the position information is sent to the server, and the server transmits the position information to a scheduling system;
the dispatching system of the embodiment plans the running route by receiving the position information of the wireless positioning base station and the wireless positioning label through the wireless positioning system, and transmits the running route to the microcontroller of the tracking trolley to carry out the dispatching control of the running route of the tracking trolley;
the tracking trolley of the embodiment is also provided with a motor driving module, driving motors, wheels, a chassis and tires, wherein each wheel is provided with the driving motor independently, the driving motors are respectively arranged at the left side and the right side of the chassis and are four in front and back, the wheels are arranged on the shafts of the driving motors, the trolley can run by the rotation of the driving motors, the motor driving module receives running control signals sent by a microcontroller, the microcontroller is arranged on the chassis of the trolley, as shown in figure 2, the motor driving module is connected with the four driving motors to provide power for the driving motors and receive the control signals sent by the microcontroller to control the rotation of each driving motor, so that the actions of going straight, turning and the like can be realized, the tracking module is arranged right in front of the chassis of the trolley, the obstacle avoidance module is arranged in front of the trolley, the USB camera is arranged at the front end of the chassis of the trolley, and wirelessly transmits video images to the video server, the video server is transmitted to the dispatching system through the wireless network, the dispatching system checks the video server, the video monitoring function is achieved, when equipment in the local area network accesses the video server of the trolley, the image shot by the trolley camera can be obtained, the tracking and obstacle avoidance functions can be assisted or responsible through image recognition, and higher efficiency is achieved.
The wireless positioning tag of the embodiment is arranged on a chassis of the trolley, and after the wireless positioning base station identifies the tag, the wireless positioning base station sends related information to a server end of a wireless positioning system to realize positioning;
as shown in fig. 3, the tracking module of this embodiment adopts at least 3 pairs of ir-reflective photo sensors, which are installed in front of the cart and arranged in a straight line or a herringbone manner, and in this embodiment, 4 pairs of ir-reflective photo sensors are taken as an example, and when the ir-reflective photo sensors detect a black track, a high level is output, and when the ir-reflective photo sensors do not detect a black track, a low level is output. The high level is represented by 1, the low level is represented by 0, and the output result can have the following conditions: firstly, the trolley is in a straight-going state, the black track is positioned in the middle of two pairs of sensors on the inner side, the four pairs of infrared reflection type photoelectric sensors do not detect the black track, and the output is 0000; secondly, when the track is bent and deviates from the straight line direction, one of the two pairs of infrared reflection type photoelectric sensors on the inner side is required to detect a black track, if the output is 0100, the track deviates to the left, and the trolley needs to turn to the left, otherwise, if the output is 0010, the track deviates to the right, and the trolley needs to turn to the right; thirdly, when the angle of a curve exceeds 90 degrees, the outer infrared reflection type photoelectric sensor can detect a black track firstly, the corresponding output is 1000 or 0001, and the vehicle can not turn due to overlarge turning radius of the vehicle when turning in a general mode, so that the vehicle needs to turn left on site or turn right on site.
As shown in fig. 4, the microcontroller of this embodiment adopts a raspberry pi, which is equivalent to a microcomputer, and when the scheduling system and the raspberry pi are connected to the same lan, the raspberry pi is connected to the scheduling system in the lan, the camera of this embodiment adopts a USB camera, and the obstacle avoidance module adopts any one or more of an ultrasonic obstacle avoidance sensor, an infrared obstacle avoidance sensor, or a laser obstacle avoidance sensor.
The scheduling system of the embodiment adopts a path scheduling method, marks a plurality of black driving routes on the ground of the warehouse, inputs a starting point and an end point on the scheduling system, calculates the shortest driving route between the two points, namely one shortest route of the plurality of routes on the ground of the warehouse, then controls the tracking trolley to drive on the calculated shortest route, uploads the position through the wireless positioning system, drives along the black route tracks through the tracking module and the obstacle avoidance module, and returns an instruction to the scheduling system after reaching the end point.
The implementation manner of the scheduling system of the tracking transport vehicle of the embodiment is as follows:
after the microcontroller of the tracking trolley is connected with the dispatching system, the camera is opened to transmit video images, and the camera transmits the acquired video images to the dispatching system;
the wireless positioning system acquires the position information of a positioning label on the tracking trolley, acquires the positions of a wireless positioning base station and the wireless positioning label through a UWB technology, and transmits the position information to the dispatching system;
the dispatching system acquires the coordinates of the positioning labels through accessing the server side, realizes the positioning of the trolley position, carries out route planning, sends planned path information to the tracking trolley, and simultaneously receives and displays video images sent by the trolley to realize the video monitoring function;
the tracking trolley receives control information of the dispatching system, and the tracking trolley travels along the planned path in a tracking mode;
the tracking module identifies the track on the ground, the identification result is transmitted to the microcontroller, the microcontroller is compared with the planned path information to judge whether the running route of the trolley is correct, if the running route of the trolley deviates from the received path information, the running state of the tracking trolley is adjusted, and meanwhile, when the obstacle avoidance module detects that an obstacle exists in front of the trolley, a signal is sent to the microcontroller to adjust the running state of the tracking trolley;
the tracking trolley of the embodiment controls the motor driving module through the microcontroller to adjust the running state of the tracking trolley, and performs corresponding adjustment such as steering;
and judging whether the tracking trolley reaches the end point, if not, continuing to adjust the running state of the tracking trolley, and if so, ending the dispatching of the tracking trolley.
As shown in fig. 5, the shortest path planning of the tracking car is performed in this embodiment, so that the problem that the scheduling system cannot find the shortest path quickly in the case of an obstacle is solved, the consumption of time and electric energy is reduced, and the efficient operation of the scheduling system is realized, and the specific steps are as follows:
firstly, initializing the obtained terrain map, converting the terrain map into a grid map, and dividing a search area according to meshes.
Then, two queue sets are established, one is an OpenList for storing nodes waiting for expansion, the other is a CloseList for storing nodes which have been expanded, and a starting point is added into the OpenList.
Then, the following process is repeated:
firstly, traversing OpenList, taking the node with the minimum weight as the current node to be processed, and then moving the node to CloseList;
checking the 8-direction adjacent squares of the node to be processed one by one, if the square is not reachable or in the CloseList, ignoring the square, otherwise, performing the following operations:
a. if the node is not in the OpenList, adding the node into the OpenList, and setting the node to be processed currently as a parent node of the node;
b. if it is already in the OpenList, it is checked whether the weight to reach it via the node currently to be processed is smaller. If smaller, set its parent node as the node currently to be processed and recalculate its weight.
③ stopping the search when:
a. adding the end point into the OpenList, wherein the best path is obtained;
b. finding an endpoint fails and the OpenList is empty, at which point there is no path.
And finally, when the optimal path is obtained, smoothing the optimal path, namely traversing all nodes on the path, and when no obstacle exists on the connection line of the front node and the rear node of a certain node, removing the middle node of the extension line and updating the father node of the removed point. After the smoothing treatment, each grid moves from the final end point to the starting point along the father node to form a path and output, thereby reducing the number of broken lines and the number of broken times of the line.
The system combines the internet of things technology and the indoor wireless positioning technology, can effectively position the tracking trolley, is convenient for a dispatching system to manage and dispatch tasks, takes the automatic tracking obstacle avoidance trolley as a control object, is connected with the tracking module and the obstacle avoidance module and performs data interaction, is connected with the microcontroller of the trolley and is used for sending a running path, and fully utilizes the resources of the system and simultaneously improves the running efficiency of the dispatching system.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.
Claims (7)
1. A dispatch system for a tracked transport vehicle, comprising: the system comprises a tracking trolley, a wireless positioning system and a scheduling system for planning a driving path;
the tracking trolley is provided with a microcontroller, a tracking module for identifying a ground running track, an obstacle avoidance module for identifying obstacles, a wireless positioning tag for positioning the tracking trolley and a camera, wherein the microcontroller is respectively connected with the tracking module, the obstacle avoidance module and the camera for data interaction;
the wireless positioning system comprises a server and a wireless positioning base station, the server is in wireless connection with the wireless positioning base station, the wireless positioning base station identifies a wireless positioning tag of the tracking trolley, the positions of the wireless positioning base station and the wireless positioning tag are obtained through the UWB technology, the position information is sent to the server, and the server transmits the position information to the scheduling system;
the dispatching system receives the position information of the wireless positioning base station and the wireless positioning label through the wireless positioning system to plan a driving route, calculates the shortest driving path between a starting point and a terminal point, transmits the driving route to a microcontroller of the tracking trolley, carries out the dispatching control of the driving route of the tracking trolley, and simultaneously receives and displays a video image sent by the tracking trolley;
and the dispatching system carries out smoothing treatment on the shortest driving path between the starting point and the end point, traverses all nodes on the driving path, eliminates the middle node of the extension line when no obstacle exists on the connection line of the front node and the rear node of a certain node, updates the father node of the eliminated point, forms the driving path after smoothing treatment and outputs the driving path.
2. The tracking transportation vehicle dispatching system of claim 1, wherein the dispatching system communicates with the tracking trolley and the wireless positioning system using TCP/IP wireless communication protocol.
3. The tracking transportation vehicle dispatching system of claim 1, wherein a heartbeat detection mechanism is used to determine whether data transmission and reception between the dispatching system and the tracking trolley and the wireless positioning system is normal, and to set a sleep time.
4. The tracking transport vehicle dispatching system of claim 1, wherein the tracking module employs at least 3 pairs of IR-reflective photoelectric sensors mounted in front of the cart in a linear or herringbone configuration.
5. The tracking transportation vehicle dispatching system of claim 1, wherein the camera is a USB camera, and the obstacle avoidance module is any one or more of an ultrasonic obstacle avoidance sensor, an infrared obstacle avoidance sensor or a laser obstacle avoidance sensor.
6. A method for dispatching a tracked transport vehicle, characterized in that a dispatching system of a tracked transport vehicle according to any one of claims 1 to 5 is provided, comprising the steps of:
after the microcontroller of the tracking trolley is connected with the dispatching system, the camera transmits the acquired video image to the dispatching system;
the wireless positioning system acquires the position information of a positioning label on the tracking trolley, acquires the positions of a wireless positioning base station and the wireless positioning label through a UWB technology, and transmits the position information to the dispatching system;
the dispatching system acquires the coordinates of the positioning label by accessing the server terminal, positions the position of the tracking trolley, plans the shortest driving path between the starting point and the end point, sends the planned path information to the tracking trolley, and simultaneously receives and displays the video image sent by the tracking trolley to realize the video monitoring function;
the dispatching system carries out smoothing processing on the shortest driving path between the starting point and the end point, traverses all nodes on the driving path, eliminates the middle node of the extension line when no obstacle exists on the connection line of the front node and the rear node of a certain node, updates the father node of the eliminated point, forms the driving path after smoothing processing and outputs the driving path;
the tracking trolley receives control information of the dispatching system, and the tracking trolley travels along the planned path in a tracking mode;
the tracking module identifies the track on the ground, the identification result is transmitted to the microcontroller, the microcontroller is compared with the planned path information to judge whether the running route of the trolley is correct, if the running route of the trolley deviates from the received path information, the running state of the tracking trolley is adjusted, and meanwhile, when the obstacle avoidance module detects that an obstacle exists in front of the trolley, a signal is sent to the microcontroller to adjust the running state of the tracking trolley;
and judging whether the tracking trolley reaches the end point, if not, continuing to adjust the running state of the tracking trolley, and if so, ending the dispatching of the tracking trolley.
7. The method of claim 6, wherein the step of planning the shortest driving path between the start point and the end point comprises:
initializing the obtained topographic map, converting the topographic map into a grid map, and dividing a search area according to meshes;
establishing a queue set OpenList and a CloseList, wherein the OpenList is used for storing nodes waiting for expansion, the CloseList is used for storing the CloseList of the expanded nodes, and a starting point is added into the OpenList;
traversing OpenList, taking the node with the minimum weight value as the current node to be processed, and then moving the node to CloseList;
checking the 8-direction adjacent squares of the node currently to be processed one by one, if the square is not reachable or in CloseList, ignoring the square, otherwise, performing the following steps:
if the square is not in the OpenList, adding the square into the OpenList, and setting the node to be processed currently as a father node of the square;
if the square is already in OpenList, checking whether the weight reaching the square through the node to be processed currently is smaller, if so, setting the father node of the square as the node to be processed currently, and recalculating the weight of the square;
adding the end point into OpenList to obtain the shortest path, smoothing, traversing all nodes on the path, removing the middle nodes of the extension line when no obstacle exists on the connection line of the front node and the rear node of a certain node, updating the father nodes of the removed points, starting from the last end point after smoothing, and moving each square along the father nodes until the starting point to form the shortest path and outputting the shortest path.
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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