CN116663836A - Collaborative logistics robot system based on intelligent cluster scheduling and control method - Google Patents
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
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- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
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- G06V20/584—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of vehicle lights or traffic lights
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Abstract
The invention relates to the technical field of logistics, in particular to a cooperative logistics robot system based on intelligent cluster scheduling and a control method; the logistics management system comprises logistics robots, traffic recognition modules, communication modules, logistics scheduling platforms, query modules, order information modules, login modules, user mobile phone terminals, positioning modules, navigation modules and power modules, wherein the logistics scheduling platforms manage logistics orders in warehouses, the query modules query the logistics robots closest to each logistics order and the logistics robots in idle states and assign the logistics orders to the optimal logistics robots, the communication modules transmit logistics order information to the logistics robots, the navigation modules navigate addresses on the order information, the corresponding logistics robots can be selected according to the distance of the transportation orders, the logistics robots have the same speed under the stipulated running states to solve the mutual conflict, and the transportation efficiency of the logistics orders is improved.
Description
Technical Field
The invention relates to the technical field of logistics, in particular to a collaborative logistics robot system based on intelligent cluster scheduling and a control method.
Background
At present, articles are distributed in domestic logistics industry in a manual distribution mode, with the rising of electronic commerce, logistics companies are increased continuously, logistics distribution staff are increased continuously, labor cost is increased greatly, average distribution pressure is high, and delay and error delivery often occur. Furthermore, the use of robotic delivery has even more incomparable advantages for frequent cargo transportation delivery between factory warehouses.
However, in the transportation process of the existing logistics robots, the corresponding logistics robots cannot be selected according to the distance of the transportation orders, and meanwhile, the condition that node conflict exists in the operation route easily occurs, so that the transportation efficiency of the logistics orders is low.
Disclosure of Invention
The invention aims to provide a collaborative logistics robot system based on intelligent cluster scheduling and a control method, and aims to solve the technical problem that in the prior art, a corresponding logistics robot cannot be selected according to the distance of a transportation order, meanwhile, the situation that a node conflict exists in an operation route easily occurs, so that the transportation efficiency of the logistics order is low.
In order to achieve the above purpose, the collaborative logistics robot system based on intelligent cluster scheduling comprises a logistics robot, a traffic identification module, a communication module, a logistics scheduling platform, a query module, an order information module, a login module, a user mobile phone terminal, a positioning module, a navigation module and a power module, wherein the power module, the traffic identification module, the positioning module and the communication module are respectively connected with the logistics robot, the navigation module is connected with the positioning module, the user mobile phone terminal is connected with the communication module, the order information module is respectively connected with the communication module and the logistics scheduling platform, and the login module and the query module are respectively connected with the logistics scheduling platform;
the logistics scheduling platform is used for managing logistics orders in the warehouse and assigning the logistics orders to the corresponding logistics robots for transportation;
the login module is used for a manager to login the logistics scheduling platform;
the inquiry module is used for inquiring the logistics robots with the nearest logistics orders and the logistics robots in an idle state, and assigning the logistics orders to the optimal logistics robots;
the order information module is used for summarizing the logistics order information;
the logistics robot is used for transporting the logistics orders to clients;
the power supply module is used for supplying power to the logistics robot;
the communication module is used for transmitting the logistics order information to the logistics robot;
the positioning module is used for positioning the position of the logistics robot in real time in the running process;
the navigation module is used for navigating the address on the order information;
the traffic recognition module is used for the logistics robot to recognize traffic conditions on a road and make judgment to follow traffic rules so as to facilitate the logistics robot to run on the road;
and the user mobile phone terminal is used for receiving the logistics order signing prompt sent by the logistics robot.
The traffic identification module comprises a traffic sign identification unit and a traffic signal identification unit, and the traffic sign identification unit and the traffic signal identification unit are respectively connected with the logistics robot;
the traffic sign recognition unit is used for acquiring and recognizing a road traffic sign in the current running process of the logistics robot;
the traffic signal identification unit is used for acquiring and identifying the state of a traffic light in the current running process of the logistics robot.
The login module comprises a face recognition unit and an account verification unit, and the face recognition unit and the account verification unit are respectively connected with the logistics scheduling platform;
the face recognition unit is used for recognizing and verifying the face according to the identity card information of the operator;
the account verification unit is used for carrying out login verification according to the account passwords registered by the operator.
The intelligent cluster scheduling-based collaborative logistics robot system further comprises a rejection module, wherein the rejection module is respectively connected with the logistics robot and the communication module;
and the rejecting module is used for updating and rejecting the sent logistics order information in the logistics scheduling platform.
The intelligent cluster scheduling-based collaborative logistics robot system further comprises a monitoring module, wherein the monitoring module is connected with the logistics robot;
the monitoring module is used for monitoring the state of the logistics robot in the logistics transportation process.
The intelligent cluster scheduling-based collaborative logistics robot system further comprises an electric quantity detection module, wherein the electric quantity detection module is connected with the power supply module;
the power detection module is used for detecting the power of the power module, the power of the power module is found to be too low, and the logistics scheduling platform indicates the logistics robot to return to the standby area for charging.
The intelligent cluster scheduling-based collaborative logistics robot system further comprises a login recording module, wherein the login recording module is respectively connected with the face recognition module and the account verification module;
the login recording module is used for recording login marks of the operator.
The invention also provides a control method of the cooperative logistics robot based on intelligent cluster scheduling, which is applied to a cooperative logistics robot system based on intelligent cluster scheduling, and comprises the following steps:
an operator logs in the logistics scheduling platform;
inquiring the logistics robots with the nearest logistics orders and the logistics robots in an idle state through the inquiring module, and assigning the logistics orders to the optimal logistics robots;
assigning a logistics order to each logistics robot by utilizing the logistics scheduling platform;
indicating the logistics robot to transport through the address information of the logistics order;
after the logistics robot sends the customer pick-up address, a sign-up prompt is sent to a mobile phone terminal of the customer through the communication module, and after the customer signs up for a logistics order, the logistics robot returns to a standby area;
when the electric quantity of the logistics robot is found to be insufficient, the logistics robot is instructed to return to a standby area for charging;
and when the tasks of all the logistics robots are finished, all the logistics robots return to the standby area.
According to the collaborative logistics robot system and the control method based on intelligent cluster scheduling, the logistics scheduling platform manages logistics orders in warehouses and assigns the logistics orders to corresponding logistics robots for transportation, a manager logs in the logistics scheduling platform through the login module, the query module queries the logistics robots closest to each logistics order and the logistics robots in idle states and assigns the logistics orders to the optimal logistics robots, the order information module gathers logistics order information, the logistics robots transport the logistics orders to clients, the power module supplies power to the logistics robots, the communication module transmits the logistics order information to the logistics robots, the positioning module positions the logistics robots in the operation process in real time, the navigation module navigates addresses on the order information, the traffic recognition module recognizes traffic conditions on roads, judges and follows traffic rules, the logistics robots are convenient to travel on roads, the user mobile phone terminals receive the logistics orders to send the logistics orders to the clients, the logistics orders are low in speed corresponding to the logistics robots, and the logistics order receiving rate is low, and the logistics robots can be more close to the logistics delivery rate is achieved.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic diagram of a collaborative logistics robot system based on intelligent cluster scheduling according to the present invention.
Fig. 2 is a flow chart of steps of a control method of the collaborative logistics robot based on intelligent cluster scheduling.
The system comprises a 101-logistics robot, a 102-communication module, a 103-logistics dispatching platform, a 104-query module, a 105-order information module, a 106-user mobile phone terminal, a 107-positioning module, a 108-navigation module, a 109-power module, a 110-traffic sign recognition unit, a 111-traffic signal recognition unit, a 112-face recognition unit, a 113-account verification unit, a 114-rejection module, a 115-monitoring module, a 116-electric quantity detection module, a 117-login recording module, a 118-laser radar unit and a 119-alarm unit.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.
Referring to fig. 1 and 2, the invention provides a collaborative logistics robot system based on intelligent cluster scheduling, which comprises a logistics robot 101, a traffic recognition module, a communication module 102, a logistics scheduling platform 103, a query module 104, an order information module 105, a login module, a user mobile phone terminal 106, a positioning module 107, a navigation module 108 and a power module 109, wherein the power module 109, the traffic recognition module, the positioning module 107 and the communication module 102 are respectively connected with the logistics robot 101, the navigation module 108 is connected with the positioning module 107, the user mobile phone terminal 106 is connected with the communication module 102, the order information module 105 is respectively connected with the communication module 102 and the logistics scheduling platform 103, and the login module and the query module 104 are respectively connected with the logistics scheduling platform 103;
the logistics scheduling platform 103 is used for managing logistics orders in a warehouse and assigning the logistics orders to the corresponding logistics robots 101 for transportation;
the login module is used for a manager to login the logistics scheduling platform 103;
the inquiry module 104 is configured to inquire the logistics robot 101 with the nearest logistics order and the logistics robot 101 in an idle state, and assign the logistics order to the optimal logistics robot 101;
the order information module 105 module is used for summarizing the logistics order information;
the logistics robot 101 is used for transporting logistics orders to clients;
the power module 109 is configured to provide power to the logistics robot 101;
the communication module 102 is configured to transmit the logistics order information to the logistics robot 101;
the positioning module 107 is configured to perform real-time positioning on a position of the logistics robot 101 in an operation process;
the navigation module 108 is configured to navigate an address on the order information;
the traffic recognition module is used for the logistics robot 101 to recognize traffic conditions on roads and make judgment to follow traffic rules so as to facilitate the logistics robot 101 to run on the roads;
the user mobile phone terminal 106 is configured to receive a prompt for signing a logistic order sent by the logistic robot 101.
In this embodiment, the logistics scheduling platform 103 manages the logistics orders in the warehouse and assigns the logistics orders to the corresponding logistics robots 101 for transportation, the manager logs in the logistics scheduling platform 103 through the login module, the query module 104 queries the logistics robots 101 and the logistics robots 101 in idle states that are closest to each logistics order and assigns the logistics orders to the optimal logistics robots 101, the order information module 105 module gathers the logistics order information, the logistics robots 101 transport the logistics order clients, the power module 109 provides power for the logistics robots 101, the communication module 102 transmits the logistics order information to the logistics robots 101, the positioning module 107 performs real-time positioning on the positions in the operation process of the logistics robots 101, the navigation module 108 performs navigation on the addresses on the order information, identifies the traffic conditions on the roads through the traffic identification module and makes judgment to follow the traffic rules, the logistics robots 101 are convenient to travel on the roads, and the mobile phone terminal 106 receives the logistics order information sent by the user terminal 106 and sends the logistics order information to the logistics robots 101.
Further, the traffic recognition module includes a traffic sign recognition unit 110 and a traffic signal recognition unit 111, and the traffic sign recognition unit 110 and the traffic signal recognition unit 111 are respectively connected with the logistics robot 101;
the traffic sign recognition unit 110 is configured to obtain and recognize a road traffic sign during the current driving process of the logistics robot 101;
the traffic signal identifying unit 111 is configured to obtain and identify a state of a traffic light during a current driving process of the logistics robot 101.
In this embodiment, the traffic sign recognition unit 110 obtains a road traffic sign for recognizing the current running process of the logistics robot 101, and the traffic signal recognition unit 111 obtains a state for recognizing a traffic light for recognizing the current running process of the logistics robot 101, so that the logistics robot 101 can run on a road.
Further, the login module comprises a face recognition unit 112 and an account verification unit 113, wherein the face recognition unit 112 and the account verification unit 113 are respectively connected with the logistics scheduling platform 103;
the face recognition unit 112 is configured to perform face recognition verification according to the identity card information of the operator;
the account verification unit 113 is used for performing login verification according to an account password registered by an operator.
In this embodiment, the face recognition unit 112 performs face recognition verification according to the id information of the operator, and the account verification unit 113 performs login verification according to the account password registered by the operator.
Further, the collaborative logistics robot system based on intelligent cluster scheduling further comprises a rejection module 114, wherein the rejection module 114 is respectively connected with the logistics robot 101 and the communication module 102;
the rejecting module 114 is configured to update and reject the delivered logistics order information in the logistics scheduling platform 103.
In this embodiment, the rejection module 114 performs updating and rejection on the delivered logistics order information in the logistics scheduling platform 103.
Further, the collaborative logistics robot system based on intelligent cluster scheduling further comprises a monitoring module 115, wherein the monitoring module 115 is connected with the logistics robot 101;
the monitoring module 115 is configured to monitor a state of the logistics robot 101 during logistics transportation.
In this embodiment, the monitoring module 115 monitors the state of the logistics robot 101 during logistics transportation.
Further, the collaborative logistics robot system based on intelligent cluster scheduling further comprises an electric quantity detection module 116, wherein the electric quantity detection module 116 is connected with the power module 109;
the power detection module 116 is configured to detect the power of the power module 109, and find that the power of the power module 109 is too low, and the logistics scheduling platform 103 indicates the logistics robot 101 to return to the standby area for charging.
In this embodiment, the power detection module 116 detects the power of the power module 109, and finds that the power of the power module 109 is too low, and the logistics scheduling platform 103 instructs the logistics robot 101 to return to the standby area for charging.
Further, the collaborative logistics robot system based on intelligent cluster scheduling further comprises a login recording module 117, wherein the login recording module 117 is respectively connected with the face recognition module and the account verification module;
the login recording module 117 is used for recording login marks of the operator.
In this embodiment, the login recording module 117 records the login trace of the operator, so as to facilitate subsequent tracing.
Further, the collaborative logistics robot system based on intelligent cluster scheduling further comprises a warning module, wherein the warning module is connected with the protected logistics robot 101;
the warning module is used for warning the vehicle to keep away by sending out warning when the vehicle is in danger and the obstacle is caused in the running process of the logistics robot 101.
In this embodiment, when a vehicle is encountered to cause an obstacle during the running process of the logistics robot 101, the warning module sends a warning to remind the vehicle to get away.
Further, the obstacle avoidance module comprises a laser radar unit 118 and an alarm unit 119, wherein the laser radar unit 118 and the alarm unit 119 are respectively connected with the logistics robot 101;
the laser radar unit 118 is used for positioning the position of the vehicle during road running;
the alarm unit 119 is used for giving an alarm when the vehicle contacts the logistics robot 101, and warning the driver in the vehicle to get away.
In this embodiment, the lidar unit 118 locates the position of the vehicle during road running, and the alarm unit 119 gives an alarm when the vehicle contacts the logistics robot 101, and alerts the driver in the vehicle to get away.
The invention also provides a control method of the cooperative logistics robot based on intelligent cluster scheduling, which is applied to a cooperative logistics robot system based on intelligent cluster scheduling, and comprises the following steps:
s1: an operator logs in to the logistics scheduling platform 103;
s2: inquiring the logistics robot 101 with the nearest logistics order and the logistics robot 101 in an idle state through the inquiring module 104, and assigning the logistics order to the optimal logistics robot 101;
s3: assigning a logistics order to each logistics robot 101 by using the logistics scheduling platform 103;
s4: instructing the logistics robot 101 to transport through the address information of the logistics order;
s5: after the logistics robot 101 sends the customer pick-up address, a sign-up prompt is sent to a mobile phone terminal of the customer through the communication module 102, and after the customer signs up for a logistics order, the logistics robot 101 returns to a standby area;
s6: when the electric quantity of the logistics robot 101 is found to be insufficient, the logistics robot 101 is instructed to return to a standby area for charging;
s7: when the tasks of all the logistics robots 101 are finished, all the logistics robots 101 return to the standby area.
In this embodiment, an operator logs in the logistics scheduling platform 103, queries the logistics robot 101 and the logistics robot 101 in an idle state that each logistics order is closest through the query module 104, assigns the logistics order to the logistics robot 101 in an optimal state, assigns the logistics order to each logistics robot 101 by using the logistics scheduling platform 103, instructs the logistics robot 101 to transport through address information of the logistics order, sends a sign-in prompt to a mobile phone terminal of a customer through the communication module 102 after the logistics robot 101 reaches a customer pick-up address, returns the logistics robot 101 to a standby area after the customer signs for the logistics order, instructs the logistics robot 101 to return to the standby area for charging when the electric quantity of the logistics robot 101 is found to be insufficient, and returns all the logistics robots 101 to the standby area when all the tasks of the logistics robot 101 are finished.
The above disclosure is only a preferred embodiment of the present invention, and it should be understood that the scope of the invention is not limited thereto, and those skilled in the art will appreciate that all or part of the procedures described above can be performed according to the equivalent changes of the claims, and still fall within the scope of the present invention.
Claims (8)
1. A collaborative logistics robot system based on intelligent cluster scheduling is characterized in that,
the system comprises a logistics robot, a traffic identification module, a communication module, a logistics scheduling platform, an inquiry module, an order information module, a login module, a user mobile phone terminal, a positioning module, a navigation module and a power module, wherein the power module, the traffic identification module, the positioning module and the communication module are respectively connected with the logistics robot, the navigation module is connected with the positioning module, the user mobile phone terminal is connected with the communication module, the order information module is respectively connected with the communication module and the logistics scheduling platform, and the login module and the inquiry module are respectively connected with the logistics scheduling platform;
the logistics scheduling platform is used for managing logistics orders in the warehouse and assigning the logistics orders to the corresponding logistics robots for transportation;
the login module is used for a manager to login the logistics scheduling platform;
the inquiry module is used for inquiring the logistics robots with the nearest logistics orders and the logistics robots in an idle state, and assigning the logistics orders to the optimal logistics robots;
the order information module is used for summarizing the logistics order information;
the logistics robot is used for transporting the logistics orders to clients;
the power supply module is used for supplying power to the logistics robot;
the communication module is used for transmitting the logistics order information to the logistics robot;
the positioning module is used for positioning the position of the logistics robot in real time in the running process;
the navigation module is used for navigating the address on the order information;
the traffic recognition module is used for the logistics robot to recognize traffic conditions on a road and make judgment to follow traffic rules so as to facilitate the logistics robot to run on the road;
and the user mobile phone terminal is used for receiving the logistics order signing prompt sent by the logistics robot.
2. The intelligent cluster-scheduling-based collaborative logistics robot system of claim 1, wherein,
the traffic identification module comprises a traffic sign identification unit and a traffic signal identification unit, and the traffic sign identification unit and the traffic signal identification unit are respectively connected with the logistics robot;
the traffic sign recognition unit is used for acquiring and recognizing a road traffic sign in the current running process of the logistics robot;
the traffic signal identification unit is used for acquiring and identifying the state of a traffic light in the current running process of the logistics robot.
3. The intelligent cluster-scheduling-based collaborative logistics robot system of claim 2, wherein,
the login module comprises a face recognition unit and an account verification unit, and the face recognition unit and the account verification unit are respectively connected with the logistics scheduling platform;
the face recognition unit is used for recognizing and verifying the face according to the identity card information of the operator;
the account verification unit is used for carrying out login verification according to the account passwords registered by the operator.
4. The collaborative logistics robot system based on intelligent cluster scheduling of claim 3,
the intelligent cluster scheduling-based collaborative logistics robot system further comprises a rejection module, wherein the rejection module is respectively connected with the logistics robot and the communication module;
and the rejecting module is used for updating and rejecting the sent logistics order information in the logistics scheduling platform.
5. The intelligent cluster-scheduling-based collaborative logistics robot system of claim 4, wherein,
the intelligent cluster scheduling-based collaborative logistics robot system further comprises a monitoring module, wherein the monitoring module is connected with the logistics robot;
the monitoring module is used for monitoring the state of the logistics robot in the logistics transportation process.
6. The intelligent cluster-scheduling-based collaborative logistics robot system of claim 5, wherein,
the intelligent cluster scheduling-based collaborative logistics robot system further comprises an electric quantity detection module, wherein the electric quantity detection module is connected with the power supply module;
the power detection module is used for detecting the power of the power module, the power of the power module is found to be too low, and the logistics scheduling platform indicates the logistics robot to return to the standby area for charging.
7. The intelligent cluster-scheduling-based collaborative logistics robot system of claim 6, wherein,
the collaborative logistics robot system based on intelligent cluster scheduling further comprises a login recording module, wherein the login recording module is respectively connected with the face recognition module and the account verification module;
the login recording module is used for recording login marks of the operator.
8. The control method of the cooperative logistics robot based on intelligent cluster scheduling is applied to the cooperative logistics robot system based on intelligent cluster scheduling as claimed in claim 7, and is characterized by comprising the following steps:
an operator logs in the logistics scheduling platform;
inquiring the logistics robots with the nearest logistics orders and the logistics robots in an idle state through the inquiring module, and assigning the logistics orders to the optimal logistics robots;
assigning a logistics order to each logistics robot by utilizing the logistics scheduling platform;
indicating the logistics robot to transport through the address information of the logistics order;
after the logistics robot sends the customer pick-up address, a sign-up prompt is sent to a mobile phone terminal of the customer through the communication module, and after the customer signs up for a logistics order, the logistics robot returns to a standby area;
when the electric quantity of the logistics robot is found to be insufficient, the logistics robot is instructed to return to a standby area for charging;
and when the tasks of all the logistics robots are finished, all the logistics robots return to the standby area.
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| CN114254967A (en) * | 2020-09-21 | 2022-03-29 | 上海说以科技有限公司 | Delivery system and device of intelligent unmanned logistics vehicle |
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