CN115689404A - Construction site unmanned logistics transportation cluster control system - Google Patents
Construction site unmanned logistics transportation cluster control system Download PDFInfo
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- CN115689404A CN115689404A CN202211429872.0A CN202211429872A CN115689404A CN 115689404 A CN115689404 A CN 115689404A CN 202211429872 A CN202211429872 A CN 202211429872A CN 115689404 A CN115689404 A CN 115689404A
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- 239000000463 material Substances 0.000 claims abstract description 80
- 238000004891 communication Methods 0.000 claims abstract description 12
- 238000012544 monitoring process Methods 0.000 claims abstract description 11
- 230000006855 networking Effects 0.000 claims abstract description 9
- 230000003993 interaction Effects 0.000 claims abstract description 4
- 230000008054 signal transmission Effects 0.000 claims abstract description 4
- 230000032258 transport Effects 0.000 claims description 12
- 238000000034 method Methods 0.000 claims description 11
- 238000007726 management method Methods 0.000 claims description 9
- 230000001934 delay Effects 0.000 claims description 6
- 239000011083 cement mortar Substances 0.000 claims description 4
- 206010040007 Sense of oppression Diseases 0.000 claims description 3
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- 238000004364 calculation method Methods 0.000 claims description 3
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- 239000000203 mixture Substances 0.000 claims 1
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
The invention discloses a construction site unmanned logistics transportation cluster control system, which comprises a task request subsystem, a task management subsystem and a task management subsystem, wherein the task request subsystem is used for inputting a task request; the material counting subsystem is used for counting the storage condition of the materials; the stacking robot scheduling subsystem is used for controlling the stacking robot at the outdoor storage yard; the transport trolley dispatching subsystem is used for controlling the AGV trolley clusters to run in order; the comprehensive dispatching subsystem is used for realizing interaction of the AGV trolley in and out of the circulating elevator; the circulating elevator dispatching subsystem is used for taking the AGV trolley waiting for the nearest car receiving queuing area or floor and conveying the AGV trolley to a target floor or returning to the ground; the communication networking subsystem is used for realizing the communication and control signal transmission of the whole system; the monitoring and alarming subsystem is used for monitoring the working conditions of the palletizing robot, the AGV trolley and the circulating elevator and giving an alarm under the dangerous condition; a database management subsystem. The invention realizes unmanned logistics transportation on construction site, and greatly saves labor cost.
Description
Technical Field
The invention belongs to the field of building construction, and particularly relates to a construction site unmanned logistics transportation cluster control system.
Background
At present, on the construction site, the whole logistics transportation operation mode is as follows: the materials on the truck are unloaded by manpower or a forklift, then the materials are transported to a warehouse or a stacking area through the manpower or the small trolley, when the materials are needed, the materials are manually moved into the elevator, the materials are transported to a specified floor from the ground through the elevator, and then the materials return to the ground through the elevator. At present, the whole process of the logistics transportation operation mode of the construction site needs manual operation, the turnover workload is large, the manpower input is more, the transportation process is complex, the working efficiency is low, and the labor cost is high.
Disclosure of Invention
The invention aims to provide a construction site unmanned logistics transportation cluster control system, which realizes unmanned logistics transportation on a construction site and greatly saves labor cost.
The technical scheme adopted by the invention is as follows:
a job site unmanned logistics transportation cluster control system comprises: the task request subsystem is used for inputting task requests and setting priorities, and the task requests comprise the types and the quantity of required materials and target floor information; the material counting subsystem is used for counting the material storage conditions of all floors and all outdoor storage yards based on a remote visual identification technology; the stacking robot scheduling subsystem is used for controlling a stacking robot at an outdoor storage yard to automatically stack materials on the truck to the storage yard and grab and place the corresponding materials on the storage yard into an AGV trolley at the upper material level according to a task request; the transport trolley dispatching subsystem is used for controlling the AGV trolley clusters to operate in order, so that the AGV trolleys firstly receive materials at the loading position, plan a route according to a task request, transport the materials to a queuing area of the circulating elevator, and return to the ground and then return to the loading position; the comprehensive dispatching subsystem is used for realizing interaction of the AGV car in and out of the circulating elevator, so that the AGV car firstly enters the car in order in the queuing area, then exits the car at the target floor, then unloads the AGV car, and then exits the car after returning to the ground; the circulating elevator dispatching subsystem is used for dispatching the AGV trolley waiting for the nearest car receiving queuing area or floor, conveying the AGV trolley to a target floor or returning to the ground, and identifying the position and posture state of the AGV trolley in the car; the communication networking subsystem is used for realizing the communication and control signal transmission of the whole system; the monitoring and alarming subsystem is used for monitoring the working conditions of the palletizing robot, the AGV trolley and the circulating elevator and giving an alarm under the dangerous condition; and the database management subsystem is used for recording task requests, outdoor yard in-and-out logs, construction site maps, image data and operation logs of the palletizing robot, the AGV and the circulating elevator.
Furthermore, the material types comprise five major types of building blocks, putty, cement mortar, tubular materials and plate materials, and each major type is divided into a plurality of minor types according to different types or sizes.
Further, for the scheduling subsystem of the palletizing robot, when the palletizing robot automatically palletizes materials on a truck to a yard, the materials are palletized to different areas according to the use frequency and importance of the materials, the integrity degree of the materials is identified through a carried camera, and an alarm is triggered when the damage exceeds the limit or a palletized body topples over; when the stacking robot searches for corresponding materials on a yard according to a task request, the stacking robot firstly moves to a corresponding area according to material storage state data in the material counting subsystem, then accurately identifies the corresponding materials through a carried camera, and prompts a background to replenish the goods and displays the goods shortage at the input end of the task request subsystem when the goods shortage is found.
Further, to travelling bogie dispatch subsystem, to collision interference, adopt tertiary safety protection strategy, the first level adopts traffic control regulation and control strategy, during AGV dolly transportation material of priority higher order, on its planning route, AGV dolly of priority lower order is prohibited current, the initiative that the second level adopted artifical potential field method keeps away the barrier strategy, can the distance between the safety parameter of the artifical potential field method of remote control and the AGV dolly, the third layer adopts passive protection strategy, be equipped with collision module on the AGV dolly, collision module produces the signal of telecommunication when touching the emergence oppression, carry out emergency stop.
Furthermore, for the transport trolley scheduling subsystem, for path planning, map obstacles can be set and updated in a map of a construction site, the planned route of the AGV trolley needs to avoid the map obstacles, and the route and the speed of the AGV trolley are planned according to the priority of the task request and the type information of materials in the task request.
Furthermore, the transportation trolley dispatching subsystem comprises an electric quantity management module, the electric quantity management module controls the AGV trolley to enter a charging area for charging when the electric quantity of the AGV trolley is insufficient, and the AGV trolley is allowed to be put into operation until a certain electric quantity is reached.
Furthermore, for the comprehensive dispatching subsystem, the method for enabling the AGV cars to enter the queuing area in order is that the AGV cars and the circulating elevators adopt a call-response alternating current mode, firstly, the AGV cars arrive at the queuing area and report the elevator requirements, then, the circulating elevator dispatching subsystem dispatches the nearest car to the ground and opens the nearest car, then, the AGV cars with the priority levels in front or the AGV cars with the priority levels in front delay or the AGV cars with the priority levels in front are recognized to enter the car after being opened, and then, the car is closed after the circulating elevator dispatching subsystem recognizes the pose state of the AGV cars in the car in place; when the car transports the AGV to reach a target floor or returns to the ground, the car is opened when in place, and the AGV delays time or recognizes that the car is driven out after being opened; when the car arrives at the target floor and receives the AGV, the car is opened when in place, and the AGV car delays or the recognition car enters the car after being opened.
Further, for the circulating elevator dispatching subsystem, after the car receives the AGV, the AGV scans the identification codes in the car, the pose state of the AGV in the car is obtained through calculation, the position of the AGV in the car is adjusted according to the pose state, and the car is closed after the pose state of the AGV in the car is identified; after the car receives the AGV car on the ground, the car scans the AGV car or reads the radio frequency information of the AGV car to collect a task request of the AGV car, and the target floor information is obtained.
Furthermore, for a communication networking subsystem, wiFi signals are adopted to carry out all-dimensional networking on a construction site, and AP points are arranged on the palletizing robot, the AGV trolley and the circulating elevator and used for receiving task instructions of the whole system, sending control instructions to the palletizing robot, the AGV trolley and the circulating elevator, and uploading image data, material storage conditions and working conditions of the palletizing robot, the AGV trolley and the circulating elevator.
And further, for the monitoring and alarming subsystem, when collision interference of the palletizing robot, the AGV trolley and the circulating elevator is monitored, alarming is carried out, deceleration is controlled to stop, when collision interference of the palletizing robot, the AGV trolley and the circulating elevator is monitored, alarming is carried out, and shutdown is controlled.
The beneficial effects of the invention are:
in the system, materials can be automatically put in a yard and are discharged, transported in a plane and lifted to a target layer as required, the AGV trolley can be transported in a circulating operation among the loading position, the queuing area and the circulating elevator, all subsystems are coordinated and matched in a unified mode, unmanned logistics transportation of a construction site is realized, and the labor cost is greatly saved.
Drawings
FIG. 1 is a schematic flow diagram of materials in an embodiment of the present invention.
Detailed Description
The invention is further illustrated by the following figures and examples.
A construction site unmanned logistics transportation cluster control system comprises: the task request subsystem is used for inputting task requests and setting priorities, and the task requests comprise the types and the quantity of required materials and target floor information; the material counting subsystem is used for counting the material storage conditions of all floors and all outdoor storage yards based on a remote visual identification technology; as shown in fig. 1, the palletizing robot scheduling subsystem is used for controlling a palletizing robot at an outdoor storage yard, automatically palletizing materials on a truck to the storage yard as shown in fig. 1, and grabbing and placing corresponding materials on the storage yard into an AGV trolley at a loading position according to a task request; the transport trolley dispatching subsystem is used for controlling the AGV trolley clusters to operate in order, as shown in the figure 1, the AGV trolleys firstly receive materials at a loading position, plan a route according to a task request, transport the materials to a queuing area of the circulating elevator, and return to the loading position after returning to the ground; the integrated dispatching subsystem is used for realizing interaction of the AGV trolleys in and out of the circulating elevator, and as shown in the figure 1, the AGV trolleys firstly enter the elevator cars in order in a queuing area, then exit the elevator cars at a target floor, then unload the AGV trolleys and enter the elevator cars, and then exit the elevator cars after returning to the ground; the circulating elevator dispatching subsystem is used for dispatching the AGV trolley waiting for the nearest car receiving queuing area or floor, as shown in the figure 1, conveying the AGV trolley to a target floor or returning to the ground, and identifying the pose state of the AGV trolley in the car; the communication networking subsystem is used for realizing the communication and control signal transmission of the whole system; the monitoring and alarming subsystem is used for monitoring the working conditions of the palletizing robot, the AGV trolley and the circulating elevator and giving an alarm under the dangerous condition; and the database management subsystem is used for recording task requests, outdoor yard in-and-out logs, construction site maps, image data and operation logs of the palletizing robot, the AGV and the circulating elevator.
In this embodiment, the material types include five major types, namely building blocks, putty, cement mortar, tubular materials and plate materials, and each major type is divided into a plurality of minor types according to different types or sizes.
In the embodiment, for the scheduling subsystem of the palletizing robot, when the palletizing robot automatically palletizes materials on a truck to a yard, the materials are palletized to different areas according to the use frequency and importance of the materials, the integrity degree of the materials is identified through a carried camera, and an alarm is triggered when the damage exceeds the limit or a palletized body topples over; when the stacking robot searches for corresponding materials on a yard according to a task request, the stacking robot firstly moves to a corresponding area according to material storage state data in the material counting subsystem, then accurately identifies the corresponding materials through a carried camera, and prompts a background to replenish the goods and displays the goods shortage at the input end of the task request subsystem when the goods shortage is found.
In this embodiment, to travelling bogie dispatch subsystem, disturb to the collision, adopt tertiary safety protection strategy, the first level adopts traffic control regulation and control strategy, during the AGV dolly transportation material of priority higher order, on its planning route, the AGV dolly of priority lower order is forbidden to pass, the initiative that the artifical potential field method was adopted to the second level keeps away the barrier strategy, can the distance between the safety parameter of the artifical potential field method of remote control and the AGV dolly, the third layer adopts passive protection strategy, be equipped with collision module on the AGV dolly, collision module produces the signal of telecommunication when touching the emergence oppression, carry out emergency stop.
In this embodiment, for the transportation vehicle scheduling subsystem, for the path planning, the map obstacle can be set and updated in the map of the construction site, the planned route of the AGV vehicle needs to avoid the map obstacle, the route and the speed of the AGV vehicle are planned according to the priority of the task request and the type information of the materials in the task request, for example, the anti-bumping materials such as cement mortar can be faster, the path is more rugged, and the smooth road needs to be selected when the building blocks are damaged, and the speed needs to be slowed down.
In this embodiment, the transportation cart dispatching subsystem includes an electric quantity management module, as shown in fig. 1, the electric quantity management module controls the AGV cart to enter a charging area for charging when the electric quantity of the AGV cart is insufficient, and the AGV cart is not allowed to be put into operation until a certain electric quantity is reached.
In the embodiment, for the comprehensive dispatching subsystem, the method for enabling the AGV cars to enter the queuing area in order is that the AGV cars and the circulating elevators adopt a call-response alternating current mode, firstly, the AGV cars arrive at the queuing area and report the elevator requirements, then, the circulating elevator dispatching subsystem dispatches the nearest car to the ground and opens the nearest car, then, the AGV cars with the priority levels in front or the AGV cars with the priority levels in front delay or the AGV cars with the priority levels in front are recognized to enter the car after being opened, and then, the car is closed after the circulating elevator dispatching subsystem recognizes the pose state of the AGV cars in the car in place; when the car transports the AGV to reach a target floor or returns to the ground, the car is opened when in place, and the AGV delays time or recognizes that the car is driven out after being opened; when the car reaches the target floor and receives the AGV car, the car is opened when in place, and the AGV car delays time or the recognition car enters the car after being opened.
In the embodiment, for the circulating elevator dispatching subsystem, after the car receives the AGV, the AGV scans the identification code in the car, the position state of the AGV in the car is obtained through calculation, the position of the AGV in the car is adjusted according to the position state, and the car is closed after the position state of the AGV in the car is identified; after the car receives the AGV car on the ground, the car scans the AGV car or reads the radio frequency information of the AGV car to collect a task request of the AGV car, and the target floor information is obtained.
In this embodiment, to the communication networking subsystem, adopt the wiFi signal to carry out all-round network deployment at the job site, all be equipped with the AP point on pile up neatly machine people, AGV dolly and the elevator that circulates for receive entire system's task instruction, send control command to pile up neatly machine people, AGV dolly and elevator that circulates, upload image data, material storage situation and pile up neatly machine people, AGV dolly and elevator's operating condition.
In this embodiment, for the monitoring and warning subsystem, when it is monitored that the robot palletizer, the AGV trolley and the elevator circulating are about to collide and interfere, warning is given out, and when it is monitored that the robot palletizer, the AGV trolley and the elevator circulating are collided and interfered, the warning is given out, and shutdown is controlled.
In the system, materials can be automatically fed and stacked, discharged, transported on a plane and lifted to a target layer according to needs, the AGV trolley can be transported in a circulating operation among the material loading position, the queuing area and the circulating elevator, all subsystems are coordinated and matched in a unified mode, unmanned logistics transportation on a construction site is achieved, and labor cost is greatly saved.
It will be understood that modifications and variations can be made by persons skilled in the art in light of the above teachings and all such modifications and variations are intended to be included within the scope of the invention as defined in the appended claims.
Claims (10)
1. The utility model provides a job site unmanned logistics transportation cluster control system which characterized in that: comprises the steps of (a) preparing a mixture of a plurality of raw materials,
the task request subsystem is used for inputting task requests and setting priorities, and the task requests comprise the types and the quantity of required materials and target floor information;
the material counting subsystem is used for counting the material storage conditions of all floors and all outdoor storage yards based on a remote visual identification technology;
the stacking robot scheduling subsystem is used for controlling a stacking robot at an outdoor storage yard to automatically stack materials on the truck to the storage yard and grab and place the corresponding materials on the storage yard into an AGV trolley at the upper material level according to a task request;
the transport trolley dispatching subsystem is used for controlling the AGV trolley clusters to operate in order, so that the AGV trolleys firstly receive materials at a material loading position, plan a route according to a task request, transport the materials to a queuing area of the circulating elevator, return to the ground and then return to the material loading position;
the comprehensive dispatching subsystem is used for realizing interaction of the AGV car in and out of the circulating elevator, so that the AGV car firstly enters the car in order in the queuing area, then exits the car at the target floor, then unloads the AGV car, and then exits the car after returning to the ground;
the circulating elevator dispatching subsystem is used for dispatching the AGV trolley waiting for the nearest car receiving queuing area or floor, conveying the AGV trolley to a target floor or returning to the ground, and identifying the pose state of the AGV trolley in the car;
the communication networking subsystem is used for realizing the communication and control signal transmission of the whole system;
the monitoring and alarming subsystem is used for monitoring the working conditions of the palletizing robot, the AGV trolley and the circulating elevator and giving an alarm under a dangerous condition;
and the database management subsystem is used for recording task requests, outdoor storage yard in-and-out logs, construction site maps, image data and operation logs of the palletizing robot, the AGV trolley and the circulating elevator.
2. The construction site unmanned logistics transportation cluster control system of claim 1, wherein: the material types comprise five major types of building blocks, putty, cement mortar, pipe-packed materials and plate-shaped materials, and each major type is divided into a plurality of minor types according to different types or sizes.
3. The construction site unmanned logistics transportation cluster control system of claim 1, wherein: for the scheduling subsystem of the palletizing robot, when the palletizing robot automatically stacks materials on a truck to a yard, the materials are stacked to different areas according to the use frequency and importance of the materials, the integrity degree of the materials is identified through a carried camera, and an alarm is triggered when a damaged object exceeds the limit or a stack body topples over; when the stacking robot searches for corresponding materials on a yard according to a task request, the stacking robot firstly moves to a corresponding area according to material storage state data in the material counting subsystem, then accurately identifies the corresponding materials through a carried camera, and prompts a background to replenish the goods and displays the goods shortage at the input end of the task request subsystem when the goods shortage is found.
4. The construction site unmanned logistics transportation cluster control system of claim 1, wherein: to travelling bogie dispatch subsystem, to collision interference, adopt tertiary safety protection strategy, the first grade adopts traffic control regulation and control strategy, during the AGV dolly transportation material of priority higher order, on its planning route, the AGV dolly of priority lower order is forbidden to pass, the barrier strategy is kept away in the initiative that the artifical potential field method was adopted to the second grade, can the remote control safety parameter of artifical potential field method and the distance between the AGV dolly, the third layer adopts passive protection strategy, be equipped with collision module on the AGV dolly, collision module produces the signal of telecommunication when touching the emergence oppression, carry out emergency stop.
5. The construction site unmanned logistics transportation cluster control system of claim 1, wherein: for the transport trolley scheduling subsystem, aiming at path planning, map obstacles can be set and updated in a construction site map, the planned route of the AGV trolley needs to avoid the map obstacles, and the route and the speed of the AGV trolley are planned according to the priority of the task request and the type information of materials in the task request.
6. The construction site unmanned logistics transportation cluster control system of claim 1, wherein: and the transport trolley dispatching subsystem comprises an electric quantity management module, the electric quantity management module controls the AGV trolley to enter a charging area for charging when the electric quantity of the AGV trolley is insufficient, and the AGV trolley is allowed to be put into operation until a certain electric quantity is reached.
7. The construction site unmanned logistics transportation cluster control system of claim 1, wherein: for the comprehensive dispatching subsystem, the method for enabling the AGV cars to enter the car in order in the queuing area is that the AGV cars and the circulating elevator adopt a call-response communication mode, firstly, the AGV cars arrive at the queuing area and report the elevator requirements, then, the circulating elevator dispatching subsystem dispatches the nearest car to the ground and opens, then, the AGV cars with the front priorities or the AGV cars arriving firstly under the same priorities delay or recognize that the cars are opened and then enter the car, and then, the circulating elevator dispatching subsystem recognizes the pose state of the AGV cars in the car and closes the car; when the car transports the AGV to reach a target floor or returns to the ground, the car is opened when in place, and the AGV delays time or recognizes that the car is driven out after being opened; when the car arrives at the target floor and receives the AGV, the car is opened when in place, and the AGV car delays or the recognition car enters the car after being opened.
8. The construction site unmanned logistics transportation cluster control system of claim 1, wherein: for the circulating elevator dispatching subsystem, after the car receives the AGV, the AGV scans the identification code in the car, the pose state of the AGV in the car is obtained through calculation, the position of the AGV in the car is adjusted according to the pose state, and the car is closed after the pose state of the AGV in the car is identified; after the car receives the AGV car on the ground, the car scans the AGV car or reads the radio frequency information of the AGV car to collect a task request of the AGV car, and the target floor information is obtained.
9. The construction site unmanned logistics transportation cluster control system of claim 1, wherein: for a communication networking subsystem, a WiFi signal is adopted to carry out all-dimensional networking on a construction site, AP points are arranged on the palletizing robot, the AGV trolley and the circulating elevator and used for receiving a task instruction of the whole system, sending a control instruction to the palletizing robot, the AGV trolley and the circulating elevator and uploading image data, material storage conditions and working conditions of the palletizing robot, the AGV trolley and the circulating elevator.
10. The construction site unmanned logistics transportation cluster control system of claim 1, wherein: and for the monitoring and alarming subsystem, alarming is carried out when collision interference of the palletizing robot, the AGV trolley and the circulating elevator is about to occur, deceleration is controlled to stop, alarming is carried out when collision interference of the palletizing robot, the AGV trolley and the circulating elevator is monitored, and shutdown is controlled.
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| CN202211429872.0A CN115689404A (en) | 2022-11-15 | 2022-11-15 | Construction site unmanned logistics transportation cluster control system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116308083A (en) * | 2023-02-27 | 2023-06-23 | 广东博嘉拓建筑科技有限公司 | Multi-task material management and control method and system based on construction robot |
| CN117022971A (en) * | 2023-10-09 | 2023-11-10 | 南通知力机械科技有限公司 | Intelligent logistics stacking robot control system |
-
2022
- 2022-11-15 CN CN202211429872.0A patent/CN115689404A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116308083A (en) * | 2023-02-27 | 2023-06-23 | 广东博嘉拓建筑科技有限公司 | Multi-task material management and control method and system based on construction robot |
| CN117022971A (en) * | 2023-10-09 | 2023-11-10 | 南通知力机械科技有限公司 | Intelligent logistics stacking robot control system |
| CN117022971B (en) * | 2023-10-09 | 2023-12-22 | 南通知力机械科技有限公司 | Intelligent logistics stacking robot control system |
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