CN115294698B - Automatic tool delivery and recovery system and method based on unmanned tool vehicle - Google Patents
Automatic tool delivery and recovery system and method based on unmanned tool vehicle Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 17
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- 239000011159 matrix material Substances 0.000 claims description 18
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- G07F17/00—Coin-freed apparatus for hiring articles; Coin-freed facilities or services
- G07F17/10—Coin-freed apparatus for hiring articles; Coin-freed facilities or services for means for safe-keeping of property, left temporarily, e.g. by fastening the property
- G07F17/12—Coin-freed apparatus for hiring articles; Coin-freed facilities or services for means for safe-keeping of property, left temporarily, e.g. by fastening the property comprising lockable containers, e.g. for accepting clothes to be cleaned
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- G—PHYSICS
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- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
- G06K17/0022—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisions for transferring data to distant stations, e.g. from a sensing device
- G06K17/0029—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisions for transferring data to distant stations, e.g. from a sensing device the arrangement being specially adapted for wireless interrogation of grouped or bundled articles tagged with wireless record carriers
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- G06K7/10009—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves
- G06K7/10297—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves arrangements for handling protocols designed for non-contact record carriers such as RFIDs NFCs, e.g. ISO/IEC 14443 and 18092
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- G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
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Abstract
The invention relates to an automatic tool delivery and recovery system and method based on an unmanned tool vehicle. The system comprises a mobile client, a cloud background server, an unmanned tool vehicle end and an access control system. The cloud background server is used as a core to realize the logic relationship among the mobile client, the unmanned tool vehicle end and the access control system, so that the whole system operates efficiently. The invention can effectively manage tools, improve the utilization rate of the tools, reduce the loss of the tools or other equipment, reduce the investment of related management staff, has simple and convenient use method, effectively reduces the production cost of factories, improves the production efficiency and can promote the production work safety.
Description
Technical Field
The invention relates to the field of unmanned tool vehicles, in particular to an automatic tool delivery and recovery system and method based on an unmanned tool vehicle.
Background
With the development of unmanned technology in recent years, the application field is also becoming wider. At present, the tool use of a vehicle or a production place lacks system management, so that the problem of losing or damaging is frequently caused, and even occasional tools are left inside the equipment to cause dangerous accidents.
At present, although the existing unmanned vehicle can realize automatic cargo delivery, the existing unmanned vehicle is only in a single fixed delivery mode of a fixed route and a station, cannot realize an intelligent running delivery scheme of a plurality of routes and stations of a vehicle, cannot support man-machine interaction, cannot meet the demand of goods delivery, and has poor running safety.
Therefore, under the technical support of unmanned operation, how to research a reliable method is necessary to realize automation of automatic allocation and recovery management of tools.
Disclosure of Invention
In view of the shortcomings of the prior art, the invention provides the automatic tool distribution and recovery system and the automatic tool distribution and recovery method based on the unmanned tool vehicle, which not only effectively manage tools, improve the utilization rate of the tools, reduce the loss of the tools or other equipment, but also reduce the investment of related management staff.
In order to achieve the above and other related objects, the present invention is implemented by the following technical solutions:
the automatic tool distribution and recovery system based on the unmanned tool vehicle comprises an access control system and a mobile client, wherein the access control system and the mobile client are respectively connected with a cloud background server through a wireless network, the unmanned tool vehicle comprises an AGV (automatic guided vehicle) chassis, a tool cabinet is arranged on the AGV chassis, a plurality of tool storage boxes are arranged in the tool cabinet in a dividing mode, each tool is provided with an RFID (radio frequency identification) identification chip, and each tool is stored in the tool storage box with a corresponding number; the utility model discloses a high-speed vehicle, including instrument case, AGV unmanned aerial vehicle chassis, high-speed vehicle, instrument case one side all is equipped with the cabinet door, installs high in the clouds backstage server remote control's automatically controlled lock on the cabinet door, still is equipped with industrial computer and the camera of docking with high in the clouds backstage server on the AGV unmanned aerial vehicle chassis, industrial computer is connected with the voice broadcast device, AGV unmanned aerial vehicle chassis with high in the clouds backstage server wireless network connection.
Furthermore, the access control system is provided with an identification device and an alarm device.
To achieve other related objects of the above object, the present invention also provides an automatic tool delivery and recovery method based on an unmanned tool vehicle, the method comprising the steps of:
s1: acquiring a factory map and position information of stations of each station based on a cloud background server;
s2: planning driving routes of different unmanned tool vehicles, and simultaneously carrying out distribution of stations of different stations of a plurality of workshops;
s3: the access control system identifies tool information and sends the tool information to the cloud background server, and workers register the mobile client and select a required tool through the mobile client;
s4: the cloud background server sends information to a mobile client, a user borrows and returns a tool through the mobile client, and the mobile client performs user identity authentication and reminds of an unreturned order;
s5: after receiving the requirement of the mobile client, the cloud background server distributes a task to an unmanned tool car nearest to the mobile client required by the requirement, and simultaneously sends a verification code to the mobile client;
s6: the unmanned tool vehicle automatically runs to a station nearby a station where a mobile client with requirements is located after receiving a task sent by a cloud background server, and carries out voice broadcasting reminding;
s7: the workers wait at the appointed stop points, after the unmanned tool vehicle arrives, identity verification is carried out through the verification code on the display or the face recognition function of the camera, the tool cabinet automatically opens the corresponding tool storage cabinet door and reminds the workers to return to work, after the workers acquire the tools, the tool information is bound with the mobile client and uploaded to the cloud background server, and the unmanned tool vehicle automatically leaves and returns to the standby stop point.
Further, in step S2, the following steps are included:
s21: acquiring factory grid map information, calculating the distance between each pixel in the grid map and each station by a cloud background server, and assigning a larger value to each pixel and outputting gravitation matrix data as the distance is larger;
s22: based on factory grid map information, the cloud background server calculates distances from each pixel in the grid map to all obstacles, and assigns smaller values to the pixels as the distances are larger, so that repulsive force matrix data are output;
s23: combining the gravitation matrix data and the repulsive matrix data to output a fusion data matrix;
s24: based on the fusion data matrix, according to gradient descent or a domain searching method, an optimal path from the starting point to the target station is obtained, and the unmanned tool vehicle reaches the target station according to the optimal path.
Furthermore, the cloud background server automatically performs borrowing and returning flow processing and supports manual takeover processing.
Further, when the entrance guard system monitors that tools leave the factory entrance guard, a reminding signal is sent to the cloud background server, the cloud background server sends reminding return information to a corresponding mobile client, meanwhile, an instruction is sent to the nearest unmanned tool vehicle, the unmanned tool vehicle automatically runs to a stop point nearby the factory entrance guard to wait, and a worker can only allow passing after returning tools.
Further, after the tool is borrowed for 24 hours, for the tool which is placed in the factory and is not returned, the cloud background server sends a return prompt to the corresponding mobile client.
The invention has the advantages and positive effects that:
1) The invention can effectively manage tools, improve the utilization rate of the tools, reduce the loss of the tools or other equipment, reduce the investment of related management staff, has simple and convenient use method, effectively reduces the production cost of factories, improves the production efficiency and can promote the production work safety.
2) According to the invention, the unmanned patrol car is provided with the tool cabinet, the tool storage box and the electric control lock, so that unified management of tools can be realized, the borrowing is convenient, the tools are prevented from being lost, and the working efficiency is improved.
3) According to the invention, through the detection of the access control system and the RFID identification chip of the tool, the tool is prevented from being forgotten to the corner and brought out of the factory, the tool return rate is improved, and the tool loss rate is reduced.
Drawings
FIG. 1 is a schematic flow chart of the present invention;
fig. 2 is a schematic view of the structure of the unmanned vehicle of the present invention.
The reference numerals in the figures illustrate: 1-industrial computer, 2-voice broadcasting device, 3-tool storage box, 4-electric control lock, 5-camera, 6-AGV unmanned vehicle chassis, 7-tool cabinet, 8-display screen.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments.
Examples: as shown in fig. 2, the automatic tool distribution and recovery system based on the unmanned tool vehicle comprises an access control system and a mobile client, wherein the access control system and the mobile client are respectively connected with a cloud background server through a wireless network, the unmanned tool vehicle comprises an AGV unmanned vehicle chassis 6, a tool cabinet 7 is arranged on the AGV unmanned vehicle chassis 6, a plurality of tool storage boxes 3 are respectively arranged in the tool cabinet 7, each tool is provided with an RFID identification chip, and each tool is stored in the tool storage box 3 with a corresponding number;
a cabinet door is arranged on one side of the tool storage box 3, an electric control lock 4 remotely controlled by a cloud background server is arranged on the cabinet door, an industrial personal computer 1 and a camera 5 which are in butt joint with the cloud background server are also arranged on an AGV unmanned vehicle chassis 6, the industrial computer 1 is connected with the voice broadcasting device, and the AGV unmanned vehicle chassis 6 is connected with the cloud background server through a wireless network.
Furthermore, the access control system is provided with an identification device and an alarm device.
In order to achieve the above object and other related objects, as shown in fig. 1, the present invention further provides an automatic tool delivery and recovery method based on an unmanned tool vehicle, the method comprising the steps of:
s1: acquiring a factory map and position information of stations of each station based on a cloud background server;
s2: planning driving routes of different unmanned tool vehicles, and simultaneously carrying out distribution of stations of different stations of a plurality of workshops;
s3: the access control system identifies tool information and sends the tool information to the cloud background server, and workers register the mobile client and select a required tool through the mobile client;
s4: the cloud background server sends information to a mobile client, a user borrows and returns a tool through the mobile client, and the mobile client performs user identity authentication and reminds of an unreturned order;
s5: after receiving the requirement of the mobile client, the cloud background server distributes a task to an unmanned tool car nearest to the mobile client required by the requirement, and simultaneously sends a verification code to the mobile client;
s6: the unmanned tool vehicle automatically runs to a station nearby a station where a mobile client with requirements is located after receiving a task sent by a cloud background server, and carries out voice broadcasting reminding;
s7: the workers wait at the appointed stop points, after the unmanned tool vehicle arrives, identity verification is carried out through the verification code on the display or the face recognition function of the camera, the tool cabinet automatically opens the corresponding tool storage cabinet door and reminds the workers to return to work, after the workers acquire the tools, the tool information is bound with the mobile client and uploaded to the cloud background server, and the unmanned tool vehicle automatically leaves and returns to the standby stop point.
Further, in step S2, the following steps are included:
s21: acquiring factory grid map information, calculating the distance between each pixel in the grid map and each station by a cloud background server, and assigning a larger value to each pixel and outputting gravitation matrix data as the distance is larger;
s22: based on factory grid map information, the cloud background server calculates distances from each pixel in the grid map to all obstacles, and assigns smaller values to the pixels as the distances are larger, so that repulsive force matrix data are output;
s23: combining the gravitation matrix data and the repulsive matrix data to output a fusion data matrix;
s24: based on the fusion data matrix, according to gradient descent or a domain searching method, an optimal path from the starting point to the target station is obtained, and the unmanned tool vehicle reaches the target station according to the optimal path.
Furthermore, the cloud background server automatically performs borrowing and returning flow processing and supports manual takeover processing.
Further, when the entrance guard system monitors that tools leave the factory entrance guard, a reminding signal is sent to the cloud background server, the cloud background server sends reminding return information to a corresponding mobile client, meanwhile, an instruction is sent to the nearest unmanned tool vehicle, the unmanned tool vehicle automatically runs to a stop point nearby the factory entrance guard to wait, and a worker can only allow passing after returning tools.
Further, after the tool is borrowed for 24 hours, for the tool which is placed in the factory and is not returned, the cloud background server sends a return prompt to the corresponding mobile client.
In summary, the invention can effectively manage tools, improve the utilization rate of the tools, reduce the loss of the tools or other equipment, reduce the investment of related management staff, simplify the use method, effectively reduce the production cost of factories, improve the production efficiency and promote the production work safety.
Although the embodiments of the present invention and the accompanying drawings have been disclosed for illustrative purposes, those skilled in the art will appreciate that: various substitutions, changes and modifications are possible without departing from the spirit and scope of the invention and the appended claims, and therefore the scope of the invention is not limited to the embodiments and the disclosure of the drawings.
Claims (5)
1. The automatic tool distribution and recovery system based on the unmanned tool vehicle comprises an access control system and a mobile client, wherein the access control system and the mobile client are respectively connected with a cloud background server through a wireless network; the utility model discloses a tool storage box, which is characterized in that a cabinet door is arranged on one side of the tool storage box, an electric control lock for remotely controlling a cloud background server is arranged on the cabinet door, an industrial control computer and a camera which are in butt joint with the cloud background server are also arranged on an AGV unmanned aerial vehicle chassis, the industrial control computer is connected with a voice broadcasting device, the AGV unmanned aerial vehicle chassis is connected with a wireless network of the cloud background server, when an entrance guard system monitors that tools leave a factory entrance guard, the method comprises the steps that a reminding signal is sent to a cloud background server, the cloud background server sends reminding return information to a corresponding mobile client, meanwhile, an instruction is sent to a nearest unmanned tool vehicle, the unmanned tool vehicle automatically runs to a stop point near a factory entrance guard to wait, a worker can only allow to pass after returning tools, and the tool automatic distribution and recovery system comprises the following flow:
s1: acquiring a factory map and position information of stations of each station based on a cloud background server;
s2: planning driving routes of different unmanned tool vehicles, and simultaneously carrying out distribution of stations of different stations of a plurality of workshops;
s3: the access control system identifies tool information and sends the tool information to the cloud background server, and workers register the mobile client and select a required tool through the mobile client;
s4: the cloud background server sends information to a mobile client, a user borrows and returns a tool through the mobile client, and the mobile client performs user identity authentication and reminds of an unreturned order;
s5: after receiving the requirement of the mobile client, the cloud background server distributes a task to an unmanned tool car nearest to the mobile client required by the requirement, and simultaneously sends a verification code to the mobile client;
s6: the unmanned tool vehicle automatically runs to a station nearby a station where a mobile client with requirements is located after receiving a task sent by a cloud background server, and carries out voice broadcasting reminding;
s7: the workers wait at the appointed stop points, after the unmanned tool vehicle arrives, identity verification is carried out through the verification code on the display or the face recognition function of the camera, the tool cabinet automatically opens the corresponding tool storage cabinet door and reminds the workers to return to work, after the workers acquire the tools, the tool information is bound with the mobile client and uploaded to the cloud background server, and the unmanned tool vehicle automatically leaves and returns to the standby stop point.
2. The automated tool delivery and retrieval system based on an unmanned tool vehicle of claim 1, wherein: the access control system is provided with an RFID identification device and an alarm device.
3. The automated tool delivery and recovery system based on an unmanned tool vehicle according to claim 1, comprising the steps of, in step S2:
s21: acquiring factory grid map information, calculating the distance between each pixel in the grid map and each station by a cloud background server, and assigning a larger value to each pixel and outputting gravitation matrix data as the distance is larger;
s22: based on factory grid map information, the cloud background server calculates distances from each pixel in the grid map to all obstacles, and assigns smaller values to the pixels as the distances are larger, so that repulsive force matrix data are output;
s23: combining the gravitation matrix data and the repulsive matrix data to output a fusion data matrix;
s24: based on the fusion data matrix, according to gradient descent or a domain searching method, an optimal path from the starting point to the target station is obtained, and the unmanned tool vehicle reaches the target station according to the optimal path.
4. The automated tool delivery and retrieval system based on an unmanned tool vehicle of claim 1, wherein: and the cloud background server automatically performs borrowing and returning flow processing and supports manual takeover processing.
5. The automated tool delivery and retrieval system based on an unmanned tool vehicle of claim 1, wherein: after the tool is borrowed for 24 hours, for tools which are placed in a factory and are not returned, the cloud background server sends a return prompt to the corresponding mobile client.
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| CN109035627A (en) * | 2018-06-11 | 2018-12-18 | 上海交通大学 | A kind of automatic Pilot books delivery system towards garden |
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|---|---|---|---|---|
| CN203422794U (en) * | 2013-08-22 | 2014-02-05 | 上海北大方正科技电脑系统有限公司 | Intelligent clothes distribution system based on labels |
| JP2016091440A (en) * | 2014-11-10 | 2016-05-23 | アズビル株式会社 | Use state management system |
| JP2020532276A (en) * | 2017-08-16 | 2020-11-05 | スクーターバグ・インコーポレイテッドＳｃｏｏｔｅｒＢｕｇ， Ｉｎｃ． | Electric convenience transport equipment (ECV) with control and communication units |
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