CN113671945A - Unmanned transport vehicle scheduling management method and management system thereof - Google Patents
Unmanned transport vehicle scheduling management method and management system thereof Download PDFInfo
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- 238000001514 detection method Methods 0.000 claims description 11
- 238000013459 approach Methods 0.000 claims description 8
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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Abstract
The invention relates to the technical field of automatic control, in particular to a dispatching management method and a management system of an unmanned transport vehicle, which comprises the following steps: detecting the position and the running state of each unmanned transport vehicle in the running track in real time to obtain the position information and the running state information of each unmanned transport vehicle; determining the failed unmanned transport vehicle according to the running state information; determining the unmanned transport vehicle adjacent to the unmanned transport vehicle with the fault according to the position information of the unmanned transport vehicle with the fault, and defining the unmanned transport vehicle as an auxiliary unmanned transport vehicle; driving the auxiliary unmanned transport vehicle to be in butt joint with the unmanned transport vehicle with the fault, and driving the unmanned transport vehicle with the fault to drive into a recovery station on the running track; in the invention, the influence of the fault unmanned transport vehicle on other unmanned transport vehicles in the track is lower, thereby effectively ensuring the successful issuing of the certificate and ensuring the overall certificate issuing efficiency.
Description
Technical Field
The invention relates to the technical field of automatic control, in particular to an unmanned transport vehicle dispatching management method and an unmanned transport vehicle dispatching management system.
Background
With the development of society, residents often need to utilize various personal certificates in daily life; the certificates in the market today are identity cards, residence certificates, bank cards, social security cards, passports, account books and the like. After the residents apply for the certificates, the certificate making center makes the certificates; after the certificates are manufactured, the certificates are picked up one by the unmanned transport vehicle and then are transported to the certificate outlet window for being picked up by the user, so that the certificate issuing work is completed.
In an actual working environment, the unmanned transport vehicles are generally arranged in the track, and occasionally have faults, so that the unmanned transport vehicles stay on the track and cannot run; in prior art, because be equipped with many unmanned transport vechicles on the track, when certain unmanned transport vechicle leads to unable the traveling because of the trouble on the track, it will lead to the unmanned transport vechicle at rear to lead to its unable normal traffic because of receiving blockking of the unmanned transport vechicle of preceding trouble, lead to whole issuing system will be unable to carry out normal issue of certificate, greatly influenced the efficiency of issuing certificate.
Disclosure of Invention
In order to overcome the above drawbacks, the present invention provides a method for managing and scheduling an unmanned transportation vehicle and a management system using the method, which can realize automatic recycling of the unmanned transportation vehicle.
The purpose of the invention is realized by the following technical scheme:
the invention relates to a dispatching management method for an unmanned transport vehicle, which comprises the following steps:
detecting the position and the running state of each unmanned transport vehicle in the running track in real time to obtain the position information and the running state information of each unmanned transport vehicle;
determining the failed unmanned transport vehicle according to the running state information;
determining the unmanned transport vehicle adjacent to the unmanned transport vehicle with the fault according to the position information of the unmanned transport vehicle with the fault, and defining the unmanned transport vehicle as an auxiliary unmanned transport vehicle;
and driving the auxiliary unmanned transport vehicle to be in butt joint with the unmanned transport vehicle with the fault, and driving the unmanned transport vehicle with the fault to drive into a recovery station on the running track.
In the invention, the driving of the unmanned transport vehicle with the fault into the recovery station on the operation track comprises the following steps:
assisting the unmanned transport vehicle to drive the failed unmanned transport vehicle to travel together;
judging whether the auxiliary unmanned transport vehicle approaches a track switching point or not according to the position information of the auxiliary unmanned transport vehicle and/or the failed unmanned transport vehicle, and switching the operation tracks when the auxiliary unmanned transport vehicle approaches the track switching point so that the auxiliary unmanned transport vehicle and the failed unmanned transport vehicle can drive into a secondary track of the operation tracks from a primary track of the operation tracks together;
and the auxiliary unmanned transport vehicle drives the unmanned transport vehicle with the fault to drive into the recovery station on the auxiliary track.
In the present invention, before the determining whether it is close to the track switching point, the method includes:
whether the certificate is stored in the unmanned transport vehicle assisting the unmanned transport vehicle and the failed unmanned transport vehicle is judged, if the certificate is stored in any unmanned transport vehicle, the unmanned transport vehicle assisting the unmanned transport vehicle in driving the failure drives the unmanned transport vehicle to travel to a certificate issuing station in the running track together, and the unmanned transport vehicle with the certificate is stored for certificate issuing.
In the present invention, after the auxiliary unmanned transport vehicle drives the unmanned transport vehicle with the fault to enter the recovery station on the secondary track, the method includes:
the secondary unmanned transport vehicle reenters the primary track from the secondary track.
In the present invention, after the auxiliary unmanned transport vehicle drives the unmanned transport vehicle with the fault to enter the recovery station on the secondary track, the method includes:
the failed unmanned transport vehicle is recovered in a recovery station and reenters the primary track from the secondary track after repair.
In the present invention, the detecting the position and the operation state of each unmanned transport vehicle in the operation track in real time to obtain the position information and the operation state information of each unmanned transport vehicle includes:
each unmanned transport vehicle scans the positioning codes on the running track at regular time;
receiving and sorting the positioning codes scanned by all the unmanned transport vehicles to obtain the position information of each unmanned transport vehicle; and calculating the position variation of the unmanned transport vehicle within a preset time according to the position information to obtain running state information.
In the present invention, the determining the unmanned transport vehicle adjacent to the failed unmanned transport vehicle and defining it as the auxiliary unmanned transport vehicle includes:
and determining the unmanned transport vehicle behind the unmanned transport vehicle with the fault in the running track, and defining the unmanned transport vehicle as an auxiliary unmanned transport vehicle.
Based on the same conception, the invention also provides a dispatching management system of the unmanned transport vehicle, which comprises the following components:
the automatic conveying system comprises an operation track, wherein more than two unmanned conveying vehicles run in the operation track;
the position and state detection module is used for detecting the position and the running state of each unmanned transport vehicle in the running track in real time to obtain the position information and the running state information of each unmanned transport vehicle;
the fault vehicle determining module is connected with the position and state detecting module and used for determining the unmanned transport vehicle with the fault according to the running state information;
the auxiliary vehicle determining module is respectively connected with the fault vehicle determining module and the position and state detecting module, and is used for determining the unmanned transport vehicle adjacent to the fault unmanned transport vehicle according to the position information of the fault unmanned transport vehicle and defining the unmanned transport vehicle as the auxiliary unmanned transport vehicle;
and the auxiliary vehicle driving module is connected with the auxiliary vehicle determining module and used for driving the auxiliary unmanned transport vehicle to be in butt joint with the unmanned transport vehicle with the fault and driving the unmanned transport vehicle with the fault to drive the unmanned transport vehicle into a recovery station on the running track.
In the present invention, the running rail includes: the recycling station is arranged in the auxiliary rail, and a rail switcher is arranged between the main rail and the auxiliary rail;
the track switcher is connected with the position and state detection module and used for judging whether the auxiliary unmanned transport vehicle and/or the failed unmanned transport vehicle are close to a track switching point or not according to the position information of the auxiliary unmanned transport vehicle and/or the failed unmanned transport vehicle, and switching the running track when the auxiliary unmanned transport vehicle is close to the track switching point.
According to the invention, a forensics station is arranged in the main track, a forensics detector is arranged in the forensics station, and the forensics detector is used for detecting the forensics function of the unmanned transport vehicle.
The invention detects each unmanned transport vehicle in the track, and when the unmanned transport vehicle is detected to be incapable of running due to faults, the other normal unmanned transport vehicles in the track send the faulty unmanned transport vehicle into the recovery station, so that the influence of the faulty unmanned transport vehicle on the other unmanned transport vehicles in the track is lower, the successful issuing is effectively ensured, and the overall issuing efficiency is ensured.
Drawings
For the purpose of easy explanation, the present invention will be described in detail with reference to the following preferred embodiments and the accompanying drawings.
Fig. 1 is a schematic workflow diagram of an embodiment of a method for managing the dispatching of an unmanned transport vehicle according to the present invention;
fig. 2 is a schematic workflow diagram of another embodiment of a method for managing the scheduling of an unmanned transport vehicle according to the present invention;
fig. 3 is a schematic diagram of a logical structure of the unmanned transport vehicle dispatch management system according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in 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.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the method or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be considered as limiting the present invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the description of the present invention, it should be noted that the terms "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected unless otherwise explicitly stated or limited. Either mechanically or electrically. Either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
An embodiment of a method for managing scheduling of an unmanned transport vehicle according to the present invention is described in detail below, with reference to fig. 1, in which a plurality of unmanned transport vehicles run on a running track, and the method includes:
s101, acquiring position information and running state information of each unmanned transport vehicle
Detecting the position and the running state of each unmanned transport vehicle in the running track in real time to obtain the position information and the running state information of each unmanned transport vehicle; in this embodiment, the position and the operating state of each unmanned transport vehicle can be obtained through external positioning detection equipment, and can also be obtained in an active reporting mode by the unmanned transport vehicle.
S102, determining fault unmanned transport vehicle
Determining the failed unmanned transport vehicle according to the running state information; when a certain unmanned transport vehicle does not change in position within a predetermined time or loses communication with the unmanned transport vehicle, the unmanned transport vehicle can be defined as abnormal in operation state, and the unmanned transport vehicle determined as abnormal in operation state is a failed unmanned transport vehicle.
S103, determining an auxiliary unmanned transport vehicle
Determining the unmanned transport vehicle adjacent to the unmanned transport vehicle with the fault according to the position information of the unmanned transport vehicle with the fault, and defining the unmanned transport vehicle as an auxiliary unmanned transport vehicle; the method specifically comprises the following steps: when the point A of the failed unmanned transport vehicle on the track is determined, the adjacent normal unmanned transport vehicle can be searched at the point A-1 or the point A +1, and after the adjacent normal unmanned transport vehicle is searched, the adjacent normal unmanned transport vehicle is determined as the auxiliary unmanned transport vehicle.
S104, assisting the unmanned transport vehicle to send the failed unmanned transport vehicle into a recovery station
And driving the auxiliary unmanned transport vehicle to be in butt joint with the unmanned transport vehicle with the fault, and driving the unmanned transport vehicle with the fault to drive into a recovery station on the running track. This supplementary unmanned transport vechicle is through the mode that promotes or stimulates, takes the unmanned transport vechicle of trouble to advance together to send it into the recovery station on the orbit, in order carrying out the recovery to the unmanned transport vechicle of trouble, avoid the unmanned transport vechicle of trouble to stop on the orbit for a long time, hinder the unmanned transport vechicle at rear to send out the certificate.
In another embodiment, a method for managing a dispatching of an unmanned transport vehicle according to the present invention is described in detail below, with reference to fig. 2, in which a plurality of unmanned transport vehicles run on a running track, and the method includes:
s201, acquiring position information and running state information of each unmanned transport vehicle
Each unmanned transport vehicle scans the positioning codes on the running track at regular time; wherein, a plurality of positioning codes representing the positions of the operation tracks are respectively arranged along the operation tracks; receiving and sorting the positioning codes scanned by all the unmanned transport vehicles to obtain the position information of each unmanned transport vehicle; and calculating the position variation of the unmanned transport vehicle in a preset time according to the position information to obtain the running state information, wherein the No. 1 vehicle is at the point A-2, the No. 2 vehicle is at the point A, and the No. 3 vehicle is at the point A +2 at the current moment.
S202, determining fault unmanned transport vehicle
Determining the failed unmanned transport vehicle according to the running state information; the method comprises the following steps: if 5 seconds later, the No. 1 vehicle is at the point A-1, the No. 3 vehicle is at the point A +3, and the No. 2 vehicle still stays in the original place, the running state of the No. 2 vehicle is abnormal, and the No. 2 vehicle is determined to be the failed unmanned transport vehicle.
S203, determining an auxiliary unmanned transport vehicle
And determining the unmanned transport vehicle behind the unmanned transport vehicle with the fault in the running track, and defining the unmanned transport vehicle as an auxiliary unmanned transport vehicle. That is, the vehicle No. 2 that acquired the fault now stays at the point a in the track, and the vehicle No. 1 behind it is traveling to the point a in the point a-1, the vehicle No. 1 is determined as the auxiliary unmanned transport vehicle.
S204, assisting the unmanned transport vehicle to drive the unmanned transport vehicle with the fault to travel together
Assisting the unmanned transport vehicle to drive the failed unmanned transport vehicle to travel together; the method comprises the following steps: when the No. 1 vehicle is close to the No. 2 vehicle, the No. 1 vehicle decelerates and is combined with the No. 2 vehicle, and the No. 1 vehicle pushes the No. 2 vehicle to run together.
S205, judging whether certificates exist in the auxiliary unmanned conveying vehicle and the fault unmanned conveying vehicle or not
Judge whether have the certificate in the unmanned transport vechicle of supplementary unmanned transport vechicle and trouble, it can judge whether have the certificate in the unmanned transport vechicle through set up the sensor in unmanned transport vechicle, perhaps judges through the position of unmanned transport vechicle on the track, and it specifically is: and acquiring the position information of the auxiliary unmanned transport vehicle and the failed unmanned transport vehicle, if the position information exceeds the certificate issuing station in the transport track, defining the auxiliary unmanned transport vehicle and the failed unmanned transport vehicle as not storing the certificate, and if the position information does not exceed the certificate issuing station in the transport track, defining the auxiliary unmanned transport vehicle and the failed unmanned transport vehicle as storing the certificate. If the certificate exists, the step S206 is carried out, the certificate is issued by the unmanned transport vehicle, and if the certificate does not exist, the step S207 is carried out, and whether the certificate is close to the track switching point is judged.
S206, issuing certificate by unmanned transport vehicle
If any unmanned transport vehicle has the certificate, the auxiliary unmanned transport vehicle drives the failed unmanned transport vehicle to travel to a certificate issuing station in the running track together, and the unmanned transport vehicle with the certificate issues the certificate, so that the certificates in the auxiliary unmanned transport vehicle and the failed unmanned transport vehicle can be smoothly issued; then step S207 is carried out, whether the track switching point is approached is judged.
S207, judging whether the track is close to a track switching point or not
And judging whether the auxiliary unmanned transport vehicle approaches a track switching point or not according to the position information of the auxiliary unmanned transport vehicle and/or the failed unmanned transport vehicle, and switching the operation tracks when the auxiliary unmanned transport vehicle approaches the track switching point so that the auxiliary unmanned transport vehicle and the failed unmanned transport vehicle can drive into the auxiliary tracks of the operation tracks from the main tracks of the operation tracks together.
S208, driving the fault unmanned transport vehicle into a recovery station
Switching the operation tracks to assist the unmanned transport vehicle to drive the unmanned transport vehicle with the fault to enter a recovery station on the auxiliary track; its unmanned delivery wagon who avoids the trouble stops on the orbit for a long time, hinders unmanned delivery wagon in rear to issue a certificate.
S209, assisting the unmanned transport vehicle to reenter the main track
The auxiliary unmanned transport vehicle reenters the main rail from the auxiliary rail to perform the next round of issuing work.
S210, the fault unmanned transport vehicle reenters the main track after being repaired
The failed unmanned transport vehicle is recovered in the recovery station, the worker is informed to recover the failed unmanned transport vehicle, and after repair, the failed unmanned transport vehicle enters the main rail again from the auxiliary rail so as to perform the certification work of the next round.
An embodiment of the present invention will be described in detail below with reference to fig. 3, which includes:
the automatic conveying system comprises an operation track, wherein more than two unmanned conveying vehicles run in the operation track;
the position and state detection module 301 is configured to detect the position and the operation state of each unmanned transport vehicle in the operation track in real time to obtain position information and operation state information of each unmanned transport vehicle; in this embodiment, the position and state detection module 301 may obtain the position and the operating state of each unmanned transport vehicle through an external positioning detection device, and the position and state detection module 301 may also obtain the position and the operating state of each unmanned transport vehicle by receiving information actively reported by the unmanned transport vehicle.
A faulty vehicle determination module 302, where the faulty vehicle determination module 302 is connected to the position and state detection module 301, and is configured to determine a faulty unmanned transport vehicle according to the running state information; when a certain unmanned transport vehicle does not change in position within a predetermined time or loses communication with the unmanned transport vehicle, the unmanned transport vehicle can be defined as abnormal in operation state, and the unmanned transport vehicle determined as abnormal in operation state is a failed unmanned transport vehicle.
An auxiliary vehicle determining module 303, where the auxiliary vehicle determining module 303 is respectively connected to the faulty vehicle determining module 302 and the position and state detecting module 301, and is configured to determine, according to the position information of the faulty unmanned transport vehicle, an unmanned transport vehicle adjacent to the faulty unmanned transport vehicle, and define the unmanned transport vehicle as an auxiliary unmanned transport vehicle; the method specifically comprises the following steps: when the point A of the failed unmanned transport vehicle on the track is determined, the adjacent normal unmanned transport vehicle can be searched at the point A-1 or the point A +1, and after the adjacent normal unmanned transport vehicle is searched, the adjacent normal unmanned transport vehicle is determined as the auxiliary unmanned transport vehicle.
The auxiliary vehicle driving module 304 is connected with the auxiliary vehicle determining module 303, and is configured to drive the auxiliary unmanned transport vehicle to be in butt joint with the unmanned transport vehicle with the fault, and drive the unmanned transport vehicle with the fault to drive the unmanned transport vehicle into a recovery station on the operation track; this supplementary unmanned transport vechicle is through the mode that promotes or stimulates, takes the unmanned transport vechicle of trouble to advance together to send it into the recovery station on the orbit, in order carrying out the recovery to the unmanned transport vechicle of trouble, avoid the unmanned transport vechicle of trouble to stop on the orbit for a long time, hinder the unmanned transport vechicle at rear to send out the certificate.
In this embodiment, the operation track includes: a primary rail and a secondary rail, the recovery station being disposed in the secondary rail, a rail switcher 305 being disposed between the primary rail and the secondary rail;
the track switch 305 is connected to the position and state detection module 301, and configured to determine whether the auxiliary unmanned transport vehicle and/or the failed unmanned transport vehicle approaches a track switching point according to the position information of the auxiliary unmanned transport vehicle and/or the failed unmanned transport vehicle, and switch an operation track when the auxiliary unmanned transport vehicle approaches the track switching point. In this embodiment, because the recovery station is arranged in the auxiliary track, and the position of proving and the position of collecting evidence are arranged in the main track, so send the unmanned transport vehicle of trouble into the auxiliary track, it will not influence other normal unmanned transport vehicles in the main track to collect evidence and demonstrate evidence.
In this embodiment, be equipped with the station of collecting evidence in the main track, be equipped with the detector of collecting evidence in the station of collecting evidence, the detector of collecting evidence is used for detecting the function of collecting evidence of unmanned transport vechicle. When the unmanned transport vehicle passes through the evidence obtaining station, monitoring whether the unmanned transport vehicle can perform the evidence issuing function, so as to know whether the evidence issuing power of the unmanned transport vehicle breaks down; when the certificate issuing power of the unmanned transport vehicle is confirmed to be in fault, the unmanned transport vehicle with the fault can automatically drive into the recovery station of the auxiliary track, and the personnel to be recovered and repaired are waited to carry out recovery.
In the description of the present specification, reference to the description of the terms "one embodiment", "some embodiments", "an illustrative embodiment", "an example", "a specific example", or "some examples", etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. An unmanned transport vehicle scheduling management method is characterized by comprising the following steps:
detecting the position and the running state of each unmanned transport vehicle in the running track in real time to obtain the position information and the running state information of each unmanned transport vehicle;
determining the failed unmanned transport vehicle according to the running state information;
determining the unmanned transport vehicle adjacent to the unmanned transport vehicle with the fault according to the position information of the unmanned transport vehicle with the fault, and defining the unmanned transport vehicle as an auxiliary unmanned transport vehicle;
and driving the auxiliary unmanned transport vehicle to be in butt joint with the unmanned transport vehicle with the fault, and driving the unmanned transport vehicle with the fault to drive into a recovery station on the running track.
2. The unmanned transport vehicle dispatching management method of claim 1, wherein the driving the disabled unmanned transport vehicle into a recovery station on a running track comprises:
assisting the unmanned transport vehicle to drive the failed unmanned transport vehicle to travel together;
judging whether the auxiliary unmanned transport vehicle approaches a track switching point or not according to the position information of the auxiliary unmanned transport vehicle and/or the failed unmanned transport vehicle, and switching the operation tracks when the auxiliary unmanned transport vehicle approaches the track switching point so that the auxiliary unmanned transport vehicle and the failed unmanned transport vehicle can drive into a secondary track of the operation tracks from a primary track of the operation tracks together;
and the auxiliary unmanned transport vehicle drives the unmanned transport vehicle with the fault to drive into the recovery station on the auxiliary track.
3. The unmanned transport vehicle dispatch management method of claim 2, wherein determining whether it is approaching a track switch point comprises:
whether the certificate is stored in the unmanned transport vehicle assisting the unmanned transport vehicle and the failed unmanned transport vehicle is judged, if the certificate is stored in any unmanned transport vehicle, the unmanned transport vehicle assisting the unmanned transport vehicle in driving the failure drives the unmanned transport vehicle to travel to a certificate issuing station in the running track together, and the unmanned transport vehicle with the certificate is stored for certificate issuing.
4. The unmanned transport vehicle dispatching management method of claim 3, wherein after the assisting unmanned transport vehicle drives the failed unmanned transport vehicle into the recovery station on the secondary track, the method comprises:
the secondary unmanned transport vehicle reenters the primary track from the secondary track.
5. The unmanned transport vehicle dispatching management method of claim 3, wherein after the assisting unmanned transport vehicle drives the failed unmanned transport vehicle into the recovery station on the secondary track, the method comprises:
the failed unmanned transport vehicle is recovered in a recovery station and reenters the primary track from the secondary track after repair.
6. The unmanned transportation vehicle dispatching management method of claim 4 or 5, wherein the detecting the position and the operation state of each unmanned transportation vehicle in the operation track in real time to obtain the position information and the operation state information of each unmanned transportation vehicle comprises:
each unmanned transport vehicle scans the positioning codes on the running track at regular time;
receiving and sorting the positioning codes scanned by all the unmanned transport vehicles to obtain the position information of each unmanned transport vehicle; and calculating the position variation of the unmanned transport vehicle within a preset time according to the position information to obtain running state information.
7. The unmanned transport vehicle dispatch management method of claim 6, wherein determining and defining as an auxiliary unmanned transport vehicle an unmanned transport vehicle adjacent to the failed unmanned transport vehicle comprises:
and determining the unmanned transport vehicle behind the unmanned transport vehicle with the fault in the running track, and defining the unmanned transport vehicle as an auxiliary unmanned transport vehicle.
8. An unmanned transport vehicle dispatch management system, comprising:
the automatic conveying system comprises an operation track, wherein more than two unmanned conveying vehicles run in the operation track;
the position and state detection module is used for detecting the position and the running state of each unmanned transport vehicle in the running track in real time to obtain the position information and the running state information of each unmanned transport vehicle;
the fault vehicle determining module is connected with the position and state detecting module and used for determining the unmanned transport vehicle with the fault according to the running state information;
the auxiliary vehicle determining module is respectively connected with the fault vehicle determining module and the position and state detecting module, and is used for determining the unmanned transport vehicle adjacent to the fault unmanned transport vehicle according to the position information of the fault unmanned transport vehicle and defining the unmanned transport vehicle as the auxiliary unmanned transport vehicle;
and the auxiliary vehicle driving module is connected with the auxiliary vehicle determining module and used for driving the auxiliary unmanned transport vehicle to be in butt joint with the unmanned transport vehicle with the fault and driving the unmanned transport vehicle with the fault to drive the unmanned transport vehicle into a recovery station on the running track.
9. The unmanned transport vehicle dispatch management system of claim 8, wherein the travel track comprises: the recycling station is arranged in the auxiliary rail, and a rail switcher is arranged between the main rail and the auxiliary rail;
the track switcher is connected with the position and state detection module and used for judging whether the auxiliary unmanned transport vehicle and/or the failed unmanned transport vehicle are close to a track switching point or not according to the position information of the auxiliary unmanned transport vehicle and/or the failed unmanned transport vehicle, and switching the running track when the auxiliary unmanned transport vehicle is close to the track switching point.
10. The unmanned transport vehicle dispatch management system of claim 9, wherein a forensic station is located in the primary track, and a forensic detector is located in the forensic station for detecting a forensic function of the unmanned transport vehicle.
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| CN114212128A (en) * | 2021-11-24 | 2022-03-22 | 深圳市中金岭南有色金属股份有限公司凡口铅锌矿 | Switching method and device of hopper car track |
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