CN116400618A - Intelligent control method applied to logistics system and based on time synchronization - Google Patents
Intelligent control method applied to logistics system and based on time synchronization Download PDFInfo
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Abstract
The invention provides an intelligent control method based on time synchronization applied to a logistics system. The method realizes intelligent control by system initialization, path planning and control of the driving equipment, and can ensure that goods are transported to a designated destination according to the planned path under a control instruction preset by each node, so that the algorithm can effectively improve the working efficiency of the conveying system. The intelligent control method based on time synchronization provided by the invention has the advantages that in a logistics warehouse center with wide occupied area, large cargo quantity and high time efficiency and accuracy, the cargo can be transported to a designated place in a short time with extremely high accuracy, and the transport efficiency of the cargo is effectively improved.
Description
Technical Field
The invention belongs to the technical field of artificial intelligence, and particularly relates to an intelligent control method based on time synchronization applied to a logistics system.
Background
The existing logistics control system mainly adopts a sensor-server mode to sense and position articles, realizes motion control through a server-edge equipment-control device, all modules are connected through a communication cable or a local wireless network, and objects can be effectively controlled to be transported.
But such a system has the disadvantage of communication delay. This problem is mainly present in the communication between the sensor and the host computer, and in the communication between the host computer and the distributed edge devices. Due to the existence of time delay, huge uncertainty exists in multidirectional logistics control in a high-speed state, and the degree of accuracy required by a system is difficult to meet.
Meanwhile, when the control device of the system expands to a certain extent, the situation of message queue blocking will occur in communication: when the instruction does not reach the designated time node, the message will be accumulated in the transmission queue to cause blocking, but when the system reaches the designated time node, a plurality of data packets will be transmitted at the same time, which will generate problems such as data coverage or queuing delay, and the like, and further aggravate the negative effects caused by the time delay.
Disclosure of Invention
The invention aims to solve the problems in the prior art, and provides an intelligent control method based on time synchronization, which is applied to a logistics system.
The invention is realized by the following technical scheme, and provides an intelligent control method based on time synchronization applied to a logistics system, which comprises the following steps:
synchronizing the distributed edge equipment with the distributed edge equipment by taking the time of the upper computer as a reference, unifying the time to finish initialization preparation of a control method, and carrying out time synchronization between the distributed edge equipment at regular time again to ensure high-precision accuracy;
predicting the time of goods entering a logistics system, calling an A-type algorithm to carry out path planning on the running route of the goods by taking the time as a reference, predicting the movement track of an object according to the linear speed and feedback of drive control, and calculating the time required by the goods to reach each node and the control instruction required by the node;
designing a message queue with priority, wherein the format of the message content is as follows: priority, run time, control instructions; the message content is issued according to the time when the goods enter the logistics system, after the distributed edge equipment receives the data, all the current instructions are ordered according to the set priority-running time, and the control instructions are issued to the driving equipment at the specified running time.
Further, when the visual sensor detects that goods collide, the upper computer calls an RVO algorithm to recalculate the motion trail of the goods, the priority of the current instruction is improved to be the highest, the current instruction is inserted into the forefront end of the queue to be issued, and after the distributed edge equipment receives the message content of the same driving device or the same time with higher priority, the instruction issued to the upper computer is covered.
Further, PTPd is selected to obtain network driving layer time, and time synchronization of the distributed edge equipment is carried out.
Further, the PTPd moves the generation position of the timestamp from the physical layer to the network driving layer, and the formula for calculating the time offset is:
furthermore, the distributed edge equipment is connected with the upper computer through a high-speed real-time bus, and the sensor and the upper computer adopt POWERLINK or EtherCAT real-time industrial Ethernet.
Further, in the path planning process:
when the transportation starts, goods are placed at the starting point of the logistics system, and after the visual or pressure sensor confirms the condition of the goods, the upper computer is informed to start operation;
the upper computer adopts an A algorithm to carry out path planning, meets the planning requirement that goods reach any end point from any initial point according to an optimal path, and calculates the acceleration required by the driving device when the goods pass through each node and the estimated time when the goods pass through the node according to the planned path and the set goods transportation speed after the path planning is completed;
after the calculation is completed, the upper computer synthesizes the calculated control instructions of all the nodes and the time nodes into a message with a specified format, and transmits the message to the edge equipment to which all the nodes belong, the edge equipment judges whether the existing control instructions and the issued instructions conflict or not, if so, the conflict is reported to the upper computer, and the upper computer calls an RVO algorithm to recalculate corresponding data; if no conflict occurs, the edge device needs to issue a control instruction to the designated driving device when reaching the recorded time node.
The invention provides an intelligent control system based on time synchronization applied to a logistics system, which specifically comprises the following steps:
an initialization module: the method is used for synchronizing the distributed edge equipment with the distributed edge equipment by taking the time of the upper computer as a reference, unifying the time to finish initialization preparation of a control method, and the time synchronization is needed to be carried out between the distributed edge equipment again at fixed time so as to ensure high-precision accuracy;
and a prediction module: the method comprises the steps of predicting the time of goods entering a logistics system, calling an A algorithm to conduct path planning on the running route of the goods by taking the time as a reference, predicting the movement track of an object according to the linear speed and feedback of drive control, and calculating the time required by the goods to reach each node and the control instruction required by the node;
and the control module is used for: for designing a message queue with priority, the format of message content is as follows: priority, run time, control instructions; the message content is issued according to the time when the goods enter the logistics system, after the distributed edge equipment receives the data, all the current instructions are ordered according to the set priority-running time, and the control instructions are issued to the driving equipment at the specified running time.
Further, once new goods enter the logistics system or the vision sensor detects collision, the upper computer is informed to carry out path planning again by using the RVO algorithm in real time, and after the upper computer completes planning again, the higher-priority messages are synthesized and sent down.
The invention also provides an electronic device, which comprises a memory and a processor, wherein the memory stores a computer program, and the processor realizes the steps of the intelligent control method based on time synchronization applied to a logistics system when executing the computer program.
The invention also provides a computer readable storage medium for storing computer instructions which when executed by a processor implement the steps of the intelligent control method based on time synchronization applied to a logistics system.
The invention has the beneficial effects that:
the invention provides an intelligent control method based on time synchronization applied to a logistics system, and the logistics transportation system gradually increases the conveying speed along with the increase of the cargo quantity, but the current control algorithm has certain limitations in the environment, and an effective intelligent control algorithm is needed to ensure the stability of the transmission. The intelligent control method based on time synchronization provided by the invention has the advantages that in a logistics warehouse center with wide occupied area, large cargo quantity and high requirements on time efficiency and accuracy, the cargo can be transported to a designated place with extremely high accuracy, and the cargo transportation efficiency is effectively improved. In particular, the intelligent control method can be applied to similar systems needing predictive control, such as mechanical arms of factories, intelligent trolleys and the like.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
FIG. 1 is a basic flow chart of an intelligent control method;
FIG. 2 is a flowchart of the PTP algorithm;
FIG. 3 is a schematic diagram showing a client selecting an eth0 port to connect to a network cable without clock synchronization;
FIG. 4 is a diagram of a client selection eth0 port connected to a network cable and performing clock synchronization.
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. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention provides an intelligent control method based on a technology of time synchronization and path planning, which can be directly applied to cargo transportation of a logistics system.
With reference to fig. 1 to fig. 4, the invention provides an intelligent control method based on time synchronization applied to a logistics system, which specifically comprises the following steps:
synchronizing the distributed edge equipment with the distributed edge equipment by taking the time of the upper computer as a reference, unifying the time to finish initialization preparation of a control method, and carrying out time synchronization between the distributed edge equipment at regular time again to ensure high-precision accuracy;
predicting the time of goods entering a logistics system, calling an A-type algorithm to carry out path planning on the running route of the goods by taking the time as a reference, predicting the movement track of an object according to the linear speed and feedback of drive control, and calculating the time required by the goods to reach each node and the control instruction required by the node;
designing a message queue with priority, wherein the format of the message content is as follows: priority, run time, control instructions; the running time and the control instruction are the calculated data, the message content is issued according to the time when the goods enter the logistics system, after the distributed edge equipment receives the data, all the current instructions are ordered according to the set priority-running time, and the control instruction is issued to the driving equipment at the designated running time.
Particularly, when the visual sensor detects that goods collide, the upper computer calls an RVO algorithm to recalculate the motion trail of the goods, the priority of the current instruction is raised to be highest, the current instruction is inserted into the forefront end of the queue to be issued, and after the distributed edge equipment receives the message content of the same driving device or the same time with higher priority, the instruction issued to the upper computer is covered.
1. Time synchronization of distributed edge devices:
and selecting PTPd to acquire network driving layer time, and performing time synchronization of distributed edge equipment.
Because of the large difference in the selection of the distributed edge devices in different control systems, considering that not all devices support the PTP protocol with hardware accuracy, in order to improve the compatibility of the control algorithm, the invention selects the PTPd protocol capable of acquiring the network driving layer.
PTPd (Precision Time Protocol daemon) is an implementation of the PTP protocol defined based on the IEEE1588 standard, which is capable of providing accurate time coordination for ethernet connected computers.
In the intelligent control algorithm, when the equipment is started, the time of the upper computer is used as a reference, and all the distributed edge equipment is subjected to time synchronization by using the PTPd protocol, so that the initialization preparation of the algorithm is completed. And the edge devices need to be synchronized again at a timing (1-2 s) to ensure the accuracy of the precision.
PTPd is an implementation based on the PTP protocol, and the implementation procedure of PTP is shown in fig. 2.
Compared with PTP, the difference is mainly that the generation position of the timestamp is moved from the physical layer to the network driving layer, the calculation method still uses the formula of PTP, and the formula for calculating the time deviation is as follows:
2. network communication under time synchronization:
in order to reduce the negative effect caused by network delay as much as possible, the distributed edge devices and the upper computer are connected through a high-speed real-time bus, and particularly, the sensor and the upper computer can consider to adopt a POWERLINK or EtherCAT real-time industrial Ethernet, so as to reduce the delay of message transmission and ensure the real-time performance of the system.
Based on the intelligent control method provided by the invention, the message scheduling is only composed of the messages required for completing the system clock synchronization and necessary control instruction messages, and the sending time of all the messages can be configured in advance, so that the blocking of a message queue can be effectively avoided, the utilization rate of a bus is improved, and the real-time performance of the system is ensured.
3. The intelligent control method based on path planning comprises the following steps:
in the path planning process:
when the transportation starts, goods are placed at the starting point of the logistics system, and after the visual or pressure sensor confirms the condition of the goods, the upper computer is informed to start operation;
the upper computer adopts an A algorithm to carry out path planning, so that the planning requirement that goods reach any end point from any initial point according to an optimal path can be met, and after the path planning is completed, the upper computer calculates the acceleration required by the driving device when the goods pass through each node according to the planned path and the set goods transportation speed and the estimated time when the goods pass through the node;
after the calculation is completed, the upper computer synthesizes the calculated control instructions of all the nodes and the time nodes into a message with a specified format, and transmits the message to the edge equipment to which all the nodes belong, the edge equipment judges whether the existing control instructions and the issued instructions conflict or not, if so, the conflict is reported to the upper computer, and the upper computer calls an RVO algorithm to recalculate corresponding data; if no conflict occurs, the edge device needs to issue a control instruction to the designated driving device when reaching the recorded time node.
The invention provides an intelligent control system based on time synchronization applied to a logistics system, which specifically comprises the following steps:
an initialization module: the method is used for synchronizing the distributed edge equipment with the distributed edge equipment by taking the time of the upper computer as a reference, unifying the time to finish initialization preparation of a control method, and the time synchronization is needed to be carried out between the distributed edge equipment again at fixed time so as to ensure high-precision accuracy;
and a prediction module: the method comprises the steps of predicting the time of goods entering a logistics system, calling an A algorithm to conduct path planning on the running route of the goods by taking the time as a reference, predicting the movement track of an object according to the linear speed and feedback of drive control, and calculating the time required by the goods to reach each node and the control instruction required by the node;
and the control module is used for: for designing a message queue with priority, the format of message content is as follows: priority, run time, control instructions; the message content is issued according to the time when the goods enter the logistics system, after the distributed edge equipment receives the data, all the current instructions are ordered according to the set priority-running time, and the control instructions are issued to the driving equipment at the specified running time.
Particularly, once new goods enter the logistics system or the visual sensor detects collision, the upper computer is informed to carry out path planning again by using the RVO algorithm in real time, and after the upper computer completes planning again, the higher-priority messages are synthesized and sent down.
The method and the system can ensure that the goods can be transported to the appointed terminal according to the planned path under the control instruction preset by each node, and the algorithm can effectively improve the working efficiency of the conveying system.
The invention mainly solves a series of problems caused by time delay in a logistics transportation system, and particularly, the necessity of time synchronization is experimentally verified.
In the experiment, a server is selected as an upper computer, a raspberry group is selected as an edge device, and the transmission delay between a server and a client is tested under the conditions that whether time synchronization exists and whether a bus is selected for connection or not is tested. Fig. 3 and 4 demonstrate that in the case of time synchronization, the selection of the bus can effectively reduce the delay to the order of milliseconds, consistent with the required accuracy requirements of the present invention.
The invention also provides an electronic device, which comprises a memory and a processor, wherein the memory stores a computer program, and the processor realizes the steps of the intelligent control method based on time synchronization applied to a logistics system when executing the computer program.
The invention also provides a computer readable storage medium for storing computer instructions which when executed by a processor implement the steps of the intelligent control method based on time synchronization applied to a logistics system.
The memory in embodiments of the present application may be either volatile memory or nonvolatile memory, or may include both volatile and nonvolatile memory. The nonvolatile memory may be a Read Only Memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an electrically Erasable EPROM (EEPROM), or a flash memory. The volatile memory may be random access memory (random access memory, RAM) which acts as an external cache. By way of example, and not limitation, many forms of RAM are available, such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous DRAM (SLDRAM), and direct memory bus RAM (DRRAM). It should be noted that the memory of the methods described herein is intended to comprise, without being limited to, these and any other suitable types of memory.
In the above embodiments, it may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer instructions are loaded and executed on a computer, the processes or functions described in accordance with embodiments of the present application are produced in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by a wired (e.g., coaxial cable, fiber optic, digital subscriber line (digital subscriber line, DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that contains an integration of one or more available media. The usable medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a magnetic tape), an optical medium (e.g., a high-density digital video disc (digital video disc, DVD)), or a semiconductor medium (e.g., a Solid State Disk (SSD)), or the like.
In implementation, the steps of the above method may be performed by integrated logic circuits of hardware in a processor or by instructions in the form of software. The steps of a method disclosed in connection with the embodiments of the present application may be embodied directly in a hardware processor for execution, or in a combination of hardware and software modules in the processor for execution. The software modules may be located in a random access memory, flash memory, read only memory, programmable read only memory, or electrically erasable programmable memory, registers, etc. as well known in the art. The storage medium is located in a memory, and the processor reads the information in the memory and, in combination with its hardware, performs the steps of the above method. To avoid repetition, a detailed description is not provided herein.
It should be noted that the processor in the embodiments of the present application may be an integrated circuit chip with signal processing capability. In implementation, the steps of the above method embodiments may be implemented by integrated logic circuits of hardware in a processor or instructions in software form. The processor may be a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic, or discrete hardware components. The disclosed methods, steps, and logic blocks in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of a method disclosed in connection with the embodiments of the present application may be embodied directly in hardware, in a decoded processor, or in a combination of hardware and software modules in a decoded processor. The software modules may be located in a random access memory, flash memory, read only memory, programmable read only memory, or electrically erasable programmable memory, registers, etc. as well known in the art. The storage medium is located in a memory, and the processor reads the information in the memory and, in combination with its hardware, performs the steps of the above method.
The above describes in detail a time synchronization-based intelligent control method applied to a logistics system, and specific examples are applied to illustrate the principle and implementation of the present invention, and the above description of the examples is only used to help understand the method and core idea of the present invention; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in accordance with the ideas of the present invention, the present description should not be construed as limiting the present invention in view of the above.
Claims (10)
1. An intelligent control method based on time synchronization applied to a logistics system is characterized by comprising the following steps of: the method specifically comprises the following steps:
synchronizing the distributed edge equipment with the distributed edge equipment by taking the time of the upper computer as a reference, unifying the time to finish initialization preparation of a control method, and carrying out time synchronization between the distributed edge equipment at regular time again to ensure high-precision accuracy;
predicting the time of goods entering a logistics system, calling an A-type algorithm to carry out path planning on the running route of the goods by taking the time as a reference, predicting the movement track of an object according to the linear speed and feedback of drive control, and calculating the time required by the goods to reach each node and the control instruction required by the node;
designing a message queue with priority, wherein the format of the message content is as follows: priority, run time, control instructions; the message content is issued according to the time when the goods enter the logistics system, after the distributed edge equipment receives the data, all the current instructions are ordered according to the set priority-running time, and the control instructions are issued to the driving equipment at the specified running time.
2. The method according to claim 1, characterized in that: when the visual sensor monitors the collision of goods, the upper computer calls the RVO algorithm to recalculate the motion trail of the goods, and the priority of the current instruction is raised to be the highest, the current instruction is inserted into the forefront end of the queue to be issued, and after the distributed edge equipment receives the message content of the same driving device or the same time with higher priority, the instruction issued to the upper computer is covered.
3. The method according to claim 1, characterized in that: and selecting PTPd to acquire network driving layer time, and performing time synchronization of distributed edge equipment.
4. A method according to claim 3, characterized in that: the PTPd moves the generation position of the timestamp from the physical layer to the network driving layer, and the formula for calculating the time offset is:
5. the method according to claim 2, characterized in that: the distributed edge equipment is connected with the upper computer through a high-speed real-time bus, and the sensor and the upper computer adopt POWERLINK or EtherCAT real-time industrial Ethernet.
6. The method according to claim 1, characterized in that: in the path planning process:
when the transportation starts, goods are placed at the starting point of the logistics system, and after the visual or pressure sensor confirms the condition of the goods, the upper computer is informed to start operation;
the upper computer adopts an A algorithm to carry out path planning, meets the planning requirement that goods reach any end point from any initial point according to an optimal path, and calculates the acceleration required by the driving device when the goods pass through each node and the estimated time when the goods pass through the node according to the planned path and the set goods transportation speed after the path planning is completed;
after the calculation is completed, the upper computer synthesizes the calculated control instructions of all the nodes and the time nodes into a message with a specified format, and transmits the message to the edge equipment to which all the nodes belong, the edge equipment judges whether the existing control instructions and the issued instructions conflict or not, if so, the conflict is reported to the upper computer, and the upper computer calls an RVO algorithm to recalculate corresponding data; if no conflict occurs, the edge device needs to issue a control instruction to the designated driving device when reaching the recorded time node.
7. An intelligent control system based on time synchronization applied to a logistics system is characterized in that: the system specifically comprises the following steps:
an initialization module: the method is used for synchronizing the distributed edge equipment with the distributed edge equipment by taking the time of the upper computer as a reference, unifying the time to finish initialization preparation of a control method, and the time synchronization is needed to be carried out between the distributed edge equipment again at fixed time so as to ensure high-precision accuracy;
and a prediction module: the method comprises the steps of predicting the time of goods entering a logistics system, calling an A algorithm to conduct path planning on the running route of the goods by taking the time as a reference, predicting the movement track of an object according to the linear speed and feedback of drive control, and calculating the time required by the goods to reach each node and the control instruction required by the node;
and the control module is used for: for designing a message queue with priority, the format of message content is as follows: priority, run time, control instructions; the message content is issued according to the time when the goods enter the logistics system, after the distributed edge equipment receives the data, all the current instructions are ordered according to the set priority-running time, and the control instructions are issued to the driving equipment at the specified running time.
8. The system according to claim 7, wherein: once new goods enter the logistics system or the visual sensor detects collision, the upper computer is informed to carry out path planning again by using the RVO algorithm in real time, and after the upper computer completes planning again, the messages with higher priority are synthesized and sent down.
9. An electronic device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any of claims 1-6 when the computer program is executed.
10. A computer readable storage medium storing computer instructions which, when executed by a processor, implement the steps of the method of any one of claims 1-6.
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| CN117611045A (en) * | 2024-01-22 | 2024-02-27 | 湖南创亚信息科技有限公司 | Cargo flow monitoring method and system based on cloud computing |
| CN117611045B (en) * | 2024-01-22 | 2024-04-19 | 湖南创亚信息科技有限公司 | Cargo flow monitoring method and system based on cloud computing |
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