TW202011346A - Truck dispatching system - Google Patents

Abstract

A truck dispatching system, which is a distributed system, the task can be subdivided into a mobile module, a pickup module, and an alignment module, and a two-way communication is carried out between a first control unit and a second control unit, so as to move the mobile module to the target position, the pickup module is used to carry out the object, the alignment module can control the status of the current task in real time, so as to assign the following tasks, automate the whole process, save manpower for handling, and effectively overcome the problem of wasting manpower and time, so as to achieve unmanned operating procedures and achieve the purpose of high production efficiency.

Description

Delivery system of van

The invention relates to a car dispatching system, and particularly relates to a car dispatching system of a truck.

In recent years, the development of robots and automated production technology has been gradually applied to operations such as logistics centers. Especially in an automated handling system, an unmanned handling device (Automatic Guide Vehicle, AGV) that can automatically control the direction of travel is used. The unmanned handling device can assist the operator in the handling and transportation of materials, parts, etc., and automatically transport items To a fixed place to achieve the purpose of improving efficiency.

However, at present, the operators manually move the items on the unmanned vans one by one on the workstations. Because the current vans cannot be automated on the workstations, they still need to rely on the staff to fix the items on the workstations. In order to carry out subsequent related operations. In addition, the current transport truck only has the function of transportation, and there are no other functions except it. It is slightly insufficient in use function and there is still room for improvement. When the current transport truck is in operation, the relevant devices of the workstation must be carried out. The parking operation must wait for the manual setting of the items, and the related devices of the workstation can continue to operate, so that the operation time is lengthy. Not only the manual removal operation is costly, but also slowly takes time to increase the operation time. When it is complicated, the staff will be prone to misplacement or even lack of production efficiency.

Therefore, how to solve the above-mentioned conventional problems and deficiencies is the direction of improvement to be studied by the present invention.

The purpose of the present invention is to provide a delivery system for a truck, whose main implementation goal is to automate the whole process for coordination and other operations, and do not need to rely on manpower in the process to reduce labor and operation time, thereby saving costs and improving Practical benefits of production capacity.

According to the present invention, there is provided a delivery system for a truck, which is suitable for driving an unmanned truck device to carry an article. The unmanned truck device has a mobile module and a pick-and-place module connected to the mobile module. Among them, the delivery system of the van includes:

An instruction input unit includes an operation interface for the user to input a route instruction and an action instruction, and output them.

A first control unit, the information is connected to the command input unit and receives the route command and the action command, and generates corresponding navigation information and action information according to the route command and the action command; and

A second control unit is installed in the unmanned vehicle device and communicates with the mobile module and the pick-and-place module. The second control unit is connected to the first control unit and receives the navigation information to drive the mobile module The group moves along a path and has a transcoding module. The transcoding module receives the action information and performs transcoding to drive the pick and place module to actuate the item.

According to the above-mentioned delivery system of the delivery vehicle, wherein the unmanned delivery vehicle device further includes an alignment module provided on the pick-and-place module, the user inputs an alignment instruction to the instruction input unit, and the first control The unit receives the alignment instruction and generates corresponding alignment information according to the alignment instruction. The transcoding module of the second control unit receives the alignment information and performs transcoding to monitor the mobile module and the pick and place Whether the module executes the correct command.

According to the above-mentioned delivery system of the truck, the first control unit and the second control unit are bidirectionally communicated and transmitted.

According to the above-mentioned delivery system of the transport vehicle, wherein the pick-and-place module is a robotic arm, the action instruction is picking, placing, or lifting, the pick-and-place module performs grabbing, placing, or Is the task mentioned.

According to the above-mentioned delivery system of the van, the delivery system of the van is achieved by Wi-Fi, Bluetooth, RF, ZigBee, 4G, 5G, or LoRa wireless signal transmission.

According to the present invention, there is further provided a delivery system for a truck, which is suitable for driving a plurality of unmanned truck devices, each of which has a mobile module, a pick-and-place module connected to the mobile module, and a positioning module The positioning module is used to generate a current position signal. The dispatching system of the truck includes:

Plural workstations;

A plurality of identification devices are respectively provided on the plurality of workstations, and each of the identification devices generates a target position signal at each of the workstations;

An instruction input unit, including an operation interface, is provided for the user to input an action instruction and output it;

A first control unit, information connected to the command input unit, the plural identification device and the plural unmanned vehicle, the first control unit receives the action command to generate a corresponding action information, and has an operation module, the The calculation module calculates an optimal path information for the unmanned vehicle device to move to the target position signal according to the current position signal sent by each positioning module and the target position signal sent by each identification device, and the first control The unit outputs the action information and the best route information to each of the unmanned vehicle devices of the nearest workstations; and

A plurality of second control units, which are respectively disposed in the plurality of unmanned vehicle devices and are in communication connection with the mobile module and the pick-and-place module, and each of the second control unit information is connected to the first control unit and receives the optimal path The information drives the mobile module to move, and has a transcoding module. The transcoding module receives the action information and performs transcoding to drive the pick and place module to move.

According to the above-mentioned delivery system of the delivery vehicle, each of the delivery vehicle devices further includes an alignment module provided on the pick-and-place module. The user inputs an alignment instruction to the instruction input unit, and the first control The unit receives the alignment command and generates corresponding pair of alignment information according to the alignment command. The transcoding module of each second control unit receives the alignment information and performs transcoding to monitor the mobile module and the fetch Whether the correct module is executed.

According to the above-mentioned delivery system of the truck, the first control unit and the plurality of second control units are bidirectionally communicated and transmitted.

According to the above-mentioned delivery system of the truck, wherein the pick-and-place module is a robotic arm, the action instruction is picking, placing, or lifting, and the pick-and-place module performs grabbing, placing, or lifting task.

According to the above-mentioned delivery system of the van, the delivery system of the van is achieved by Wi-Fi, Bluetooth, RF, ZigBee, 4G, 5G, or LoRa wireless signal transmission.

Based on the above, the present invention provides a delivery system for trucks, which is a decentralized system that can subdivide tasks into mobile modules, pick-and-place modules, and alignment modules, through the first control unit and the second control Two-way communication between units enables the mobile module to move to the target position, and the pick-and-place module performs actions on items. At the same time, the alignment module can instantly control the execution status of the current task for subsequent task assignment It can achieve full automation to save manpower for handling, which can effectively overcome the problems of manpower and time consumption, thereby achieving unmanned operation procedures, and can achieve the purpose of high production efficiency.

In order to make the above-mentioned features and advantages of the present invention more comprehensible, embodiments are given below. And with the attached drawings for detailed description as follows.

The foregoing and other technical contents, features and effects of the present invention will be clearly presented in the following detailed description of the preferred embodiments with reference to the drawings. In addition, wherever possible, elements/components/steps using the same reference numbers in the drawings and embodiments represent the same or similar parts. Elements/components/steps that use the same reference numbers or use the same terminology in different embodiments may refer to related descriptions with each other.

Please refer to FIG. 1 to FIG. 2, the first embodiment of the present invention provides a delivery system for a van. The delivery system of the van is via Wi-Fi, Bluetooth, RF, ZigBee, 4G, 5G, long-term Evolutionary technology (LTE), or LoRa wireless signal transmission, the present invention is not limited, and is suitable for driving an unmanned vehicle device 10 to carry an object A, the unmanned vehicle device 10 has a mobile module 11, and A pick-and-place module 12 connected to the mobile module 11 is used as an example for the pick-and-place module 12, but it is not limited thereto. The delivery system of the truck is mainly composed of a command input unit 20, a first control unit 30, and a second control unit 40, among which:

The command input unit 20 includes an operation interface 21 for users to input a route command and a motion command, and output them; specifically, the command input unit 20 takes a desktop computer as an example, but does not use This is a limitation, or devices such as mobile phones, tablet computers, etc., through the command input unit 20 for command input or data reading, so that the present invention can meet the needs of diverse command input, and can flexibly control the unmanned vehicle device 10 , For example: execute GOTO (route command), Start (start), or Stop command on the mobile module 11 of the unmanned vehicle device 10, and execute Pick on the pick and place module 12 of the unmanned vehicle device 10 (Get), Drop (place), or Lift (lift) action instructions.

The first control unit 30 connects the command input unit 20 with information and receives the route command and the action command, and generates corresponding navigation information and action information according to the route command and the action command; specifically, the The first control unit 30 is a remote server with built-in scene map information to generate path planning instructions. The navigation information is a path for the unmanned vehicle device 10 to move to a target position, so that the unmanned vehicle device 10 can Move in any direction.

The second control unit 40 is disposed in the unmanned vehicle device 10 and connects the mobile module 11 and the pick-and-place module 12 in communication. The second control unit 40 connects to the first control unit 30 and receives the navigation information Information to drive the mobile module 11 to follow a path, and has a transcoding module 41, the transcoding module 41 receives the action information and transcodes to drive the pick and place module 12 to move the article A; specifically In other words, the second control unit 40 can be other programmable general-purpose or special-purpose microprocessors (Microprocessor), digital signal processors (DSP), programmable controllers, special application integrated circuits (PLD) ) And other similar devices or a combination of these devices can be used to execute commands related to the control or operation of the unmanned vehicle device 10 of the present invention, wherein the second control unit 40 includes an automatic control program, software or algorithm for The operation function of each action information of the present invention is performed. In addition, the software executed by the mobile module 11 and the pick-and-place module 12 is different. Therefore, the second control unit 40 must be converted by the transcoding module 41 to The pick and place module 12 is driven to operate the article A.

The unmanned vehicle device 10 further includes an alignment module 13 disposed on the pick-and-place module 12, a user inputs an alignment command to the command input unit 20, and the first control unit 30 receives the alignment command , And generates a corresponding pair of bit information according to the alignment command, the transcoding module 41 of the second control unit 40 receives the alignment information and performs transcoding to monitor the mobile module 11 and the pick and place module 12 Whether to execute the correct command; in this way, to allow the user to monitor the current task execution status in real time for subsequent task assignment to achieve high production efficiency.

The first control unit 30 and the second control unit 40 are two-way communication transmission. The present invention is a decentralized system, including two major control systems, MRMS (Mobile Robot Management System) and PHRS (Pod Handling Robot System). The two major control systems perform two-way communication and transmission through a customized service contract (MRMS). It is mainly responsible for task scheduling and can control the unmanned vehicle device 10. PHRS is mainly responsible for the control of the pick-and-place module 12 and the alignment module 13. The user terminal can communicate with the MRMS system through a custom service contract to control the pick-and-place The module 12 executes Pick, Drop, or Lift tasks, and executes the GOTO task for the mobile module 11. First, first execute the mobile task of the mobile module 11, move the mobile module 11 to the target position, and at the same time, the MRMS system will use the custom service contract to place the pick-and-place module 12 and the alignment module 13 The tasks are sent to the PHRS system, where the MRMS system is sent to the PHRS system to transcode through the transcoding module 41, and then the PHRS system sequentially controls the pick and place module 12 and the alignment module 13 to perform their respective tasks. The PHRS system will send back to the MRMS system through the customized service contract at the beginning, end and termination of the task. The MRMS system notifies the user end, allowing the user to monitor the current task execution status in real time.

Please refer to FIG. 3 to FIG. 4, the second embodiment of the present invention provides a delivery system for a van. The delivery system of the van is via Wi-Fi, Bluetooth, RF, ZigBee, 4G, 5G, long-term The present invention is not limited to the evolution of technology (LTE) or LoRa wireless signal transmission. The present invention is applicable to driving a plurality of unmanned truck devices 10, each of which has a mobile module 11 and a mobile module. The pick-and-place module 12 of the group 11 and a positioning module 14 are used to generate a current position signal. The pick-and-place module 12 uses a mechanical arm as an example, but not limited thereto. The delivery system of the truck is mainly composed of a plurality of workstations 50, a plurality of identification devices 60, a command input unit 20, a first control unit 30, and a plurality of second control units 40.

Wherein, each of the positioning modules 14 uses an electronic compass as an example, but it is not limited to this, or a global positioning system (Global Positioning System, GPS), so that each of the truck devices 10 can perform positioning.

The plurality of identification devices 60 are respectively disposed on the plurality of workstations 50, and each of the identification devices 60 generates a target position signal at each of the workstations 50.

The command input unit 20 includes an operation interface 21 for providing a user to input a motion command and output it; specifically, the motion command is Pick, Drop, or Lift ( Lift), the pick and place module 12 performs tasks of picking, placing, or lifting.

The first control unit 30 and the plural second control units 40 are two-way communication transmission. The first control unit 30 connects the command input unit 20, the plural identification device 60 and the plural unmanned vehicle 10, the first A control unit 30 receives the action instruction to generate a corresponding action information, and has an operation module 31, the operation module 31 according to the current position signal sent by each positioning module 14 and each identification device 60 sent The target position signal calculates an optimal path information for the unmanned vehicle device 10 to move to transmit the target position signal, and the first control unit 30 outputs the motion information and the optimal path information to each of the nearest workstations 50 The unmanned vehicle device 10 is mounted.

The plurality of second control units 40 are respectively disposed in the plurality of unmanned vehicle devices 10 and are communicatively connected to the mobile module 11 and the pick-and-place module 12, and each of the second control units 40 is informationally connected to the first control unit 30 And receive the best path information to drive the mobile module 11 to move, and has a transcoding module 41, the transcoding module 41 receives the action information to transcode to drive the pick and place module 12 to move.

Each unmanned vehicle device 10 further includes an alignment module 13 disposed on the pick-and-place module 12, a user inputs an alignment command to the operation interface 21 of the command input unit 20, and the first control unit 30 Receiving the alignment command and generating corresponding pair of alignment information according to the alignment command, the transcoding module 41 of the second control unit 40 receives the alignment information and performs transcoding to monitor the mobile module 11 and the Whether the pick-and-place module 12 executes the correct command; thereby, allowing the user to monitor the execution status of the current task in real time, so as to perform subsequent task assignment and achieve the purpose of high production efficiency.

Further explain the dispatching process of the dispatching system of the van in this embodiment:

Please refer to FIG. 3 again, taking the eRack02 workstation to execute the Pick task as an example, the user inputs the action command (Pick) to the command input unit 20, and the first control unit 30 will use the shortest path algorithm Calculate the unmanned vehicle device 10 closest to the eRack02 work station, and then transfer the action command (Pick) to the nearest unmanned vehicle device 10, the unmanned vehicle device 10 receives the task of the action command (Pick) After that, it will be judged whether the unmanned truck device 10 is on the eRack02 work station. If not, it will calculate the best path information of the unmanned truck device 10 to move to the eRack02 work station through the shortest path algorithm. The mobile module 11 performs the task of optimal path information. When the unmanned vehicle device 10 reaches the eRack02 workstation, the action command (Pick) is transmitted to the pick-and-place module 12 to drive the pick-and-place module 12 to execute The action instruction (Pick) completes the task of the action instruction (Pick) in this way.

It is worth noting that the dispatching logic and dispatching optimization conditions of the dispatching system of the truck of the present invention include the following two important conditions:

First, Layout and weight setting. Node (Node) setting, the so-called node refers to the stand-by point where the unmanned vehicle device 10 can stay or the station to be gripped by the workstation 50, if it is at the station to be gripped by the workstation 50, it is necessary to set and execute the action command separately The time it takes to pick, drop, or lift. In addition, routing and direction setting, the so-called routing refers to the walking path and direction of the unmanned vehicle device 10 from node to node, and each route needs to be set when the unmanned vehicle device 10 performs a moving task It takes time; second, the unmanned vehicle device 10 immediately returns the position. The position of the unmanned vehicle device 10 will be divided into the current node and the target node. When the two nodes are the same, it means that the unmanned vehicle device 10 has completed the task of moving and stays. If it is not, it means that the unmanned vehicle device 10 is walking on On the route (Route); by using the above-mentioned layout and weight settings and the real-time reporting position of the unmanned vehicle device 10, the present invention can calculate the unmanned vehicle device 10 to reach the target node through the shortest path algorithm Best path information.

It is worth mentioning that the present invention also includes an abnormal situation processing flow. Taking the action command (Drop) as an example, the main reason for the abnormal situation is that when the pick-and-place module 12 pre-places the item A on the workstation 50, it detects that there is a duplicate item on the workstation 50 A. At this time, the PHRS system will output and report the message to the MRMS system through the customized service contract, and then the MRMS system will report to the user terminal through the customized service contract. When the user terminal receives the report, it can pass the exception Message to perform the exception removal process.

The above is the structure and configuration description of each component of a delivery system of a delivery vehicle provided by the present invention.

The invention can achieve the following effects:

In this way, the present invention provides a delivery system for trucks, which is a decentralized system that can subdivide tasks on the mobile module 11, the pick-and-place module 12, and the alignment module 13, through the first A control unit 30 and the second control unit 40 perform two-way communication to move the mobile module 11 to a target position, and the pick-and-place module 12 performs an action on the article A. At the same time, the alignment module 13 Real-time control of the current task execution status for subsequent task assignment, full automation can be achieved to save manpower for handling, which can effectively overcome the problems of manpower and time consumption, thereby achieving unmanned operation procedures and better production The purpose of high efficiency.

In summary, the above-mentioned embodiments and drawings are only preferred embodiments of the present invention, and it should not be used to limit the scope of implementation of the present invention, that is, all equal changes and modifications made in accordance with the scope of the patent application of the present invention should belong to This invention covers the patent.

A: Item 10: Unmanned van device 11: Mobile module 12: Pick and place module 13: Alignment module 14: Positioning module 20: Command input unit 21: Operation interface 30: The first control unit 31: arithmetic module 40: Second control unit 50: Workstation 60: Identification device

FIG. 1 is a structural diagram of a first embodiment of the present invention. FIG. 2 is a flowchart of the first embodiment of the present invention. Fig. 3 is a structural diagram of a second embodiment of the present invention. 4 is a flowchart of a second embodiment of the present invention.

A: Item

10: Unmanned van device

11: Mobile module

12: Pick and place module

13: Alignment module

20: Command input unit

21: Operation interface

30: The first control unit

40: Second control unit

Claims (10)

A car dispatching system for a truck is suitable for driving an unmanned truck device to carry an article. The unmanned truck device has a mobile module and a pick-and-place module connected to the mobile module. The car dispatching system includes: a command input unit, including an operation interface, which is used to provide a user to input a route command and an action command, and output a first control unit, and the information is connected to the command input unit and receives the route Command and the action command, and corresponding navigation information and action information are generated according to the route command and the action command; and a second control unit is provided in the unmanned vehicle device and communicates with the mobile module and The pick and place module, the second control unit information is connected to the first control unit and receives the navigation information to drive the mobile module to follow a path, and has a transcoding module, the transcoding module receives the action The information is transcoded and used to drive the pick and place module to act on the item. The dispatching system of a truck according to claim 1, wherein the unmanned truck device further includes an alignment module provided on the pick-and-place module, and the user inputs an alignment instruction to the instruction input unit, The first control unit receives the alignment instruction and generates corresponding pair of alignment information according to the alignment instruction, and the transcoding module of the second control unit receives the alignment information and performs transcoding to monitor the mobile module Whether the correct instruction is executed with the pick and place module. The dispatching system of a van as described in claim 1, wherein the first control unit and the second control unit are bidirectionally communicated and transmitted. The dispatching system of a truck as described in claim 1, wherein the pick-and-place module is a robotic arm, and the action instruction is picking, placing, or lifting, and the pick-and-place module performs grabbing on the item, The task of placing or mentioning. The delivery system of a van as described in claim 1, wherein the delivery system of the van is wirelessly transmitted via Wi-Fi, Bluetooth, RF, ZigBee, 4G, 5G, or LoRa. A delivery system for a transport vehicle, suitable for driving a plurality of unmanned transport vehicle devices, each of which has a mobile module, a pick and place module connected to the mobile module, and a positioning module, the positioning module It is used to generate a current position signal, wherein the delivery system of the truck includes: plural workstations; plural identification devices are respectively arranged on the plural workstations, and each of the identification devices generates a target position signal at each workstation A command input unit, including an operation interface, which is used to provide a user to input an action command and output it; a first control unit, information connection to the command input unit, the plural identification device and the plural unmanned vehicle, the The first control unit receives the action instruction to generate a corresponding action information, and has an operation module, the operation module according to the current position signal sent by each positioning module and the target position signal sent by each identification device Calculate an optimal path information for the unmanned vehicle device to move to transmit the target position signal, and the first control unit outputs the action information and the optimal path information to each unmanned vehicle device at the nearest workstations; And a plurality of second control units, which are respectively arranged in the plurality of unmanned vehicle devices and are in communication connection with the mobile module and the pick-and-place module, and each of the second control unit information is connected to the first control unit and receives the optimal The path information drives the mobile module to move, and has a transcoding module. The transcoding module receives the action information and performs transcoding to drive the pick and place module to move. According to claim 6, the delivery system of the delivery vehicle, wherein each delivery vehicle device further includes an alignment module provided on the pick and place module, the user inputs a monitoring instruction to the instruction input unit, the The first control unit receives the monitoring instruction and generates a corresponding pair of bit information according to the monitoring instruction, and the transcoding modules of each second control unit receive the bit information and transcode to monitor the mobile module and the Whether the pick and place module executes the correct command. The dispatching system of a van as described in claim 6, wherein the first control unit and the plurality of second control units are bidirectional communication transmission. The dispatching system of a truck as described in claim 6, wherein the pick-and-place module is a robotic arm, the action instruction is picking, placing, or lifting, and the pick-and-place module performs grabbing, placing, Or the task mentioned. The delivery system of a van as described in claim 6, wherein the delivery system of the van is wirelessly transmitted via Wi-Fi, Bluetooth, RF, ZigBee, 4G, 5G, or LoRa.

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