CN116755445A - Comprehensive dispatching system and method for networked unmanned vehicles - Google Patents
Comprehensive dispatching system and method for networked unmanned vehicles Download PDFInfo
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Abstract
The invention relates to a comprehensive dispatching system and method for networked unmanned vehicles, wherein a terminal control device of the unmanned vehicles comprises a plurality of unmanned vehicles in a new energy form and a plurality of movable transfer boxes, wherein unmanned vehicle Beidou positioning modules, unmanned vehicle data processing modules, unmanned vehicle automatic driving modules and unmanned vehicle signal receiving and transmitting modules are arranged in the unmanned vehicles, and transfer box signal receiving and transmitting modules, transfer box data processing modules and transfer box Beidou positioning modules are arranged in the transfer boxes; the time consumption of the loading operation does not need to be waited for a long time, the whole logistics transportation efficiency is improved, the defect of the integral structure of the traditional vehicle and the carriage is abandoned, the split type unmanned vehicle can be rapidly equipped to implement high-efficiency transportation operation on the loaded transfer box, and more flexible scheduling space is provided for the unmanned vehicle with the split type movable structure.
Description
Technical Field
The invention relates to the field of intelligent sensing and control equipment in artificial intelligence and intelligent traffic Internet of things, in particular to a comprehensive dispatching system and method for networked unmanned vehicles.
Background
The unmanned vehicle is a novel intelligent transportation vehicle which adopts an automatic driving technology realized by the Internet of things and combines the automatic driving technology and an artificial intelligent technology with an intelligent transportation networking service. With the development of automatic control technology and artificial intelligence technology, unmanned vehicles are widely applied to the fields of logistics, transportation, manned, aerospace, military and the like. Unmanned vehicles include both unmanned vehicles and small ground mobile robots. The unmanned vehicle has wide application prospect in the fields, and meanwhile, the control, remote control and dispatch technology of the unmanned vehicle belongs to the core technology of the unmanned vehicle navigation and control technology.
At present, the traditional unmanned vehicle mainly has the following two operation modes: the first way is: the operator sends a control signal to the unmanned vehicle through the instruction, and the unmanned vehicle is connected with the remote control instruction according to the automatic driving auxiliary equipment after receiving the instruction signal, so that the operations of advancing, backing, turning, braking, accelerating, decelerating and the like in the driving process are realized. In the period, an operator can obtain road condition information such as unmanned vehicle video and audio through auxiliary equipment, and execute an operation instruction to issue an operation action. The second mode is as follows: the unmanned vehicle realizes autonomous driving according to self-automatic driving equipment and auxiliary driving devices, and autonomously processes traffic networking information such as roadblocks, signal lamps and the like, thereby realizing the purpose of driving according to autonomous navigation. Through the two modes, the overall control, remote control and control scheduling operation of the unmanned vehicle and the vehicle are realized.
The traditional unmanned vehicle control, remote control and control scheduling modes have certain defects: firstly, an unmanned vehicle adopts a new energy vehicle to implement operation, so as to meet the requirement operation of people on transportation, in particular to the problem that no matter whether an operator sends an instruction to the unmanned vehicle or the unmanned vehicle runs autonomously, the unmanned vehicle is influenced by factors such as logistics distance, vehicle-mounted electric quantity, transportation path optimization and the like, when the conventional unmanned vehicle implements logistics operation, a power system of the unmanned vehicle and a loading box body are integrated into an integrated structure, no-load phenomenon often occurs, and the phenomenon inevitably occurs no matter between an adjacent operation position or operation position and a transportation station or between the transportation station and a logistics pivot position, and the energy consumption of the unmanned vehicle is increased due to the fact that the logistics saturation is reduced or the vehicle scheduling position is different; secondly, in the control process of the conventional unmanned vehicle, the control operation of position tracking is generally implemented on the vehicle, when a logistics transportation operation is required to be implemented at a certain position, the nearest vehicle is dispatched to the required position through dispatch control to implement transportation, at the moment, the unmanned vehicle reaches a transportation designated position together with a loading box body, and operations such as loading waiting and loading information confirmation are required during the process, so that time waste is caused and logistics efficiency is reduced. And in the running process of the traditional new energy unmanned vehicle, because the energy consumption of the vehicle cannot be accurately controlled due to the influence of different carrying capacities, the electric quantity in the transportation process of part of vehicles is reduced, independent stations for controlling and maintaining the electric quantity of the vehicles are lacked, and the transportation interruption operation is caused, so that the whole logistics process is influenced.
In summary, the invention provides a split type design of the unmanned vehicle power driving device and the loading box body, wherein the unmanned vehicle power driving device and the loading box body have positioning and tracking functions, split type control and tracking are implemented on the unmanned vehicle, and the optimal vehicle is configured to implement transportation operation according to the combination of loading capacity of the loading box body, position information of the unmanned vehicle and electric quantity information, so that the energy and time are saved, the logistics efficiency is improved, the short-distance distribution time is shortened, the advantages of automatic driving and networking of the unmanned vehicle are fully utilized, and the comprehensive dispatching system and method of the networking unmanned vehicle, which are suitable for popularization and use between urban areas and logistics hub sites, have wide market prospects.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides the comprehensive dispatching system and method for the networked unmanned vehicle, which have the advantages of simple structure, convenient operation, reduced idle energy consumption, energy saving, time saving, physical distribution efficiency improvement, short-distance distribution time shortening, fully utilize the advantages of automatic driving and networking of the unmanned vehicle, and are suitable for popularization and use between urban areas and physical distribution hub sites, and are used for overcoming the defects in the prior art.
The technical scheme of the invention is realized as follows: the comprehensive dispatching system of the networked unmanned vehicle comprises an unmanned vehicle dispatching center, a logistics hub total station, a logistics sheet area station and an intermediate charging maintenance station, wherein the unmanned vehicle terminal control device and the satellite differential reference station are connected with the unmanned vehicle dispatching center through a communication base station, the unmanned vehicle terminal control device and the satellite differential reference station are in wireless connection with Beidou satellites, the unmanned vehicle terminal control device comprises a plurality of unmanned vehicles in a new energy form and a plurality of movable transfer boxes in a split structure, an unmanned vehicle Beidou positioning module, an unmanned vehicle data processing module, an unmanned vehicle automatic driving module and an unmanned vehicle signal receiving and transmitting module are arranged in the unmanned vehicles, and a transfer box signal receiving and transmitting module, a transfer box data processing module and a transfer box Beidou positioning module are arranged in the transfer boxes;
the unmanned vehicle dispatching center sends a transport instruction to an unmanned vehicle A parked at the intermediate charging maintenance station according to the transport demand instruction of the transfer box 0 of the logistics hub total station, and the unmanned vehicle A transports the transfer box 0 to a logistics sheet area station a after receiving the instruction;
the unmanned vehicle dispatching center sends a transport instruction to an unmanned vehicle A near the logistics sheet area station a according to the transport demand instruction of the transfer box 0 of the logistics sheet area station a, and the unmanned vehicle A transports the transfer box 0 to a logistics hub total station after receiving the instruction;
the unmanned vehicle dispatching center sends a transport instruction to an unmanned vehicle A near the logistics hub total station according to the transport demand instruction of the transfer box 0 of the logistics hub total station, and the unmanned vehicle A transports the transfer box 0 to a logistics film zone station a after receiving the instruction;
the unmanned vehicle dispatching center sends a transport instruction to an unmanned vehicle A parked at the intermediate charging maintenance station according to the transport demand instruction of the transfer box 0 of the logistics sheet area station a, and the unmanned vehicle A transports the transfer box 0 to the logistics hub total station after receiving the instruction;
the unmanned vehicle dispatching center sends a transport instruction to an unmanned vehicle A near a logistics sheet area station a according to a transport demand instruction of a transfer box 0 of the logistics sheet area station a, and the unmanned vehicle A transports the transfer box 0 to another logistics sheet area station a after receiving the instruction;
the unmanned vehicle dispatching center dispatches the unmanned vehicle A positioned near the transport demand instruction to carry out logistics transportation according to the carrying capacity of the transfer box 0 and the required transport path length.
The unmanned vehicle comprises two supporting frames which are arranged in parallel, wherein a locomotive is fixedly arranged at the front ends of the two supporting frames, a remote control braking force box body is arranged in the locomotive, a transceiver which is connected with the remote control power box body, a satellite differential reference station and a Beidou satellite is arranged at the top of the locomotive, a longitudinal lifting supporting seat is fixedly arranged at the top of the supporting frame, lifting connecting sheets are sleeved in the longitudinal lifting supporting seat, a transverse bearing connecting sheet is fixedly arranged between the two lifting connecting sheets, a butt joint lock catch is arranged at the inner side of the locomotive, a bottom clamping groove is fixedly arranged at the inner side of the supporting frame, and a top clamping groove is fixedly arranged at the bottom of the transverse bearing connecting sheet;
the transfer box includes the removal transfer box with unmanned vehicles matched with, remove the top fixed mounting of transfer box have with top joint groove matched with top fixture block, remove the side of transfer box be provided with bottom joint groove matched with bottom fixture block, remove the front side of transfer box be provided with butt joint hasp matched with butt joint socket, remove the rear side of transfer box be provided with the door that opens and shuts, remove the bottom of transfer box and be provided with the transfer connecting piece, all be provided with the removal transfer box transfer storehouse at commodity circulation pivot total website, commodity circulation piece district website and middle maintenance site that charges, the bottom of removal transfer box transfer storehouse is provided with transfer connecting piece matched with propulsion moving piece, propulsion moving piece's bottom is provided with propulsion power piece.
The intermediate charging maintenance station is arranged between the logistics hub total station and the logistics sheet area station, the Beidou positioning module is in wireless connection with the Beidou satellite and satellite differential reference station, and the unmanned vehicle data processing module and the unmanned vehicle automatic driving module are in wireless networking connection with the communication base station through the unmanned vehicle signal receiving and transmitting module.
The transfer box Beidou positioning module is in wireless connection with the Beidou satellite and satellite differential reference station, and the transfer box data processing module is in wireless networking connection with the communication base station through the transfer box signal transceiver module.
At least two logistics sheet area stations a are arranged, transfer boxes 0 are arranged in each logistics sheet area station a, at least two transfer boxes 0 are arranged in the logistics hub total station, and the unmanned vehicle is used for charging and curing in the intermediate charging curing station and shuttles among the logistics hub total station, the logistics sheet area station and the intermediate charging curing station.
The support frame be rectangle slice structure, the locomotive is steering box body structure, inboard both ends and two support frames of locomotive are integrated into one piece structure, have seted up the wheel movable groove in the both sides bottom of locomotive, the front portion steering wheel is installed in this wheel movable groove one side, is equipped with the rotation axis through bearing bracket symmetry cover respectively in the rear side outside of two support frames, the outer end fixed mounting of rotation axis has the rear portion wheel.
The remote control power box body in install motor and storage battery, unmanned vehicles data processing module, unmanned vehicles autopilot module and unmanned vehicles signal transceiver module install in the remote control power box, unmanned vehicles big dipper positioning module installs in the transceiver.
And the output end of the dead lock is matched with the inner cavity of the bottom clamping groove through the dead lock through hole.
The butt joint socket is of a groove-shaped structure, the depth of the butt joint socket is matched with the length of the butt joint lock catch, an observation window is arranged on the front side face of the movable transfer box on the upper portion of the butt joint socket, a transfer box control box is installed at the bottom of the movable transfer box, and a transfer box signal receiving and transmitting module, a transfer box data processing module and a transfer box Beidou positioning module are installed in the transfer box control box.
The control method of the networked unmanned vehicle comprehensive dispatching system comprises the following steps:
after logistics hub total stations or logistics sheet area stations receive logistics cargoes, split charging operation is carried out according to specific cargo delivery positions, split charging doors are closed after split charging is completed through different movable transfer boxes, then a transfer box big dipper positioning module installed in the movable transfer box, a satellite differential reference station and a communication base station send transportation demands to an unmanned aerial vehicle dispatching center, the unmanned aerial vehicle dispatching center comprehensively carries out dispatching operation according to cargo transportation distances, carrying capacity and unmanned aerial vehicle electric quantity information, the transportation demands are transmitted to intermediate charging maintenance stations suitable for transportation through the communication base station, the logistics hub total stations or unmanned aerial vehicles near the logistics sheet area stations, after information is received by transceivers installed on the unmanned aerial vehicles suitable for transportation, the unmanned aerial vehicles drive an unmanned aerial vehicle data processing module and an unmanned aerial vehicle automatic driving module to operate through an unmanned aerial vehicle signal processing module, a remote control power box body is started, the unmanned aerial vehicles suitable for transportation are unloaded to the position of the movable transfer box needing transportation, after reaching a designated position, the movable transfer box position is moved towards a fixed set movable transfer box through reversing operation, a propelling power piece propelling part of a movable transfer box propelling part is pushed to a jack, a jack and a jack, the jack is gradually connected with the top of a butt joint device, and a jack is connected with the top of a butt joint device, and a jack box is gradually connected with the top of the jack-shaped support frame, and the jack-up end is connected with the top of the movable jack-up joint device.
The invention has the following positive effects: firstly, the invention realizes the weight reduction operation of the whole vehicle in the no-load process through the unmanned vehicle and the transfer box which are designed in a split manner, avoids the generation of excessive energy consumption, saves the electric quantity of the unmanned vehicle in a new energy form, simultaneously respectively positions the unmanned vehicle and the transfer box through the unmanned vehicle dispatching center combined with the Beidou satellite, and is provided with the optimal route and the shortest distance, thereby providing the transport operation of the transfer box as a proper unmanned vehicle to implement the transport operation and achieving the optimization of energy utilization; secondly, by implementing separate loading operation on the transfer box, the invention can realize the mode of implementing pre-crash in the transfer box through preliminary loading operation and then implementing transportation by the optimal unmanned vehicle after loading, avoids the defect that the integral structure of the traditional unmanned vehicle and the carriage reaches the appointed goods installation position, does not need to wait for the time consumption of the loading operation for a long time, improves the integral logistics transportation efficiency, abandons the defect of the integral structure of the traditional vehicle and the carriage, can quickly implement efficient transportation operation on the loaded transfer box by the split unmanned vehicle, and provides more flexible scheduling space for the unmanned vehicle with the split mobile structure; and the invention provides replenishment service for the logistics hub total station and the logistics sheet area station through the intermediate charging maintenance station, and simultaneously implements independent information collection operation according to a plurality of new energy forms of unmanned vehicles and a plurality of movable transfer boxes designed in split type structure, and can implement scheduling operation for the unmanned vehicles according to the weight of the transfer boxes for loading goods, and implement scheduling by combining the electric quantity of the unmanned vehicles with the energy consumption requirement of the required goods, thereby reducing the occurrence of the phenomenon of goods transportation interruption, being suitable for transportation between short-distance urban areas and suburban areas, and improving the distribution efficiency of the logistics goods to the logistics hub total station.
Drawings
Fig. 1 is a schematic diagram of a system connection structure according to the present invention.
Fig. 2 is a schematic diagram of the unmanned vehicle route control of the present invention.
Fig. 3 is a system topology of the present invention.
Fig. 4 is a schematic diagram of a connection structure of the terminal control device system of the unmanned vehicle.
Fig. 5 is a schematic view of the main view structure of the unmanned aerial vehicle according to the present invention.
Fig. 6 is a right-side view of the structure of fig. 5 according to the present invention.
Fig. 7 is a schematic diagram of the left-hand structure of fig. 5 according to the present invention.
Fig. 8 is a schematic diagram of a front view of a partial shipment box according to the present invention.
Fig. 9 is a schematic rear view of the partial shipment box of the present invention.
Fig. 10 is a schematic side view of the partial shipment box of the present invention.
Fig. 11 is a schematic view of a discharging structure of a transfer box according to the present invention.
Detailed Description
As shown in fig. 1, 2, 3, 4, 5, 6, 7, 8, 9, 10 and 11, the network-connected comprehensive dispatching system for the unmanned vehicles comprises an unmanned vehicle dispatching center, a logistics hub total station, a logistics sheet area station and an intermediate charging maintenance station, wherein the unmanned vehicle terminal control device and the satellite differential reference station are connected with the unmanned vehicle dispatching center through a communication base station and are in wireless connection with Beidou satellites, the unmanned vehicle terminal control device comprises a plurality of unmanned vehicles in a new energy form and a plurality of movable transfer boxes in a split structure, an unmanned vehicle Beidou positioning module, an unmanned vehicle data processing module, an unmanned vehicle automatic driving module and an unmanned vehicle signal receiving and transmitting module are arranged in each unmanned vehicle, and a transfer box signal receiving and transmitting module, a transfer box data processing module and a transfer box Beidou positioning module are arranged in each transfer box; the unmanned vehicle dispatching center sends a transport instruction to an unmanned vehicle A parked at the intermediate charging maintenance station according to the transport demand instruction of the transfer box 0 of the logistics hub total station, and the unmanned vehicle A transports the transfer box 0 to a logistics sheet area station a after receiving the instruction; the unmanned vehicle dispatching center sends a transport instruction to an unmanned vehicle A near the logistics sheet area station a according to the transport demand instruction of the transfer box 0 of the logistics sheet area station a, and the unmanned vehicle A transports the transfer box 0 to a logistics hub total station after receiving the instruction; the unmanned vehicle dispatching center sends a transport instruction to an unmanned vehicle A near the logistics hub total station according to the transport demand instruction of the transfer box 0 of the logistics hub total station, and the unmanned vehicle A transports the transfer box 0 to a logistics film zone station a after receiving the instruction; the unmanned vehicle dispatching center sends a transport instruction to an unmanned vehicle A parked at the intermediate charging maintenance station according to the transport demand instruction of the transfer box 0 of the logistics sheet area station a, and the unmanned vehicle A transports the transfer box 0 to the logistics hub total station after receiving the instruction; the unmanned vehicle dispatching center sends a transport instruction to an unmanned vehicle A near a logistics sheet area station a according to a transport demand instruction of a transfer box 0 of the logistics sheet area station a, and the unmanned vehicle A transports the transfer box 0 to another logistics sheet area station a after receiving the instruction; the unmanned vehicle dispatching center dispatches the unmanned vehicle A positioned near the transport demand instruction to carry out logistics transportation according to the carrying capacity of the transfer box 0 and the required transport path length. The unmanned vehicle comprises two supporting frames 1 which are arranged in parallel, a locomotive 2 is fixedly arranged at the front ends of the two supporting frames 1, a remote control braking force box body 4 is arranged in the locomotive 2, a transceiver 11 which is connected with the remote control power box body 4, a satellite differential reference station and Beidou satellites is arranged at the top of the locomotive 2, a longitudinal lifting supporting seat 7 is fixedly arranged at the top of the supporting frame 1, lifting connecting pieces 8 are sleeved in the longitudinal lifting supporting seat 7, a transverse bearing connecting piece is fixedly arranged between the two lifting connecting pieces 8, a butt joint lock catch 10 is arranged at the inner side of the locomotive 2, a bottom clamping groove 13 is fixedly arranged at the inner side of the supporting frame 1, and a top clamping groove 14 is fixedly arranged at the bottom of the transverse bearing connecting piece; the transfer box comprises a mobile transfer box 15 matched with an unmanned vehicle, a top clamping block 17 matched with a top clamping groove 14 is fixedly arranged at the top of the mobile transfer box 15, a bottom clamping block 16 matched with a bottom clamping groove 13 is arranged on the side face of the mobile transfer box 15, a butt joint socket 18 matched with a butt joint lock catch 10 is arranged on the front side of the mobile transfer box 15, an opening and closing door 21 is arranged on the rear side of the mobile transfer box 15, a transfer connecting piece 19 is arranged at the bottom of the mobile transfer box 15, a mobile transfer box transfer bin 25 is arranged at a logistics pivot total site, a logistics sheet area site and an intermediate charging maintenance site, a propelling moving piece 24 matched with the transfer connecting piece 19 is arranged at the bottom of the mobile transfer bin 25, and a propelling power piece 23 is arranged at the bottom of the propelling moving piece 24.
The intermediate charging maintenance station is arranged between the logistics hub total station and the logistics sheet area station, the Beidou positioning module is in wireless connection with the Beidou satellite and satellite differential reference station, and the unmanned vehicle data processing module and the unmanned vehicle automatic driving module are in wireless networking connection with the communication base station through the unmanned vehicle signal receiving and transmitting module. The transfer box Beidou positioning module is in wireless connection with the Beidou satellite and satellite differential reference station, and the transfer box data processing module is in wireless networking connection with the communication base station through the transfer box signal transceiver module. At least two logistics sheet area stations a are arranged, transfer boxes 0 are arranged in each logistics sheet area station a, at least two transfer boxes 0 are arranged in the logistics hub total station, and the unmanned vehicle is used for charging and curing in the intermediate charging curing station and shuttles among the logistics hub total station, the logistics sheet area station and the intermediate charging curing station.
The support frame 1 be rectangle slice structure, locomotive 2 is the direction box body structure, the inboard both ends of locomotive 2 and two support frames 1 structure as an organic whole, set up the wheel movable groove in locomotive 2 both sides bottom, front portion steering wheel 3 installs this wheel movable groove one side, is equipped with rotation axis 6 through bearing bracket 12 symmetry cover respectively in the rear side outside of two support frames 1, the outer end fixed mounting of rotation axis 6 has rear portion wheel 5. The remote control power box body 4 in install motor and storage battery, unmanned vehicles data processing module, unmanned vehicles autopilot module and unmanned vehicles signal transceiver module install in remote control power box body 4, unmanned vehicles big dipper positioning module installs in transceiver 11. The dead ware 9 of installing on the support frame 1 in bottom joint groove 13 outside, the output of dead ware 9 cooperatees with bottom joint groove 13 inner chamber through dead through-hole. The butt joint socket 18 is of a groove-shaped structure, the depth of the butt joint socket 18 is matched with the length of the butt joint lock catch 10, an observation window 20 is arranged on the front side face of the movable transfer box 15 on the upper portion of the butt joint socket 18, a transfer box control box 22 is arranged at the bottom of the movable transfer box 15, and a transfer box signal receiving and transmitting module, a transfer box data processing module and a transfer box Beidou positioning module are arranged in the transfer box control box 22.
The control method of the networked unmanned vehicle comprehensive dispatching system comprises the following steps:
after receiving the logistics cargoes, the logistics hub total station or the logistics sheet area station carries out split charging operation according to specific delivery positions, loads the split charged cargoes through different movable transfer boxes 15, closes the opening and closing doors 21 after loading is completed, then sends the transportation demands to an unmanned vehicle dispatching center through a transfer box Beidou positioning module, a satellite differential reference station and a communication base station which are arranged in the movable transfer boxes 15, comprehensively carries out dispatching operation according to the cargo transportation distance, the carrying capacity and the electric quantity information of the unmanned vehicle, transmits the transportation demands to an unmanned vehicle near an intermediate charging maintenance station suitable for transportation, the logistics hub total station or the logistics sheet area station through the communication base station, and after receiving the information, a transceiver 11 arranged on the unmanned vehicle suitable for transportation, the unmanned vehicle signal receiving and transmitting module drives the unmanned vehicle data processing module and the unmanned vehicle automatic driving module to operate, the remote control power box body 4 is started, the unmanned vehicle suitable for transportation is in idle running to the position of the movable transfer box 15 required to be transported, after reaching a designated position, the unmanned vehicle is in moving towards the position of the movable transfer box 15 fixedly arranged through reversing operation, the propelling power piece 23 at the lower part of the movable transfer box transfer bin 25 drives the propelling moving piece 24 to operate, the propelling moving piece 24 drives the transfer connecting piece 19 to move towards the inner side of the support frame 1, the movable transfer box 15 is gradually pushed to between the two support frames 1 and the transverse bearing connecting piece, the top clamping groove 14 is in butt joint with the top clamping block 17, the bottom clamping groove 13 is in butt joint with the bottom clamping block 16, the butt joint lock catch 10 is in butt joint with the butt joint socket 18 and then is locked, the movable transfer box 15 is connected with the unmanned vehicle, and finally the movable transfer box 15 is transported to the required position through the unmanned vehicle.
Example 1: and the unmanned vehicle dispatching center sends a transport instruction to the unmanned vehicle A parked at the intermediate charging maintenance station according to the transport demand instruction of the transfer box 0 of the logistics hub total station, and the unmanned vehicle A transports the transfer box 0 to the logistics sheet area station a after receiving the instruction.
When the system is particularly operated, after receiving logistics cargoes, the logistics hub total station carries out split charging operation according to the specific delivery position, loads the split charged cargoes through different movable transfer boxes 15, closes the opening and closing doors 21 after loading is completed, then sends the transportation demands to the unmanned vehicle dispatching center through a transfer box Beidou positioning module, a satellite differential reference station and a communication base station which are arranged in the movable transfer boxes 15, the unmanned vehicle dispatching center comprehensively carries out the dispatching operation according to the cargo transportation distance, the carrying capacity and the electric quantity information of the unmanned vehicle, transmits the transportation demands to the unmanned vehicle near the intermediate charging maintenance station which is suitable for transportation through the communication base station, drives the unmanned vehicle data processing module and the unmanned vehicle automatic driving module to operate through the unmanned vehicle signal receiving and transmitting module after receiving the information through a transceiver 11 which is arranged on the unmanned vehicle suitable for transportation, the remote control power box body 4 is started, the unmanned vehicle suitable for transportation runs to the position of the movable transfer box 15 needing transportation in a no-load mode, after the unmanned vehicle reaches a designated position, the unmanned vehicle moves towards the position of the movable transfer box 15 fixedly arranged through reversing operation, the propelling power piece 23 at the lower part of the movable transfer box transfer bin 25 drives the propelling moving piece 24 to run, the propelling moving piece 24 drives the transfer connecting piece 19 to move towards the inner side of the support frame 1 and gradually pushes the movable transfer box 15 to a position between the two support frames 1 and the transverse bearing connecting piece, the top clamping groove 14 is in butt joint with the top clamping block 17, the bottom clamping groove 13 is in butt joint with the bottom clamping block 16, the butt joint lock catch 10 is locked after being in butt joint with the butt joint socket 18, the movable transfer box 15 is connected with the unmanned vehicle, and finally the movable transfer box 15 is transported to a material flow sheet area station a through the unmanned vehicle.
Example 2: and the unmanned vehicle dispatching center sends a transport instruction to the unmanned vehicle A near the logistics sheet area station a according to the transport demand instruction of the transfer box 0 of the logistics sheet area station a, and the unmanned vehicle A transports the transfer box 0 to the logistics hub total station after receiving the instruction.
When the device is specifically operated, after the logistics goods are received by the logistics sheet area site a, unified loading operation is carried out, the loaded goods are loaded through the movable transfer box 15, the opening and closing door 21 is closed after loading is completed, then the transfer box Beidou positioning module, the satellite differential reference station and the communication base station which are installed in the movable transfer box 15 send the transportation demands to the unmanned vehicle dispatching center, the unmanned vehicle dispatching center comprehensively carries out the dispatching operation according to the goods transportation distance, the carrying capacity and the information of the electric quantity of the unmanned vehicle, the transportation demands are transmitted to the unmanned vehicle near the logistics sheet area site a through the communication base station, after the information is received by the transceiver 11 which is installed on the unmanned vehicle which is suitable for transportation, the unmanned vehicle signal processing module and the unmanned vehicle automatic driving module are driven to operate through the unmanned vehicle signal processing module, the remote control power box 4 is started, the unmanned vehicle which is suitable for transportation is unloaded to the position of the movable transfer box 15 which needs to be transported, after the specified position is reached, the unmanned vehicle is moved towards the position of the movable transfer box 15 which is fixedly arranged through reversing operation, the propelling piece 23 propelling movement 24 on the lower part of the movable transfer box 25 drives the propelling piece 24 to operate, the propelling piece 24 drives the propelling piece to the supporting piece to the position 15 towards the jack-box 1 and the jack-up slot 13, the jack-up joint box 1 is connected with the jack-up end, the jack-up joint box 13 is connected with the top of the jack-box 13, and the jack-up joint box is gradually connected with the top of the jack-box 13, and the jack-up joint box is connected to the top of the jack-box 13 through the jack-box 13.
Example 3: and the unmanned vehicle dispatching center sends a transport instruction to the unmanned vehicle A near the logistics hub total station according to the transport demand instruction of the transfer box 0 of the logistics hub total station, and the unmanned vehicle A transports the transfer box 0 to the logistics sheet area station a after receiving the instruction.
The specific operation is as follows: after receiving the logistics cargoes, the logistics hub total station carries out split charging operation according to specific delivery positions, loads the split charged cargoes through different movable transfer boxes 15, closes an opening and closing door 21 after loading is completed, then sends the transportation demands to an unmanned vehicle dispatching center through a transfer box Beidou positioning module, a satellite differential reference station and a communication base station which are arranged in the movable transfer boxes 15, the unmanned vehicle dispatching center comprehensively carries out dispatching operation according to the cargo transportation distance, the carrying capacity and the unmanned vehicle electric quantity information, transmits the transportation demands to an unmanned vehicle near the logistics hub total station which is suitable for transportation through the communication base station, drives an unmanned vehicle data processing module and an unmanned vehicle automatic driving module to operate through an unmanned vehicle signal receiving and sending module after receiving the information through a transceiver 11 which is arranged on the unmanned vehicle which is suitable for transportation, the remote control power box body 4 is started, the unmanned vehicle suitable for transportation runs to the position of the movable transfer box 15 needing transportation in a no-load mode, after the unmanned vehicle reaches a designated position, the unmanned vehicle moves towards the position of the movable transfer box 15 fixedly arranged through reversing operation, the propelling power piece 23 at the lower part of the movable transfer box transfer bin 25 drives the propelling moving piece 24 to run, the propelling moving piece 24 drives the transfer connecting piece 19 to move towards the inner side of the support frame 1 and gradually pushes the movable transfer box 15 to a position between the two support frames 1 and the transverse bearing connecting piece, the top clamping groove 14 is in butt joint with the top clamping block 17, the bottom clamping groove 13 is in butt joint with the bottom clamping block 16, the butt joint lock catch 10 is locked after being in butt joint with the butt joint socket 18, the movable transfer box 15 is connected with the unmanned vehicle, and finally the movable transfer box 15 is transported to a material flow sheet area station a through the unmanned vehicle.
Example 4: and the unmanned vehicle dispatching center sends a transport instruction to the unmanned vehicle A parked at the intermediate charging maintenance station according to the transport demand instruction of the transfer box 0 of the logistics sheet area station a, and the unmanned vehicle A transports the transfer box 0 to the logistics hub total station after receiving the instruction.
The specific operation is as follows: after the logistics sheet area site a receives logistics cargoes, unified loading operation is carried out, loading the loaded cargoes through the mobile transfer box 15, the opening and closing door 21 is closed after loading is completed, then the transfer box Beidou positioning module installed in the mobile transfer box 15, the satellite differential reference station and the communication base station send the transportation demands to the unmanned vehicle dispatching center, the unmanned vehicle dispatching center comprehensively carries out dispatching operation according to the cargo transportation distance, the carrying capacity and the unmanned vehicle electric quantity information, the transportation demands are transmitted to the unmanned vehicle parked by the intermediate charging maintenance site through the communication base station, after the information is received by the aid of the unmanned vehicle 11 installed on the unmanned vehicle suitable for transportation, the unmanned vehicle data processing module and the unmanned vehicle automatic driving module are driven to operate through the unmanned vehicle signal processing module, the remote control power box 4 is started, the unmanned vehicle suitable for transportation is unloaded to the position of the mobile transfer box 15 needing to be transported, after the specified position is reached, the unmanned vehicle is moved towards the fixed position of the mobile transfer box 15 through reversing operation, the propelling power piece 23 on the lower part of the mobile transfer box 25 drives the propelling piece 24 to operate, the propelling piece 24 drives the propelling piece 19 to the supporting frame 1 to the side of the transfer box 15 to the jack-up end, the jack-up joint box 13 is connected with the top portion of the two-up joint boxes, the jack-up joint box 13 is connected with the top portion of the jack-up joint box 13, and the jack-up joint box 13 is gradually connected to the top joint box 13, and finally the jack-up joint box 13 is connected to the top joint box 13.
Example 5: and the unmanned vehicle dispatching center sends a transport instruction to the unmanned vehicle A near the logistics sheet area station a according to the transport demand instruction of the transfer box 0 of the logistics sheet area station a, and the unmanned vehicle A transports the transfer box 0 to another logistics sheet area station a after receiving the instruction.
The specific operation is as follows: after the logistics sheet area site a receives logistics cargoes, split charging operation is carried out according to specific cargo delivery positions, split charging operation is carried out on the cargoes after split charging is carried out through different movable transfer boxes 15, the opening and closing door 21 is closed after loading is completed, then a transfer box big dipper positioning module installed in the movable transfer box 15, a satellite differential reference station and a communication base station send transportation demands to an unmanned aerial vehicle dispatching center, the unmanned aerial vehicle dispatching center comprehensively carries out dispatching operation according to cargo transportation distance, carrying capacity and unmanned vehicle electric quantity information, the transportation demands are transmitted to an unmanned vehicle near the logistics sheet area site suitable for transportation through the communication base station, after the information is received by a receiver 11 installed on the unmanned vehicle suitable for transportation, the unmanned vehicle signal processing module and the unmanned vehicle automatic driving module are driven to operate through the unmanned vehicle signal processing module, the remote control power box 4 is started, the unmanned vehicle suitable for transportation is unloaded to the position of the movable transfer box 15 needing transportation, after the specified position is reached, the propelling power piece 23 of the propelling movement piece 24 of the lower part of the movable transfer box 25 is pushed to the propelling piece 24 of the propelling piece, the propelling piece 24 of the propelling piece 24 is driven to the propelling piece 24 of the lower part of the transfer box 25 to the loading box 25, the propelling piece 24 is driven to the jack-up piece 13, the jack-up piece is connected with the top portion of the jack-up piece 13, the jack piece is connected with the jack-up piece 13, the jack-up piece is connected with the top piece 13, and the top piece 13 is connected with the top of the jack-up piece, and the jack-up piece is connected to the jack-up piece, the jack piece is connected to the jack-up piece, and the jack-up piece is connected to the jack-up.
In addition to the embodiments described above, the present invention has application to the operation of a campus logistics unmanned vehicle comprehensive control operation, a unmanned vehicle comprehensive dispatch control operation, and the operation of an unmanned vehicle is achieved using the system and control method described in the present invention, although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations may be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.
Claims (10)
1. The utility model provides a networking unmanned vehicles integrated dispatching system, includes unmanned vehicles dispatch center, commodity circulation hub total site, commodity circulation district site and intermediate charging maintenance site, unmanned vehicles terminal control device and satellite differential reference station that are connected with unmanned vehicles dispatch center through communication base station, unmanned vehicles terminal control device and satellite differential reference station and big dipper satellite wireless connection, its characterized in that:
the unmanned vehicle terminal control device comprises a plurality of unmanned vehicles in a new energy form and a plurality of movable transfer boxes in a split type structure, wherein an unmanned vehicle Beidou positioning module, an unmanned vehicle data processing module, an unmanned vehicle automatic driving module and an unmanned vehicle signal receiving and transmitting module are arranged in each unmanned vehicle, and a transfer box signal receiving and transmitting module, a transfer box data processing module and a transfer box Beidou positioning module are arranged in each transfer box;
the unmanned vehicle dispatching center sends a transport instruction to an unmanned vehicle A parked at the intermediate charging maintenance station according to the transport demand instruction of the transfer box 0 of the logistics hub total station, and the unmanned vehicle A transports the transfer box 0 to a logistics sheet area station a after receiving the instruction;
the unmanned vehicle dispatching center sends a transport instruction to an unmanned vehicle A near the logistics sheet area station a according to the transport demand instruction of the transfer box 0 of the logistics sheet area station a, and the unmanned vehicle A transports the transfer box 0 to a logistics hub total station after receiving the instruction;
the unmanned vehicle dispatching center sends a transport instruction to an unmanned vehicle A near the logistics hub total station according to the transport demand instruction of the transfer box 0 of the logistics hub total station, and the unmanned vehicle A transports the transfer box 0 to a logistics film zone station a after receiving the instruction;
the unmanned vehicle dispatching center sends a transport instruction to an unmanned vehicle A parked at the intermediate charging maintenance station according to the transport demand instruction of the transfer box 0 of the logistics sheet area station a, and the unmanned vehicle A transports the transfer box 0 to the logistics hub total station after receiving the instruction;
the unmanned vehicle dispatching center sends a transport instruction to an unmanned vehicle A near a logistics sheet area station a according to a transport demand instruction of a transfer box 0 of the logistics sheet area station a, and the unmanned vehicle A transports the transfer box 0 to another logistics sheet area station a after receiving the instruction;
the unmanned vehicle dispatching center dispatches the unmanned vehicle A positioned near the transport demand instruction to carry out logistics transportation according to the carrying capacity of the transfer box 0 and the required transport path length.
2. The networked unmanned vehicle integrated dispatch system of claim 1, wherein: the unmanned vehicle comprises two supporting frames (1) which are arranged in parallel, wherein the front ends of the two supporting frames (1) are provided with a locomotive (2), a remote control braking force box body (4) is arranged in the locomotive (2), a transceiver (11) which is connected with the remote control locomotive box body (4) and a satellite differential reference station and a Beidou satellite is arranged at the top of the locomotive (2), a longitudinal lifting supporting seat (7) is fixedly arranged at the top of the supporting frame (1), lifting connecting pieces (8) are sleeved in the longitudinal lifting supporting seat (7), a transverse bearing connecting piece is fixedly arranged between the two lifting connecting pieces (8), a butt joint lock catch (10) is arranged at the inner side of the locomotive (2), a bottom clamping groove (13) is fixedly arranged at the inner side of the supporting frame (1), and a top clamping groove (14) is fixedly arranged at the bottom of the transverse bearing connecting piece;
the transfer box comprises a mobile transfer box (15) matched with an unmanned vehicle, a top clamping block (17) matched with a top clamping groove (14) is fixedly arranged at the top of the mobile transfer box (15), a bottom clamping block (16) matched with a bottom clamping groove (13) is arranged on the side face of the mobile transfer box (15), a butt joint socket (18) matched with a butt joint lock catch (10) is arranged on the front side of the mobile transfer box (15), an opening and closing door (21) is arranged on the rear side of the mobile transfer box (15), a transfer connecting piece (19) is arranged at the bottom of the mobile transfer box (15), a mobile transfer box transfer bin (25) is arranged at a logistics hub total station, a logistics sheet area station and an intermediate charging maintenance station, a propelling moving piece (24) matched with the transfer connecting piece (19) is arranged at the bottom of the mobile transfer bin (25), and a propelling power piece (23) is arranged at the bottom of the propelling moving piece (24).
3. The networked unmanned vehicle integrated dispatch system of claim 1, wherein: the intermediate charging maintenance station is arranged between the logistics hub total station and the logistics sheet area station, the Beidou positioning module is in wireless connection with the Beidou satellite and satellite differential reference station, and the unmanned vehicle data processing module and the unmanned vehicle automatic driving module are in wireless networking connection with the communication base station through the unmanned vehicle signal receiving and transmitting module.
4. The networked unmanned vehicle integrated dispatch system of claim 1, wherein: the transfer box Beidou positioning module is in wireless connection with the Beidou satellite and satellite differential reference station, and the transfer box data processing module is in wireless networking connection with the communication base station through the transfer box signal transceiver module.
5. The networked unmanned vehicle integrated dispatch system of claim 1, wherein: at least two logistics sheet area stations a are arranged, transfer boxes 0 are arranged in each logistics sheet area station a, at least two transfer boxes 0 are arranged in the logistics hub total station, and the unmanned vehicle is used for charging and curing in the intermediate charging curing station and shuttles among the logistics hub total station, the logistics sheet area station and the intermediate charging curing station.
6. The networked unmanned vehicle integrated dispatch system of claim 2, wherein: the support frame (1) be rectangle slice structure, locomotive (2) be direction box body structure, inboard both ends and two support frames (1) of locomotive (2) are integrated into one piece structure, have seted up the wheel movable groove in the both sides bottom of locomotive (2), front portion directive wheel (3) are installed in this wheel movable groove one side, are equipped with rotation axis (6) through bearing bracket (12) symmetry cover respectively in the rear side outside of two support frames (1), the outer fixed mounting of rotation axis (6) has rear portion wheel (5).
7. The networked unmanned vehicle integrated dispatch system of claim 2, wherein: the remote control power box body (4) in install motor and storage battery, unmanned vehicles data processing module, unmanned vehicles autopilot module and unmanned vehicles signal transceiver module install in remote control power box body (4), unmanned vehicles big dipper positioning module installs in transceiver (11).
8. The networked unmanned vehicle integrated dispatch system of claim 2, wherein: the locking device (9) is arranged on the support frame (1) at the outer side of the bottom clamping groove (13), and the output end of the locking device (9) is matched with the inner cavity of the bottom clamping groove (13) through a locking through hole.
9. The networked unmanned vehicle integrated dispatch system of claim 2, wherein: the butt joint socket (18) be slot-shaped structure, the degree of depth of butt joint socket (18) cooperatees with the length of butt joint hasp (10), is provided with observation window (20) at the removal transfer box (15) leading flank on butt joint socket (18) upper portion, installs transfer box control box (22) in removal transfer box (15) bottom, transfer box signal transceiver module, transfer box data processing module and transfer box big dipper positioning module install in transfer box control box (22).
10. A control method of the comprehensive dispatching system of the networked unmanned vehicle as claimed in claim 2, which is characterized by comprising the following steps:
after receiving logistics cargoes, the logistics hub total station or logistics sheet area station carries out split charging operation according to specific delivery positions, the split charged cargoes are loaded through different movable transfer boxes (15), after loading is completed, an opening and closing door (21) is closed, then a transfer box Beidou positioning module, a satellite differential reference station and a communication base station which are installed in the movable transfer boxes (15) send transportation demands to an unmanned vehicle dispatching center, the unmanned vehicle dispatching center comprehensively carries out dispatching operation according to the cargo transportation distance, the carrying capacity and the electric quantity information of the unmanned vehicles, the transportation demands are transmitted to intermediate charging maintenance stations suitable for transportation through the communication base stations, the unmanned vehicles near the logistics hub total station or the logistics sheet area station, after receiving information, a transceiver (11) installed on the unmanned vehicles suitable for transportation drives an unmanned vehicle data processing module and an unmanned vehicle automatic driving module to operate through the unmanned vehicle signal receiving module, a remote control power box (4) is started, the unmanned vehicles suitable for transportation are unloaded to the positions of the movable transfer boxes (15) which need to be transported, after reaching the designated positions, the movable transfer boxes (15) are pushed to the inner sides of the movable transfer boxes (24) which are arranged towards a fixed position, the movable transfer boxes (15) are pushed by reversing operation, the movable transfer boxes (24) are pushed to the movable support frames (24) to move between the movable support frames (1) by the movable support frames (24) gradually, the top clamping groove (14) is in butt joint with the top clamping block (17), the bottom clamping groove (13) is in butt joint with the bottom clamping block (16), the butt joint lock catch (10) is locked after being inserted into the butt joint socket (18), the movable transfer box (15) is connected with the unmanned vehicle, and finally the movable transfer box (15) is transported to a required position through the unmanned vehicle.
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