CN114460938A - A unmanned transport vehicle control system that traveles for intelligent storage - Google Patents
A unmanned transport vehicle control system that traveles for intelligent storage Download PDFInfo
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Abstract
The invention provides an automated guided vehicle driving control system for intelligent storage, which comprises a wireless virtual guide rail and control equipment, wherein the wireless virtual guide rail comprises a plurality of communication nodes arranged in the intelligent storage and is used for wirelessly positioning an automated guided vehicle to obtain position information; the control device plans a driving route for the unmanned transport vehicle based on the position information; the communication node acquires the driving route of the corresponding unmanned transport vehicle and feeds the driving route back to the corresponding unmanned transport vehicle to control the driving of the unmanned transport vehicle; each communication node is configured to: and performing wireless short-distance communication with one or more unmanned vehicles entering the communication range of the communication node, designating the communication time slot of each unmanned vehicle according to the number of the unmanned vehicles currently accessed into the communication node, generating a corresponding interception control packet, and sending the interception control packet to the corresponding unmanned vehicle to instruct the unmanned vehicle to start interception at the designated communication time slot so as to interact with the communication node, and stopping interception at the rest communication time slots.
Description
Technical Field
The invention relates to the field of intelligent warehousing and industrial internet, in particular to an unmanned carrier running control system for intelligent warehousing.
Background
The intelligent storage is a storage management concept, and automatic operations such as checking, storing, picking, sorting, goods distribution, distribution and statistics of goods in and out of the storage are realized through technologies such as informatization, internet of things and electromechanical integration, so that the storage cost is reduced, the operation efficiency is improved, and the storage management capacity is improved.
In the existing intelligent storage environment, an unmanned transport vehicle is often used for completing operations of warehousing, moving, leaving and the like of goods, although a unified network of a whole warehouse of storage is realized, the logistics technology in intelligent storage has the problems of different intelligent level levels of industrial equipment and the like. In the prior art, a traveling route is generally set by using a preset electromagnetic track, namely, the electromagnetic track is adhered to a floor, an unmanned transport vehicle moves or operates according to information brought by the electromagnetic track, and the flexibility of the unmanned transport vehicle in moving and operating is very limited. In addition, the vehicle can automatically avoid the obstacle and complete the operation through technologies such as image recognition, SLAM and the like. This requires the unmanned transport vehicle to sense the surrounding road environment, which is complicated and variable, in real time during the traveling process. Therefore, the intelligent identification and analysis are required to be carried out by the automatic guided vehicle, but the automatic guided vehicle has the problems of limited computing capability, high cost, power consumption and the like.
For this reason, in the prior art, corresponding calculation analysis is interacted with a communication node through the unmanned transport vehicle, the communication node is analyzed by using network equipment in storage, and a route is planned to control the unmanned transport vehicle to run. However, when a plurality of automated guided vehicles communicate with the communication node, data link conflicts can be brought based on the existing distributed and competitive communication modes such as WiFi and bluetooth, so that the data transmission time delay is greatly reduced, the automated guided vehicles cannot be guaranteed to travel along the travel route in real time and accurately, the accuracy and the automation of storage operation are not facilitated, and the production efficiency is low.
Therefore, it is highly desirable to provide a system for realizing full-warehouse-range intelligence, so as to support the driving and obstacle avoidance tasks of the automated guided vehicle in real time, and to realize high-quality, high-reliability control of the automated guided vehicle to automatically and accurately complete the operations of warehousing, moving out of warehouse, and the like of goods, thereby improving the production efficiency.
Disclosure of Invention
Therefore, an object of the present invention is to overcome the above-mentioned drawbacks of the prior art and to provide a system for controlling the driving of an automated guided vehicle for smart storage.
The purpose of the invention is realized by the following technical scheme:
according to a first aspect of the invention, a running control system of an unmanned transport vehicle for intelligent warehousing is provided, which comprises a wireless virtual guide rail and a control device, wherein the wireless virtual guide rail comprises a plurality of communication nodes deployed in the intelligent warehousing and used for wirelessly positioning the unmanned transport vehicle to obtain position information; each communication node is configured to: the method comprises the steps of carrying out wireless short-distance communication with one or more unmanned vehicles entering the communication range of the communication node, appointing the communication time slot of each unmanned vehicle and generating a corresponding interception control packet, sending the interception control packet to the corresponding unmanned vehicle to instruct the corresponding unmanned vehicle to start interception at the appointed communication time slot so as to interact with the communication node, and stopping interception at the non-appointed communication time slot; the control device is configured to: planning a driving route for the automated guided vehicle based on the position information of the automated guided vehicle; the communication node is further configured to: and acquiring the driving route planned by the control equipment for the corresponding unmanned carrier and feeding the driving route back to the corresponding unmanned carrier to control the driving of the unmanned carrier.
In some embodiments of the present invention, the communication node performing wireless short-range communication with an automated guided vehicle, the designating a communication timeslot of each automated guided vehicle and generating a corresponding interception control packet comprises: according to the number of the unmanned vehicles currently accessed to the communication node, designating communication time slots of corresponding unmanned vehicles and generating corresponding interception control packets; the wireless short-distance communication is carried out based on a plurality of short wireless frames of superframes, each short wireless frame comprises a first half frame of uplink transmission, a switching interval and a second half frame of downlink transmission, or comprises the first half frame of downlink transmission, the switching interval and the second half frame of uplink transmission, and the switching interval is used for switching between uplink transmission and downlink transmission; the first or second half of the upstream transmission includes one or more upstream subframes for transmitting data from the automated guided vehicle to the communication node, and the first or second half of the downstream transmission includes one or more downstream subframes for transmitting data from the communication node to the automated guided vehicle.
In some embodiments of the present invention, the control device is further configured to count a data amount ratio of uplink transmission and downlink transmission, and select a short radio frame corresponding to the number ratio of the uplink subframe to the downlink subframe based on the ratio.
In some embodiments of the invention, the plurality of communication nodes are deployed at intervals on a road segment within the smart warehouse and on a shelf within the smart warehouse, the automated guided vehicle comprises a plurality of communication tags for determining profile information thereof; the position information of the automated guided vehicle comprises two-dimensional positions and three-dimensional positions of the communication tags, wherein the two-dimensional positions are obtained by wirelessly positioning the communication tags of the automated guided vehicle based on a plurality of communication nodes on a road section, and the three-dimensional positions are obtained by wirelessly positioning the communication tags of the automated guided vehicle based on the communication nodes on the road section and the communication nodes on the goods shelf; and obtaining the contour information of the unmanned transport vehicle according to the three-dimensional positions of the plurality of communication tags.
In some embodiments of the present invention, the automated guided vehicle further comprises a cargo having a plurality of communication tags affixed thereto for determining profile information thereof; the method for determining the overall outline information of the unmanned transport vehicle and the goods thereof comprises the following steps: wirelessly positioning a plurality of communication tags of the goods based on a plurality of communication nodes on the road section and communication nodes on the goods shelf to obtain three-dimensional positions of the communication tags of the goods; and obtaining the overall outline information according to the outline information of the unmanned transport vehicle and the three-dimensional positions of the communication labels of the cargos.
In some embodiments of the present invention, the communication information of the communication node performing wireless short-range communication with the corresponding communication tag includes a unique identifier of the communication node, time, a unique identifier of the communication tag, and a distance between the communication node and the communication tag; the communication node is configured to: obtaining a two-dimensional position of the corresponding communication tag of the unmanned transport vehicle through a trilateral ranging positioning algorithm based on the distance between each of the three communication nodes on the road section and the corresponding communication tag of the unmanned transport vehicle; and calculating to obtain the three-dimensional position of the corresponding communication label based on the three communication nodes on the road section and the distances between the communication nodes on the shelf and the corresponding communication label.
In some embodiments of the invention, the step of the communication node obtaining a driving route planned for it by the control device and feeding back to the corresponding automated guided vehicle to control its driving comprises: the communication node acquires a driving route of the unmanned transport vehicle, wherein the driving route comprises a plurality of target two-dimensional positions planned based on the current two-dimensional position and the target position of the unmanned transport vehicle and time corresponding to the target two-dimensional positions; and controlling the automated guided vehicle to travel to the corresponding target two-dimensional position according to the plurality of target two-dimensional positions, and adjusting the traveling speed and the traveling route of the automated guided vehicle based on the calculated traveling speed of the current automated guided vehicle and the distance deviation between the two-dimensional position and the target two-dimensional position corresponding to the time.
In some embodiments of the present invention, the driving route includes a driving direction, and the step of controlling the driving direction of the automated guided vehicle according to the driving direction includes: obtaining a current driving direction based on three-dimensional positions of a plurality of communication tags of the unmanned transport vehicle; calculating a vector difference between a current driving direction and a prescribed path direction in the driving route; and adjusting the driving direction of the automated guided vehicle according to the vector difference, and controlling the automated guided vehicle to drive according to the path direction specified in the driving route.
In some embodiments of the present invention, the control device stores therein profile information of all the stationary devices of the smart warehouse; and controlling the distance between the unmanned transport vehicle and the fixed equipment in the intelligent warehouse based on the profile information of the unmanned transport vehicle or the overall profile information of the unmanned transport vehicle and the goods thereon and the profile information of the fixed equipment.
In some embodiments of the invention, the plurality of communication nodes on the road segment comprise transponders for acquiring the two-dimensional position of the automated guided vehicle by means of electromagnetic induction; and calibrating the two-dimensional position obtained by wireless positioning according to the two-dimensional position obtained by the transponder.
Compared with the prior art, the invention has the advantages that:
1. in the system, the unmanned transport vehicle is wirelessly positioned in real time through the wireless virtual guide rail to obtain position information, and the control equipment plans a driving route for the unmanned transport vehicle in real time according to the position information of the unmanned transport vehicle; meanwhile, the communication nodes correspondingly monitor the control packets and send the control packets to the corresponding automated guided vehicles according to the number of the automated guided vehicles currently accessed to the communication nodes so as to indicate the corresponding automated guided vehicles to start monitoring in the appointed communication time slots to interact with the communication nodes, and stop monitoring in the non-appointed communication time slots to reduce power consumption. When a plurality of unmanned carrying vehicles communicate with the same communication node, data link conflict caused by distributed and competitive monitoring modes is avoided through a centralized and non-competitive monitoring mode, data transmission time delay is greatly reduced, high-quality communication between the unmanned carrying vehicles and the communication node is realized, the unmanned carrying vehicles are ensured to run along a running route in real time and accurately, the operations of warehousing, moving, ex-warehousing and the like of goods are automatically and accurately completed, and the production efficiency is maximized.
2. The wireless short-distance communication in the system is based on a plurality of short wireless frames of superframes to carry out communication, each short wireless frame comprises a first half frame, a switching interval and a second half frame, the first half frame is composed of a plurality of same-kind subframes, and the second half frame is also composed of a plurality of same-kind subframes, so that only one switching interval needs to be set between the first half frame and the second half frame, and the problems of low efficiency, high cost and the like caused by frequent switching of different subframes due to multiple interleaving are solved. Meanwhile, the short wireless frame with short duration realizes low-delay communication between the communication node and the automated guided vehicle.
3. The communication nodes in the system are also arranged on the goods shelf, and the communication nodes on the road section are combined to position each part of the automated guided vehicle, so that the three-dimensional positions of a plurality of parts of the automated guided vehicle are obtained, the current driving direction of the automated guided vehicle is obtained through the three-dimensional positions of the plurality of parts, and the system can be adjusted in time according to the path direction of the planned driving route. In addition, the profile information of the unmanned transport vehicle is obtained based on the three-dimensional position of the unmanned transport vehicle, all parts of the goods on the unmanned transport vehicle are positioned to obtain the overall profile information of the unmanned transport vehicle and the goods, and the profile information of the fixed equipment in storage, which is stored in advance by the control equipment, is combined to avoid collision between the unmanned transport vehicle and the equipment partially arranged at a high place or the equipment around the unmanned transport vehicle, so that the obstacle avoidance effect is good.
Drawings
Embodiments of the invention are further described below with reference to the accompanying drawings, in which:
fig. 1 is a schematic diagram of a communication node and two automated guided vehicles in a smart warehouse performing information interaction according to an interception control packet according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a short radio frame configured based on an extended cyclic prefix according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a plurality of communication nodes of a wireless virtual guideway of a smart warehouse in communication with an automated guided vehicle according to an embodiment of the present invention;
FIG. 4 is a schematic view of a current direction of travel and a planned direction of travel of an automated guided vehicle according to an embodiment of the present invention;
fig. 5 is a schematic diagram of a driving control system of an automated guided vehicle in a smart warehouse according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail by embodiments with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As mentioned in the background section, the conventional intelligent warehousing environment mainly depends on the automated guided vehicle to complete operations such as warehousing, moving, and leaving of goods, but the logistics technology in the intelligent warehousing has different levels of the intelligence level of industrial equipment, so that the automated guided vehicle is required to perform intelligent identification and analysis by itself, but the intelligent warehousing environment has the problems of limited computing capability, high cost, power consumption and the like. Although the corresponding computational analysis may be interacted with the communication node by the automated guided vehicle, it is analyzed by the network device in the warehouse and the route is planned to control the travel of the automated guided vehicle. However, when a plurality of automated guided vehicles communicate with the communication node, data link conflicts can be brought based on the existing distributed and competitive communication modes such as WiFi and bluetooth, so that the data transmission time delay is greatly reduced, the automated guided vehicles cannot be guaranteed to travel along the travel route in real time and accurately, the accuracy and the automation of storage operation are not facilitated, and the production efficiency is low.
Through the research, according to one embodiment of the invention, the invention provides an automated guided vehicle driving control system for intelligent warehousing, which comprises a wireless virtual guide rail and control equipment, wherein the wireless virtual guide rail comprises a plurality of communication nodes deployed in the intelligent warehousing and used for wirelessly positioning the automated guided vehicle to obtain position information; the control device plans a driving route for the automated guided vehicle based on the position information of the automated guided vehicle; and the communication node acquires the planned driving route of the corresponding unmanned carrier and feeds the planned driving route back to the corresponding unmanned carrier to control the driving of the unmanned carrier.
Further, each communication node is configured to: the method comprises the steps of carrying out wireless short-distance communication with one or more unmanned vehicles entering the communication range of the communication node, appointing the communication time slot of each unmanned vehicle according to the number of the unmanned vehicles currently accessing the communication node, generating corresponding interception control packets, sending the interception control packets to the corresponding unmanned vehicles to instruct the corresponding unmanned vehicles to start interception at the appointed communication time slot so as to interact with the communication node, and stopping interception at the non-appointed communication time slot. In the intelligent warehousing, the access mode of wireless short-distance communication is centralized and non-competitive, a large number of unmanned transport vehicles are supported to access communication nodes simultaneously, and the requirement of 'power on and work' is met; during periods when the communication node is not transmitting information to the corresponding automated guided vehicle, the automated guided vehicle may temporarily turn off listening to reduce power consumption.
For a better understanding of the present invention, the system is described in detail below with reference to specific examples.
First, a communication node of a wireless virtual guideway and a wireless short-range communication method thereof will be described. According to one embodiment of the invention, the communication of the plurality of communication nodes of the wireless virtual guide rail is arranged as follows:
the system comprises a plurality of communication nodes, a wireless short-distance communication module and a transponder, wherein the communication nodes are arranged on all road sections in the intelligent warehouse at intervals, and each communication node on the road section comprises the wireless short-distance communication module and the transponder which are used for bidirectional wireless communication with an unmanned transport vehicle; and a plurality of shelves arranged at predetermined heights in the smart warehouse, and each communication node on the shelf includes a wireless short-range communication module for bidirectional wireless communication with the automated guided vehicles. Different communication nodes can be distinguished by different node marks and the heights of the communication nodes are recorded. For example, the node flag of the communication node on the link for constituting the wireless virtual guide rail is set to 0, and the height is set to 0; the node flag of the communication node for marking the shelf is set to 1, and the height of the communication node is set according to the measured height, such as the height h.
According to one embodiment of the invention, each communication node performs wireless short-distance communication with one or more unmanned vehicles entering the communication range of the communication node, specifies the communication time slot of each unmanned vehicle and generates a corresponding interception control packet according to the number of the unmanned vehicles currently accessing the communication node, and sends the interception control packet to the corresponding unmanned vehicle to instruct the corresponding unmanned vehicle to interact with the communication node according to the regulation. Referring to fig. 1, for example, when two automated guided vehicles simultaneously access a communication node, the two automated guided vehicles are respectively represented by a T node 1 and a T node 2, the communication node is represented by a G node, each automated guided vehicle receives a corresponding interception control packet sent by the communication node, and a time Slot (Slot) is used as a minimum time unit for interception, one square frame in fig. 1 represents one time Slot, the G node receives data in a 1 st time Slot, a 4 th time Slot, a 7 th time Slot and a 10 th time Slot, and sends data in the remaining time slots, the T node 1 intercepts data sent by the G node in predetermined 2 nd, 5 th and 8 th time slots, the 4 th time Slot and the 10 th time Slot send information to the G node, and meanwhile, interception is turned off in the remaining time, so as to reduce power consumption; the T node 2 listens to data sent by the G node in the preset 3 rd time slot, the preset 6 th time slot and the preset 9 th time slot, the 1 st time slot and the preset 7 th time slot send information to the G node, and meanwhile, the listening is turned off in the remaining time, so that the power consumption is reduced. When a plurality of unmanned carrying vehicles communicate with the same communication node, data link conflict caused by a distributed and competitive interception mode is avoided through the centralized and non-competitive interception mode, and data transmission time delay is greatly reduced. The plurality of automated guided vehicles sequentially listen to information transmitted by the communication node and sequentially transmit information to the communication node.
According to one embodiment of the present invention, the wireless short-range communication is performed based on a plurality of short wireless frames of a superframe, wherein each short wireless frame comprises a first half frame of uplink transmission, a switching interval and a second half frame of downlink transmission, or comprises a first half frame of downlink transmission, a switching interval and a second half frame of uplink transmission, and the switching interval is used for switching between uplink transmission and downlink transmission; the first or second half of the upstream transmission includes one or more upstream subframes for transmitting data from the automated guided vehicle to the communication node, and the first or second half of the downstream transmission includes one or more downstream subframes for transmitting data from the communication node to the automated guided vehicle.
According to one embodiment of the invention, each superframe contains 48 short radio frames, each superframe having a duration of 1ms, and each short radio frame having a duration of 20.833 μ s. Because downlink transmission and uplink transmission can be configured in a short wireless frame at the same time, the transmission delay of the unidirectional data of the physical layer can be not more than 20.833 microseconds, and the transmission delay is small; in addition, the frame structure is shortened, information in each frame is less, the code length is shortened, and the corresponding coding, framing and decoding time is reduced.
According to one embodiment of the invention, the short radio frame comprises a short radio frame configured based on a normal cyclic prefix and a short radio frame configured based on an extended cyclic prefix, each short radio frame comprises a first half frame of uplink transmission, a switching interval and a second half frame of downlink transmission, or each short radio frame comprises a first half frame of downlink transmission, a switching interval and a second half frame of uplink transmission, a downlink subframe of the first half frame or the second half frame of downlink transmission is represented by a symbol G, and a downlink subframe of the first half frame or the second half frame of uplink transmission is represented by a symbol T. Specifically, the short radio frame configured based on the conventional cyclic prefix has 8 subframes, and the specific matching manner of the G subframe and the T subframe may be as shown in table 1 below, and supports 14G/T subframe matching.
Table 1: G/T subframe proportioning mode of short radio frame based on conventional cyclic prefix configuration
Based on the above table 1, the short radio frame as in the 1 st category includes the first half frame of downlink transmission composed of the first 7 downlink subframes, the switching interval for switching between the 7 th downlink subframe and the 8 th uplink subframe, and the second half frame of uplink transmission composed of the 8 th uplink subframe; the 2 nd type of short radio frame comprises a first half frame of downlink transmission consisting of the first 6 downlink subframes, a switching interval for switching between the 6 th downlink subframe and the 7 th uplink subframe, and a second half frame of uplink transmission consisting of the 7 th uplink subframe and the 8 th uplink subframe, so that 14 types of short radio frames can be formed.
The short radio frame configured based on the extended cyclic prefix has 7 subframes, and the specific matching mode of the G subframe and the T subframe can be shown in table 2 below, which supports 12G/T subframe matching.
Table 2: G/T subframe proportioning mode of short radio frame based on extended cyclic prefix configuration
Based on the above table 2, the short radio frame as in the 1 st category includes the first half frame of downlink transmission composed of the first 6 downlink subframes, the switching interval for switching between the 6 th downlink subframe and the 7 th uplink subframe, and the second half frame of uplink transmission composed of the 7 th uplink subframe; the 7 th short radio frame comprises a first half frame of uplink transmission consisting of the 1 st uplink subframe, a switching interval for switching between the 1 st uplink subframe and the 2 nd downlink subframe, and a second half frame of downlink transmission consisting of the 6 nd downlink subframes from the 2 nd to the 7 th downlink subframe, so that 12 kinds of short radio frames can be formed for selection.
According to an embodiment of the present invention, referring to fig. 2, a specific structure of a short radio frame configured based on an extended cyclic prefix is shown in table 2 above, where SG #0 is a symbol resource for overhead symbols G or symbols T, GAP is a switching interval between uplink transmission and downlink transmission, each subframe configuration mode corresponds to a short radio frame of one structure, SG #0 and GAP are set between subframes G and T of the short radio frame of each structure, and GAP is set after the last subframe.
According to an embodiment of the present invention, the control device is further configured to count a data amount ratio of uplink transmission and downlink transmission, and select a short radio frame corresponding to the number ratio of the uplink subframe to the downlink subframe based on the ratio. When the data transmission quantity from the communication node to the automated guided vehicle is large, selecting a short wireless frame with more G subframes and less T subframes; when the data transmission amount from the unmanned carrier to the communication node is large, a short radio frame with a small number of G subframes and a large number of T subframes is selected.
Based on the communication nodes, wireless short-distance communication is carried out between the communication nodes and the corresponding unmanned transport vehicles, and corresponding planned driving routes are obtained through efficient interaction between the unmanned transport vehicles and the communication nodes, so that the unmanned vehicles are controlled more accurately.
In some application scenarios, the shelf shape in the smart warehouse may be changed, or some outstanding goods stored in the shelf may cause contour change, and the size change of the goods carried by the unmanned transport vehicle may also cause collision in some places. Therefore, in order to avoid manual adjustment of the travel trajectory of the automated guided vehicle each time, it is possible to plan a travel route that automatically avoids collisions in the course of route planning, taking into account profile information identifying these devices. The automated guided vehicle can run according to the corresponding running route so as to avoid collision between the automated guided vehicle and other equipment in storage and collision between the automated guided vehicle and other automated guided vehicles, and can safely reach the target position. Specifically, the planning method of the driving route includes: measuring the distances between the unmanned transport vehicle and the plurality of communication nodes through wireless short-distance communication, so as to realize positioning of the unmanned transport vehicle, obtain a two-dimensional position and a plurality of three-dimensional positions of the unmanned transport vehicle, and form profile information of the unmanned transport vehicle based on the plurality of three-dimensional positions; a driving route capable of avoiding collision is planned based on the profile information of the automated guided vehicle, the profile information of the storage fixture stored in advance, and the two-dimensional position and the target position of the automated guided vehicle.
According to an embodiment of the present invention, the contour information of the automated guided vehicle and the two-dimensional position obtaining manner of the automated guided vehicle include: the automated guided vehicle is provided with a plurality of communication tags for determining position information and contour information of the automated guided vehicle. According to one embodiment of the invention, the communication tag may take the same structural form as the communication node, partitioned by a different flag. Wherein, the communication label is fixed on the corresponding part of unmanned transport vehicle, and is equipped with communication module for the function of carrying out the location to the corresponding part of unmanned transport vehicle is realized, and the mode of realizing this function is: and the communication module in the communication tag is used for communicating with the communication node by adopting wireless short-distance communication, and the position information of the corresponding part of each communication tag of the unmanned transport vehicle is calculated. For example, tag flags of a plurality of communication tags for specifying position information and contour information of the automated guided vehicle are set to 2. The plurality of communication tags are respectively distributed at the center of the bottom of the unmanned transport vehicle, above the vehicle head, above the vehicle tail and at the positions of two sides of the vehicle and can be used for carrying out wireless short-distance communication with the plurality of communication nodes of the wireless virtual guide rail, and the communication information comprises the unique identifier of the communication node, the time, the unique identifier of the communication tag and the distance between the communication node and the communication tag; the position information of the automated guided vehicle comprises two-dimensional positions and three-dimensional positions of the communication tags, wherein the two-dimensional positions are obtained by wirelessly positioning the communication tags of the automated guided vehicle based on a plurality of communication nodes on a road section, and the three-dimensional positions are obtained by wirelessly positioning the communication tags of the automated guided vehicle based on the communication nodes on the road section and the communication nodes on the goods shelf; and connecting the three-dimensional positions of the plurality of communication tags with each other in a corresponding mode to form the outline information of the unmanned transport vehicle.
According to one embodiment of the invention, the specific calculation process of the corresponding two-dimensional position and three-dimensional position comprises: the communication nodes obtain two-dimensional positions of the corresponding communication tags of the unmanned transport vehicle through a trilateration ranging positioning algorithm based on the distances between the three communication nodes on the road section and the corresponding communication tags of the unmanned transport vehicle; and calculating to obtain the three-dimensional position of the corresponding communication label based on the three communication nodes on the road section and the distances between the communication nodes on the shelf and the corresponding communication label. Wherein the two-dimensional position is represented by coordinates (x, y) indicating its position on the road segment and the three-dimensional position is represented by coordinates (x, y, h) indicating its position on the road segment and its height relative to the position.
According to one embodiment of the invention, the two-dimensional position of the communication tag at the center of the bottom of the automated guided vehicle is used as the two-dimensional position of the automated guided vehicle, for example, for which a travel route is planned on the basis of the two-dimensional position and the destination position. The two-dimensional position obtaining mode of the communication tag at the center of the bottom is as follows: obtaining the two-dimensional position of the automated guided vehicle by using a trilateration ranging positioning algorithm based on the distances between the three communication nodes on the road section and the communication tags at the center of the bottom of the automated guided vehicle, as shown in fig. 3, the distances between the three communication nodes and the communication tags at the center of the bottom of the automated guided vehicle are r1、r2And r3Three circles are respectively made by taking three communication nodes as circle centers and distances as radiuses, and the intersection point coordinate is the two-dimensional position (x) of the unmanned transport vehicle0，y0) Expressed by the following equation set (1).
Wherein (x)1，y1)、(x2，y2) And (x)3，y3) The two-dimensional position coordinates of the three communication nodes are respectively obtained, based on the equation set, the two-dimensional position of the center of the bottom of the unmanned transport vehicle can be solved, and a driving route is planned for the unmanned transport vehicle based on the two-dimensional position and the target position. Correspondingly, according to other embodiments of the invention, the two-dimensional position of the communication tag above the head or the tail of the automated guided vehicle can be used as the automated guided vehicleAnd the two-dimensional position of the vehicle is used for planning a driving route for the unmanned transport vehicle based on the corresponding two-dimensional position and the target position.
According to one embodiment of the invention, the respective three-dimensional position calculation comprises: and establishing four equations to calculate the three-dimensional position of the corresponding communication label of the unmanned transport vehicle based on the distance between each of the three communication nodes on the road section and the corresponding communication label of the unmanned transport vehicle and the distance between one communication node on the shelf and the corresponding communication label of the unmanned transport vehicle. For example, the three-dimensional position of the communication tag above the automated guided vehicle head is determined by the distance r between each of the three communication nodes on the road segment and the communication tag above the automated guided vehicle head1、r2And r3And the distance r of a communication node on the shelf from a communication tag above the head of the automated guided vehicle4Four circles are respectively made by taking four communication nodes as circle centers and distances as radiuses, and the intersection point is the three-dimensional position (x) of the communication label above the head of the unmanned transport vehicle0，y0，h0) Expressed by the following equation set (2).
Wherein (x)1，y1，h1)、(x2，y2，h2) And (x)3，y3，h3) Two-dimensional position coordinates of three communication nodes on a road section, respectively, and height is set to 0, i.e. h1＝h2＝h3＝0，(x4，y4，h4) Based on the above equation set, the three-dimensional position information (x) of the communication label above the head of the unmanned transport vehicle can be solved for the three-dimensional position coordinate of one communication node on the goods shelf0，y0，h0). Wherein h is0Indicating the height from the ground. In this similar manner, the three-dimensional position information of the positions above the head of the automated guided vehicle, above the tail of the vehicle, and on both sides of the vehicle are connected to each other in a corresponding manner to form the profile information of the corresponding automated guided vehicle.
Since the automated guided vehicle is mainly used for transporting goods and loading and unloading the goods, the contour of the goods on the automated guided vehicle needs to be determined so as to obtain the overall contour information of the automated guided vehicle and the goods. In addition, the control apparatus wirelessly communicates with the respective communication tags through the plurality of communication nodes to detect the movement route and position of the respective goods, calculates the similarity between the movement route and position of the respective goods and the movement route and position of the respective automated guided vehicle, associates each communication tag on the automated guided vehicle, the similarity of which satisfies a requirement, with each communication tag of the goods, and obtains overall contour information of the automated guided vehicle and the goods based on all the communication tags associated with each other. It should be understood that the similarity of the moving route and position of the cargo to the automated guided vehicle satisfies the requirement, which means that the cargo is carried by the automated guided vehicle. According to an embodiment of the present invention, when the automated guided vehicle includes a cargo, the cargo includes a plurality of communication tags for determining outline information of the cargo, wherein the communication tags are fixed to corresponding portions of the cargo, for example, the plurality of communication tags can be respectively fixed to corresponding positions on a surface of the cargo, and a communication module is provided for mainly implementing a function of positioning the corresponding portions of the cargo, and the function is implemented by: and the communication module in the communication tag is communicated with the communication node by adopting wireless short-distance communication, and the position information of the corresponding part of each communication tag of the goods is calculated. For example, the communication tag flags of the plurality of communication tags for determining the contour information of the cargo are set to 3. Wherein, the whole profile information affirmation mode of unmanned transport vehicle and goods includes: wirelessly positioning a plurality of communication tags of the goods based on a plurality of communication nodes on the road section and communication nodes on the goods shelf, wherein the calculation mode is similar to the equation set (2) so as to obtain the three-dimensional positions of the communication tags of the goods; and obtaining the overall outline information according to the outline information of the unmanned transport vehicle and the three-dimensional positions of the communication labels of the cargos.
According to an embodiment of the present invention, the control device plans the travel route for the automated guided vehicle in a situation where collision can be avoided based on the two-dimensional position of the automated guided vehicle and the destination position to which the automated guided vehicle is required to arrive, while profile information of all fixtures of the intelligent warehouse is stored in the control device, in combination with profile information of the automated guided vehicle or overall profile information of the automated guided vehicle and the goods thereon and profile information of the fixtures. The communication node acquires the driving route planned by the control equipment and feeds the driving route back to the corresponding unmanned carrier to control the unmanned carrier to drive according to the driving route, so that the distance between the communication node and the fixed equipment in the intelligent warehouse and the distance between the communication node and other equipment objects in the intelligent warehouse can be kept, and collision between the unmanned carrier and the equipment partially arranged at a high place or between the unmanned carrier and the equipment around the communication node can be avoided.
According to one embodiment of the present invention, the step of the communication node acquiring a driving route planned for it by the control device and feeding back to the corresponding automated guided vehicle to control its driving comprises:
the communication node acquires a driving route, wherein the driving route comprises a plurality of target two-dimensional positions planned based on the current two-dimensional position and the target position of the unmanned transport vehicle and time corresponding to the target two-dimensional positions; controlling the automated guided vehicle to travel to the corresponding target two-dimensional position according to the plurality of target two-dimensional positions, and adjusting the traveling speed and the traveling route of the automated guided vehicle based on the calculated traveling speed of the current automated guided vehicle and the distance offset between the two-dimensional position and the target two-dimensional position corresponding to the time. And the unmanned transport vehicle runs according to the received series of target two-dimensional positions until reaching the target position, and stops running.
According to one embodiment of the invention, for example, the time point when the automated guided vehicle passes through the previous target two-dimensional position (x1, y1) is t1, the time point when the current two-dimensional position (x2, y2) is reached is t2, and the traveling speed of the automated guided vehicle is calculated according to the previous target two-dimensional position, the current two-dimensional position and the time difference between the previous target two-dimensional position and the current two-dimensional position; according to the time point t2 corresponding to the arrival of the unmanned carrier at the current two-dimensional position (x2, y2) and the target two-dimensional position (x3, y3) which is corresponding to the time point t2, the distance deviation between the current two-dimensional position (x2, y2) and the target two-dimensional position (x3, y3) is calculated, and the driving speed and the driving route of the unmanned carrier are adjusted according to the driving speed and the distance deviation of the unmanned carrier. Wherein the unmanned transport vehicle is a transport vehicle with safety protection and various transfer functions, the transport vehicle does not need a driver in industrial application, and a rechargeable battery is used as a power source; meanwhile, the vehicle can run along a planned running route, has the capability of carrying out wireless short-distance communication with the communication nodes, can reliably interact with the peripheral communication nodes to obtain the running route, runs on the planned running route along the virtual running route, and adjusts the running speed and direction according to the position information and the planned running route.
According to one embodiment of the present invention, the planned driving route includes a driving direction, and the step of controlling the driving direction of the automated guided vehicle according to the driving direction includes: obtaining a current driving direction based on three-dimensional positions of a plurality of communication tags of the unmanned transport vehicle; according to the vector difference between the current driving direction and the prescribed path direction in the driving route; the traveling direction of the automated guided vehicle is adjusted based on the vector difference, and the automated guided vehicle is controlled to travel in a path direction defined in the traveling route.
According to an embodiment of the present invention, referring to fig. 4, for example, after the bottom center of the automated guided vehicle passes through a target two-dimensional position, when the target two-dimensional position on the planned driving route is reached, the current actual advancing direction a is obtained through the three-dimensional position of the tail and the three-dimensional position of the head, the path direction a of the planned driving route is obtained by combining the current target two-dimensional position and the next target two-dimensional position to be reached, the vector difference between the two directions is calculated, the steering direction and the steering angle are controlled according to the vector difference, that is, the automated guided vehicle adjusts the steering angle θ of the steering wheel to the left according to the vector difference, and reduces the vector difference, so that the vehicle drives along the planned path direction a, thereby preventing the automated guided vehicle from deviating too much from the driving route, the problem of low resource utilization rate and low efficiency caused by the need of planning a driving route for the vehicle again.
According to one embodiment of the present invention, the plurality of communication nodes on the road section include transponders for acquiring two-dimensional positions of the automated guided vehicle by means of electromagnetic induction; and calibrating the two-dimensional position obtained by wireless positioning according to the two-dimensional position obtained by the transponder. Since the communication node on the road section has the function of a transponder, the position of which is known and completely accurate once installed on the storage road section, when the automated guided vehicle passes the transponder of the ground communication node, the transponder transmits the stored position data to the respective communication tags on the automated guided vehicle by electromagnetic induction by means of the electromagnetic induction method. And directly obtaining the accurate two-dimensional position of each communication label, and replacing the two-dimensional position obtained by wireless positioning with the accurate two-dimensional position to realize calibration. If the communication label above the head passes above the corresponding communication node, x and y in the three-dimensional position (x, y, h) of the communication label are directly obtained and have high accuracy, and h is calculated based on the obtained x and y to realize calibration.
According to an embodiment of the present invention, referring to fig. 5, a driving control system of an automated guided vehicle may include a wireless virtual guide rail and a control device, where a plurality of communication nodes on the wireless virtual guide rail perform wireless short-distance communication with the automated guided vehicle, where the control device includes a super base station and a master controller, the super base station is connected with the plurality of communication nodes of the wireless virtual guide rail through optical fibers, and is configured to store communication information when all the communication nodes interact with the automated guided vehicle and profile information of each device in storage in a centralized manner, and also configured to provide a 5G network, so as to implement a comprehensive coverage of the 5G network in intelligent storage; the master control is used for realizing multi-node cooperative positioning based on the distances between the plurality of communication nodes and the communication information of the unmanned vehicles according to the communication information stored in the super base station and the unmanned vehicles, calculating the position information and the outline information of the unmanned vehicles, planning a driving route for the unmanned vehicles based on the position information of all the unmanned vehicles, sending the driving route to the wireless virtual guide rail through the super base station, and controlling the unmanned vehicles to drive according to the driving route through the plurality of communication nodes of the wireless virtual guide rail.
It should be noted that, although the steps are described in a specific order, the steps are not necessarily performed in the specific order, and in fact, some of the steps may be performed concurrently or even in a changed order as long as the required functions are achieved.
The present invention may be a system, method and/or computer program product. The computer program product may include a computer-readable storage medium having computer-readable program instructions embodied therewith for causing a processor to implement various aspects of the present invention.
The computer readable storage medium may be a tangible device that retains and stores instructions for use by an instruction execution device. The computer readable storage medium may include, for example, but is not limited to, an electronic memory device, a magnetic memory device, an optical memory device, an electromagnetic memory device, a semiconductor memory device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a Static Random Access Memory (SRAM), a portable compact disc read-only memory (CD-ROM), a Digital Versatile Disc (DVD), a memory stick, a floppy disk, a mechanical coding device, such as punch cards or in-groove projection structures having instructions stored thereon, and any suitable combination of the foregoing.
While embodiments of the present invention have been described above, the above description is illustrative, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.
Claims (10)
1. A running control system of an unmanned transport vehicle for intelligent warehousing comprises a wireless virtual guide rail and control equipment, and is characterized in that,
the wireless virtual guide rail comprises a plurality of communication nodes deployed in the intelligent warehouse and is used for wirelessly positioning the unmanned transport vehicle to obtain position information;
each communication node is configured to: performing wireless short-range communication with one or more automated guided vehicles entering the communication range of the communication node, designating a communication time slot of each automated guided vehicle and generating a corresponding interception control packet, and
sending the interception control packet to the corresponding automated guided vehicle to indicate the corresponding automated guided vehicle to start interception in the appointed communication time slot so as to interact with the communication node, and to stop interception in the non-appointed communication time slot;
the control device is configured to: planning a driving route for the automated guided vehicle based on the position information of the automated guided vehicle;
the communication node is further configured to: and acquiring the driving route planned by the control equipment for the corresponding unmanned carrier and feeding the driving route back to the corresponding unmanned carrier to control the driving of the unmanned carrier.
2. The system of claim 1, wherein the communication node is to wirelessly communicate with an automated guided vehicle at short range, wherein designating a communication timeslot for each automated guided vehicle and generating a corresponding snoop control packet comprises: according to the number of the unmanned vehicles currently accessed to the communication node, designating communication time slots of corresponding unmanned vehicles and generating corresponding interception control packets;
the wireless short-distance communication is carried out based on a plurality of short wireless frames of superframes, each short wireless frame comprises a first half frame of uplink transmission, a switching interval and a second half frame of downlink transmission, or comprises the first half frame of downlink transmission, the switching interval and the second half frame of uplink transmission, and the switching interval is used for switching between uplink transmission and downlink transmission;
the first or second half of the upstream transmission includes one or more upstream subframes for transmitting data from the automated guided vehicle to the communication node, and the first or second half of the downstream transmission includes one or more downstream subframes for transmitting data from the communication node to the automated guided vehicle.
3. The system of claim 2, wherein the control device is further configured to count a data amount ratio of uplink transmission to downlink transmission, and based on the ratio, select a short radio frame with a corresponding ratio of the number of uplink subframes to the number of downlink subframes.
4. The system of claim 1, wherein the plurality of communication nodes are deployed at intervals on a road segment within the smart warehouse and on a shelf within the smart warehouse, the automated guided vehicle including a plurality of communication tags for determining profile information thereof;
the position information of the automated guided vehicle comprises two-dimensional positions and three-dimensional positions of the communication tags, wherein the two-dimensional positions are obtained by wirelessly positioning the communication tags of the automated guided vehicle based on a plurality of communication nodes on a road section, and the three-dimensional positions are obtained by wirelessly positioning the communication tags of the automated guided vehicle based on the communication nodes on the road section and the communication nodes on the goods shelf;
and obtaining the contour information of the unmanned transport vehicle according to the three-dimensional positions of the plurality of communication tags.
5. The system of claim 4, further comprising a cargo on the automated guided vehicle, the cargo having a plurality of communication tags affixed thereto for determining profile information thereof;
the method for determining the overall outline information of the unmanned transport vehicle and the goods thereof comprises the following steps:
wirelessly positioning a plurality of communication tags of the goods based on a plurality of communication nodes on the road section and communication nodes on the goods shelf to obtain three-dimensional positions of the communication tags of the goods;
and obtaining overall outline information according to the outline information of the unmanned transport vehicle and the three-dimensional positions of the communication labels of the cargos.
6. The system according to claim 4 or 5, wherein the communication information of the communication node performing wireless short-range communication with the corresponding communication tag comprises a unique identifier of the communication node, time, a unique identifier of the communication tag, and a distance between the communication node and the communication tag;
the communication node is configured to:
obtaining a two-dimensional position of the corresponding communication tag of the unmanned transport vehicle through a trilateral ranging positioning algorithm based on the distance between each of the three communication nodes on the road section and the corresponding communication tag of the unmanned transport vehicle;
and calculating to obtain the three-dimensional position of the corresponding communication label based on the three communication nodes on the road section and the distances between the communication nodes on the shelf and the corresponding communication label.
7. The system of claim 4, wherein the step of the communication node obtaining a travel route planned for it by the control device and feeding back to the respective automated guided vehicle to control its travel comprises:
the communication node acquires a driving route of the unmanned transport vehicle, wherein the driving route comprises a plurality of target two-dimensional positions planned based on the current two-dimensional position and the target position of the unmanned transport vehicle and time corresponding to the target two-dimensional positions;
and controlling the automated guided vehicle to travel to the corresponding target two-dimensional position according to the plurality of target two-dimensional positions, and adjusting the traveling speed and the traveling route of the automated guided vehicle based on the calculated traveling speed of the current automated guided vehicle and the distance deviation between the two-dimensional position and the target two-dimensional position corresponding to the time.
8. The system of claim 4, wherein the travel path includes a travel direction, and the step of controlling the travel direction of the automated guided vehicle based on the travel direction includes:
obtaining a current driving direction based on three-dimensional positions of a plurality of communication tags of the unmanned transport vehicle;
calculating a vector difference between a current driving direction and a prescribed path direction in the driving route;
and adjusting the driving direction of the automated guided vehicle according to the vector difference, and controlling the automated guided vehicle to drive according to the path direction specified in the driving route.
9. The system according to claim 4 or 5, wherein the control equipment stores profile information of all the fixed equipment of the intelligent warehouse;
and controlling the distance between the unmanned transport vehicle and the fixed equipment in the intelligent warehouse based on the profile information of the unmanned transport vehicle or the overall profile information of the unmanned transport vehicle and the goods thereon and the profile information of the fixed equipment.
10. The system of claim 4, wherein the plurality of communication nodes on the road segment include transponders for acquiring two-dimensional positions of the automated guided vehicles by way of electromagnetic induction; and calibrating the two-dimensional position obtained by wireless positioning according to the two-dimensional position obtained by the transponder.
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