CN113568411A - Machine trolley dispatching system for track map - Google Patents
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Abstract
The invention discloses a machine trolley dispatching system for a track map, which belongs to a dispatching system, and comprises an IoT SDK docking module, a trolley message processing module, a route planning module and a central processing module, wherein the IoT SDK docking module, the trolley message processing module and the route planning module are respectively accessed into the central processing module, and the trolley message processing module is used for acquiring state information of a machine trolley and transmitting the state information to the central processing module; the state information of the machine trolleys in the automatic distribution system is received in the system through the trolley message processing module, a path planning result is generated by the route planning module according to a calling instruction and then converted into an equipment instruction to be sent to the corresponding machine trolley for execution, so that the machine trolleys walk on the track map according to the preset path and complete corresponding actions, the multiple machine trolleys run in the vertically and horizontally staggered track map simultaneously, mutual interference does not occur, and the running and use of the automatic distribution system are facilitated.
Description
Technical Field
The invention relates to a dispatching system, in particular to a machine trolley dispatching system for a track map.
Background
With the rapid development of electronic business industry in recent years, express logistics industry is developed rapidly at any time, express logistics has a mature transportation and distribution network at present, but many problems still exist in the last kilometer of delivery, such as difficulty in taking and losing and the like, at present, an express box or an express receiving point is generally arranged, a receiver needs to go to and take the express, inconvenience is hardly caused to the receiver in practical application, therefore, the development of an automatic distribution system used in residential districts and office buildings has practical and practical requirements, the automatic distribution utilizes rail transportation, in order to improve efficiency, multiple machine trolleys are generally designed to run on a rail at the same time, the multiple machine trolleys are often used to respectively deliver the express to different purposes at the same time, and further, in system architecture design, how to schedule and accurately and reasonably plan the path of the machine trolleys becomes necessary for solving the automatic distribution system The technical problem is solved, and further research and improvement on the problem are needed.
Disclosure of Invention
One of the purposes of the present invention is to provide a machine trolley dispatching system for a track map, so as to solve the technical problems that the automatic express delivery distribution system for a district, an office building, and other places in the prior art cannot uniformly and accurately dispatch a plurality of machine trolleys, reasonably plan trolley routes, and the like.
In order to solve the technical problems, the invention adopts the following technical scheme:
the invention provides a machine trolley dispatching system for a track map, which is characterized in that: the system comprises an IoT SDK docking module, a trolley message processing module, a route planning module and a central processing module, wherein the IoT SDK docking module, the trolley message processing module and the route planning module are respectively connected with the central processing module, and the IoT SDK docking module, the trolley message processing module and the route planning module are respectively connected with the central processing module, wherein: the trolley message processing module is used for acquiring the state information of the machine trolley and transmitting the state information to the central processing module, wherein the state information of the machine trolley comprises a trolley on-line message, a trolley off-line message and a trolley position change message; the central processing module is used for updating the current machine trolley state in the system according to the state information transmitted by the trolley message processing module; the route planning module is used for generating a route planning result by using a route planning algorithm after receiving a calling instruction of the internal service, and transmitting the route planning result to the central processing module; the calling instruction at least comprises that the machine trolley is required to move to a specified position; the central processing module is also used for converting the path planning result into an equipment instruction which can be recognized by the machine trolley and sending the equipment instruction to the corresponding machine trolley through the IoT SDK docking module; the path planning result generated by the route planning module is the path planning result of a plurality of machine trolleys, the central processing module firstly simulates the operation path planning result, if the path planning results of more than two machine trolleys conflict and have actions needing to be avoided, the central processing module cuts off the equipment instruction of at least one machine trolley, then sends a part of the equipment instruction to the corresponding machine trolley, then determines the time for sending the rest equipment instruction to the corresponding machine trolley according to the state information acquired from the trolley message processing module, and sends the rest equipment instruction to the corresponding machine trolley after the time arrives.
Preferably, the further technical scheme is as follows: the state information of the machine trolley also comprises trolley fault information, and the machine trolley cannot be called by internal services when the state in the system is fault and offline.
The further technical scheme is as follows: and the central processing module cuts off the equipment command at the target point of the at least one machine trolley which is avoided from the pause.
The further technical scheme is as follows: the system also comprises a micro-service framework module, wherein the micro-service framework module is used for packaging the equipment instruction obtained by the conversion of the central processing module into an RPC interface command.
The further technical scheme is as follows: when the trolley message processing module receives a trolley on-line message of the machine trolley for the first time, the central processing module initializes the current state of the machine trolley in the system.
The further technical scheme is as follows: and the central processing module is used for judging whether the position of the current machine trolley is consistent with the position pointed by the sent equipment instruction or not according to the received trolley position change message, if so, updating the state of the current machine trolley, otherwise, regenerating a path planning result by the route planning module according to the last calling instruction, converting the path planning result into the equipment instruction by the central processing module, and transmitting the equipment instruction to the current machine trolley.
The further technical scheme is as follows: the calling instruction further comprises an action command, the state information of the machine trolley further comprises a trolley action completion message, the central processing module is used for judging whether the current machine trolley completes the action command in the equipment instruction or not according to the received trolley action completion message, if so, the state of the current machine trolley is updated, otherwise, the equipment instruction containing the action command is generated again and transmitted to the current machine trolley.
The further technical scheme is as follows: the path planning algorithm used by the route planning module comprises:
step A, taking a first target node of each machine trolley as a terminal point, and obtaining a first path planning result by using a CBS scheme;
b, selecting the machine trolley with the most steps in the first path planning result as a first reference, and then adding an in-situ waiting instruction in the first path planning results of other machine trolleys to enable the steps of the first path planning results of other machine trolleys to be the same as the reference;
and C, repeating the step A and the step B by taking the second target node of each machine trolley as a terminal point to obtain a second reference and a second path planning result which is the same as the second reference step until the path planning result of the last target node of each machine trolley is obtained, and finishing the step B.
The further technical scheme is as follows: the CBS scheme in the step A is calculated through an A-x algorithm, a shortest path to a terminal point is planned for each trolley, and then whether the shortest path with the shortest distance conflicts with other trolleys is checked and judged; if the judgment result is yes, whether one machine trolley with conflict executes the current instruction is used as a distinction, two subtrees are respectively generated, and an additional constraint is added to the shortest path of the machine trolley not executing the current instruction; then, the shortest path is re-planned in the subtree to which each machine trolley belongs through A-algorithm calculation; if the judgment result is negative, continuously judging whether the other shortest path conflicts with other trolleys; and obtaining a path planning result until the shortest path from each trolley to the terminal point has no conflict.
Compared with the prior art, the invention has the following beneficial effects: the state information of the machine trolleys in the automatic distribution system is received through the trolley message processing module in the system, a path planning result is generated by the route planning module according to a calling instruction, and then the route planning result is converted into an equipment instruction by the central processing module and is sent to the corresponding machine trolleys to be executed, so that the machine trolleys walk on the track map according to a preset path and complete corresponding actions, and therefore the multiple machine trolleys can run in the criss-cross track map at the same time without interference with each other, and the operation and use of the automatic distribution system are facilitated.
Drawings
FIG. 1 is a schematic block diagram of a system architecture for illustrating one embodiment of the present invention.
FIG. 2 is a flow chart of a method for illustrating one embodiment of the present invention.
Fig. 3 is a flow chart for illustrating a CBS scheme in one embodiment of the present invention.
Fig. 4 is a schematic diagram for explaining Dijkstra algorithm.
Detailed Description
The invention is further elucidated with reference to the drawing.
Referring to fig. 1, an embodiment of the present invention is a machine car scheduling system for a track map, the system includes an IoT SDK docking module, a car message processing module, a route planning module, and a central processing module, as shown in the figure, the IoT SDK docking module, the car message processing module, and the route planning module are respectively connected to the central processing module, wherein:
the trolley message processing module is used for acquiring the state information of the machine trolley (the state information is generally reported to the message processing module by the machine trolley) and transmitting the state information to the central processing module, wherein the state information of the machine trolley comprises a trolley on-line message, a trolley off-line message and a trolley position change message. Preferably, the status information of the machine trolley further includes a trolley fault message, and the machine trolley cannot be called by the internal service when the status in the system is fault and offline.
The central processing module is used for updating the current machine trolley state in the system according to the state information transmitted by the trolley message processing module.
The route planning module is used for generating a route planning result by using a route planning algorithm after receiving a calling instruction of the internal service, and transmitting the route planning result to the central processing module; the calling instruction at least comprises the movement of the machine trolley to a specified position.
The central processing module is further configured to convert the path planning result into an equipment instruction that can be recognized by the machine trolley, and send the equipment instruction to the corresponding machine trolley through the IoT SDK docking module.
The IoT SDK docking module is also used for docking with the Aliskiu IoT platform, subscribing equipment state change from the Aliskiu IoT platform and facilitating the system to issue equipment instructions to the machine trolley.
More importantly, the path planning result generated by the path planning module is the path planning result of a plurality of machine trolleys, the central processing module firstly simulates the operation path planning result, if the path planning results of more than two machine trolleys are found to have conflict and have actions needing to be avoided, the device instruction of at least one machine trolley is cut off, then part of the device instruction is sent to the corresponding machine trolley, then the time for sending the rest device instruction to the corresponding machine trolley is determined according to the state information acquired from the trolley message processing module, and the rest device instruction is sent to the corresponding machine trolley after the time is reached. Preferably, the central processing module cuts the equipment command at the target point of the at least one machine trolley which is avoided from the pause, and sends the equipment command to the corresponding machine trolley in stages.
For example, the machine trolley a and the machine trolley B respectively pass through an intersection X of a track map according to the sequence, and if the trolley B reaches the intersection X in advance due to uncontrollable factors, the dispatching system actively enables the trolley B to wait for the trolley a to pass through first at the moment, and then sends the rest equipment instruction to the get-off vehicle B.
Further, the transaction logic of the device message processing module is as follows:
when the equipment message processing module receives the trolley on-line message, if the system receives the trolley message of the machine for the first time, the central processing module initializes equipment information in the system and maintains the state of the equipment in real time.
When the device message processing module receives the trolley offline message, the central processing module sets the machine trolley information state maintained in the system to be offline or offline, and at the moment, the machine trolley cannot be called by other internal services.
When the equipment information processing module receives the trolley position change information, the central processing module judges whether the position of the current machine trolley is consistent with the position pointed by the sent equipment instruction or not according to the received trolley position change information, if so, the state of the current machine trolley is updated, otherwise, the route planning module regenerates a route planning result according to the last calling instruction, and the central processing module converts the route planning result into the equipment instruction and transmits the equipment instruction to the current machine trolley.
Based on the control logic, the calling instruction further needs to include an action command, and the state information of the machine trolley further includes a trolley action completion message; that is, after the machine trolley reaches the target position, corresponding actions are executed, such as pushing out the express from the machine trolley or similar auxiliary actions.
According to the above idea, when the equipment message processing module receives the trolley action completion message, the central processing module judges whether the current machine trolley finishes the action command in the equipment command according to the received trolley action completion message, if so, the state of the current machine trolley is updated, otherwise, the equipment command containing the action command is generated again and transmitted to the current machine trolley, so that the trolley executes the corresponding action again until the action command in the equipment command is executed completely.
In the embodiment, the trolley message processing module receives the state information of the machine trolleys in the automatic distribution system, the route planning module generates a route planning result according to the calling instruction, and the central processing module converts the route planning result into the equipment instruction and sends the equipment instruction to the corresponding machine trolleys to execute, so that the machine trolleys walk on the track map according to the preset route and complete corresponding actions, and therefore the multiple machine trolleys can run in the criss-cross track map at the same time without mutual interference, and the automatic distribution system can be assisted to run and use.
As mentioned above, the machine car travels in the criss-cross track map, so the inventor researches the path planning algorithm used by the route planning module for the criss-cross track, and the device message processing module is the core of the whole dispatching system, and generates a path planning result through the module after receiving a service call from the outside of the system, and generates a specific device command according to the planning result. The implementation of the module algorithm can simultaneously send operation instructions to a plurality of machine trolleys, each machine trolley can designate one or more target nodes, the planning algorithm can obtain an optimal movement planning result according to a track map and the position state of each trolley, the planning results among the machine trolleys can mutually avoid barriers, and if a plurality of machine trolleys need to use the same connecting elevator, special queuing waiting instructions can be generated.
Based on the technical purpose, after many experiments, the inventor considers that the algorithm can be performed according to the following steps for the criss-cross track map as shown in fig. 2:
step S1, taking the first target node of each machine trolley as a terminal point, and obtaining a first path planning result by using a CBS scheme;
step S2, selecting the machine trolley with the most steps in the first path planning result as a first reference, and then adding an in-situ waiting instruction in the first path planning results of other machine trolleys to enable the steps of the first path planning results of other machine trolleys to be the same as the reference;
step S3, taking the second target node of each machine car as a terminal, then checking whether there is a target point to be planned for each machine car, if yes, repeating the previous two steps to obtain a second reference and a second path planning result identical to the second reference step, and after repeating again, obtaining a third reference and a second path planning result identical to the third reference step, and so on until obtaining a path planning result of the last target node of each machine car, and completing step S2.
After the above steps are finished, the path planning of the multiple machine trolleys is finished, and at this time, the multiple machine trolleys can walk in the rail map according to the planned path.
Referring to fig. 3, the CBS scheme has been introduced, and returning to the method of this embodiment, the CBS scheme in step S1 is the same as that described above, specifically:
planning a shortest path to a terminal point for each trolley through calculation of an A-x algorithm, and then checking and judging whether the shortest path with the shortest distance conflicts with other trolleys.
If the judgment result is yes, whether one machine trolley with conflict executes the current instruction is used as a distinction, two subtrees are respectively generated, and an additional constraint is added to the shortest path of the machine trolley not executing the current instruction; and then, the shortest path is re-planned in the subtree to which each machine trolley belongs through calculation of an A-x algorithm, namely, the paths with conflicts are skipped in the process of re-planning the shortest paths.
If the judgment result is negative, whether the other shortest path conflicts with other trolleys or not is continuously judged.
And obtaining the first, second, third and Nth path planning results until the shortest path from each trolley to the terminal point has no conflict.
The algorithm of the invention effectively solves the problem of path planning of multiple machine trolleys and multiple target nodes by the improvement based on the A-algorithm and the CBS scheme, is suitable for being used in a community automatic express delivery distribution system, and optimizes the distribution of express logistics for the last kilometer.
It should also be clear that the a-algorithm used in the above embodiments, as well as the CBS (Conflict-Based Search) scheme, solves the MAPF (Multi-Agent Path filing) problem.
The above-mentioned a-algorithm is an improved version of Dijkstra algorithm, and aims to solve the problem of low efficiency of Dijkstra, and it has just been mentioned that the Dijkstra algorithm does not know the position of a target node, so that it can only extend nodes in all possible directions until the target node is found. In order to solve the problem, a heuristic function h (n) is introduced on the basis of Dijkstra, wherein h (n) represents the cost from the current node to the target node, the optimality is guaranteed, meanwhile, the information of the target node is added, and the searching efficiency is improved.
The heuristic function h (n) is typically the distance from n points to the target point:
in the above formula, Xn is the X-axis coordinate of the n point, Yn is the Y-axis coordinate of the n point, Xg is the X-axis coordinate of the target point, and Yg is the Y-axis coordinate of the target point.
If the problem of fig. 4 is solved with the a-algorithm, the steps of Dijkstra's algorithm are reduced using a heuristic function h (n):
since h (N1) > h (N2), the path from the starting point to N1 is ignored;
the path from the starting point to N2 has: Start-N2 (12), shortest path is Start-N2 (12);
since h (N3) > h (N4), the path from the starting point to N3 is ignored;
the path from the starting point to N4 has: Start-N2-N4 (24), shortest path is Start-N2-N4 (24);
the path from the starting point to the target point is: Start-N4-Goal (36), shortest path is Start-N4-Goal (36);
the shortest path can be finally found as: Start-N2-N4-Goal (36). It can be seen that the a-x algorithm can filter out non-optimal paths in advance, and prevent too many invalid planning paths from being traversed.
In summary, the a-algorithm is already a relatively perfect path planning scheme for a single machine trolley, but cannot satisfy the planning problem for multiple machine trolleys, because the a-algorithm only obtains the optimal planning path for each machine trolley, it cannot be guaranteed that there is no conflict between the planning results.
The application scenario of the invention is Multi-Agent Path Matching (MAPF), that is, a Path is planned for each machine trolley, so that the paths are guaranteed not to collide with each other, and the total running time is minimized. As shown in FIG. 2, the CBS scheme of the present invention is briefly as follows:
step 1, planning a shortest path for each machine trolley, and temporarily ignoring the planning result possibly to conflict with the planning results of other machine trolleys;
step 2, checking whether the current shortest path conflicts with other trolleys, if a conflict algorithm exists, respectively generating two subtrees according to whether one machine trolley executes the current instruction and the reference, and adding an additional constraint to the machine trolley which does not execute the instruction so as to ensure that the later planning can solve the conflict;
step 3, re-planning the route in the subtree maintained by the respective machine trolley, wherein the existing conflict can be automatically solved by the planning at the moment by combining with the added constraint;
and 4, repeating the previous process until all planning results have no conflict.
After the basic structure of the scheduling system and the path planning algorithm used by the scheduling system provided by the present invention are clarified, referring to fig. 1, another embodiment of the present invention is to add a micro-service framework module based on the above system structure, and encapsulate the device instruction converted by the central processing module into an RPC interface command by using the micro-service framework module, so as to be called by other internal services.
In addition to the foregoing, it should be noted that reference throughout this specification to "one embodiment," "another embodiment," "an embodiment," or the like, means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment described generally throughout this application. The appearances of the same phrase in various places in the specification are not necessarily all referring to the same embodiment. Further, when a particular feature, structure, or characteristic is described in connection with any embodiment, it is submitted that it is within the scope of the invention to effect such feature, structure, or characteristic in connection with other embodiments.
Although the invention has been described herein with reference to a number of illustrative embodiments thereof, it should be understood that numerous other modifications and embodiments can be devised by those skilled in the art that will fall within the spirit and scope of the principles of this disclosure. More specifically, various variations and modifications are possible in the component parts and/or arrangements of the subject combination arrangement within the scope of the disclosure, the drawings and the appended claims. In addition to variations and modifications in the component parts and/or arrangements, other uses will also be apparent to those skilled in the art.
Claims (9)
1. A machine trolley dispatch system for a track map, characterized by: the system comprises an IoT SDK docking module, a trolley message processing module, a route planning module and a central processing module, wherein the IoT SDK docking module, the trolley message processing module and the route planning module are respectively connected with the central processing module, and the IoT SDK docking module, the trolley message processing module and the route planning module are respectively connected with the central processing module, wherein:
the trolley message processing module is used for acquiring the state information of the machine trolley and transmitting the state information to the central processing module, wherein the state information of the machine trolley comprises a trolley on-line message, a trolley off-line message and a trolley position change message;
the central processing module is used for updating the current machine trolley state in the system according to the state information transmitted by the trolley message processing module;
the route planning module is used for generating a route planning result by using a route planning algorithm after receiving a calling instruction of the internal service, and transmitting the route planning result to the central processing module; the calling instruction at least comprises that the machine trolley is required to move to a specified position;
the central processing module is also used for converting the path planning result into an equipment instruction which can be recognized by the machine trolley and sending the equipment instruction to the corresponding machine trolley through the IoT SDK docking module;
the path planning result generated by the route planning module is the path planning result of a plurality of machine trolleys, the central processing module firstly simulates the operation path planning result, if the path planning results of more than two machine trolleys conflict and have actions needing to be avoided, the central processing module cuts off the equipment instruction of at least one machine trolley, then sends a part of the equipment instruction to the corresponding machine trolley, then determines the time for sending the rest equipment instruction to the corresponding machine trolley according to the state information acquired from the trolley message processing module, and sends the rest equipment instruction to the corresponding machine trolley after the time arrives.
2. The machine-trolley dispatch system for track maps as claimed in claim 1, wherein: the state information of the machine trolley also comprises trolley fault information, and the machine trolley cannot be called by internal services when the state in the system is fault and offline.
3. The machine-trolley dispatch system for track maps as claimed in claim 1, wherein: and the central processing module cuts off the equipment command at the target point of the at least one machine trolley which is avoided from the pause.
4. The machine-trolley dispatch system for track maps as claimed in claim 1, wherein: the system also comprises a micro-service framework module, wherein the micro-service framework module is used for packaging the equipment instruction obtained by the conversion of the central processing module into an RPC interface command.
5. The machine-trolley dispatch system for track maps as claimed in claim 1, wherein: when the trolley message processing module receives a trolley on-line message of the machine trolley for the first time, the central processing module initializes the current state of the machine trolley in the system.
6. The machine-trolley dispatching system for track maps as claimed in claim 1 or 5, wherein: and the central processing module is used for judging whether the position of the current machine trolley is consistent with the position pointed by the sent equipment instruction or not according to the received trolley position change message, if so, updating the state of the current machine trolley, otherwise, regenerating a path planning result by the route planning module according to the last calling instruction, converting the path planning result into the equipment instruction by the central processing module, and transmitting the equipment instruction to the current machine trolley.
7. The machine-trolley dispatch system for track maps as claimed in claim 1, wherein: the calling instruction further comprises an action command, the state information of the machine trolley further comprises a trolley action completion message, the central processing module is used for judging whether the current machine trolley completes the action command in the equipment instruction or not according to the received trolley action completion message, if so, the state of the current machine trolley is updated, otherwise, the equipment instruction containing the action command is generated again and transmitted to the current machine trolley.
8. The machine-car-dispatching system for track maps of claim 1, wherein the path-planning module uses a path-planning algorithm comprising:
step A, taking a first target node of each machine trolley as a terminal point, and obtaining a first path planning result by using a CBS scheme;
b, selecting the machine trolley with the most steps in the first path planning result as a first reference, and then adding an in-situ waiting instruction in the first path planning results of other machine trolleys to enable the steps of the first path planning results of other machine trolleys to be the same as the reference;
and C, repeating the step A and the step B by taking the second target node of each machine trolley as a terminal point to obtain a second reference and a second path planning result which is the same as the second reference step until the path planning result of the last target node of each machine trolley is obtained, and finishing the step B.
9. The machine-car dispatch system for track maps of claim 8, wherein: the CBS scheme in the step A is calculated through an A-x algorithm, a shortest path to a terminal point is planned for each trolley, and then whether the shortest path with the shortest distance conflicts with other trolleys is checked and judged;
if the judgment result is yes, whether one machine trolley with conflict executes the current instruction is used as a distinction, two subtrees are respectively generated, and an additional constraint is added to the shortest path of the machine trolley not executing the current instruction; then, the shortest path is re-planned in the subtree to which each machine trolley belongs through A-algorithm calculation;
if the judgment result is negative, continuously judging whether the other shortest path conflicts with other trolleys;
and obtaining a path planning result until the shortest path from each trolley to the terminal point has no conflict.
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