CN118295398A - Automatic optimal path automatic scheduling system of automatic trolley - Google Patents
Automatic optimal path automatic scheduling system of automatic trolley Download PDFInfo
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Abstract
The invention belongs to the technical field of intelligent storage, in particular to an automatic dispatching system for an optimal path of an automatic trolley, which comprises the following components: the data processing module is integrated with a shortest path automatic scheduling control program and is integrated on the automatic trolley; the positioning module is integrated on the automatic trolley and used for detecting and positioning the position of the automatic trolley, and the output end of the positioning module is connected with the data processing module. In actual use, the shortest path between the automatic trolley and the destination can be obtained in a way of calculation at any time, so that the running time can be saved, and the transportation efficiency can be improved. A space model is built in the running space of the automatic trolley, so that the automatic trolley or a plurality of automatic trolleys can conveniently build running tracks, and the track setting between the trolleys and avoiding in the running process are convenient.
Description
Technical Field
The invention relates to the technical field of intelligent storage, in particular to an automatic dispatching system for an optimal path of an automatic trolley.
Background
The intelligent storage is one link of the logistics process, and the application of the intelligent storage ensures the speed and accuracy of data input of each link of the goods warehouse management, ensures that enterprises timely and accurately master real data of the inventory, and reasonably maintains and controls the enterprise inventory. The batch, the quality guarantee period and the like of the stock goods can be conveniently managed through scientific codes. By utilizing the warehouse management function of the SNHGES system, the current positions of all the inventory goods can be mastered in time, and the work efficiency of warehouse management can be improved.
An Automatic Guided Vehicle (AGV) is an industrial vehicle that automatically or manually loads a load, automatically travels or pulls a cargo vehicle to a designated place according to a set route, and then automatically or manually loads and unloads the load. The research and development of AGVs integrate artificial intelligence, information processing and image processing, and relate to a plurality of subjects such as computers, automatic control, information communication, mechanical design and electronic technology, and become one of hot spots for logistics automation research. Automatic guided vehicles are widely used in intelligent storage, however, the automatic guided vehicle needs to walk according to a given route, more travel is often needed, and the time required for reaching a destination is long.
Disclosure of Invention
The invention aims to provide an automatic trolley optimal path automatic scheduling system, which is used for solving the problems that the automatic guided vehicle provided in the background technology is widely applied to intelligent storage, however, the automatic guided vehicle needs to walk according to a given route, more travel is needed, and the time required for reaching a destination is long.
In order to achieve the above purpose, the present invention provides the following technical solutions: an automated trolley optimal path automated dispatch system, the automated trolley shortest path automated dispatch system comprising:
the data processing module is integrated with a shortest path automatic scheduling control program and is integrated on the automatic trolley;
The positioning module is integrated on the automatic trolley and is used for detecting and positioning the position of the automatic trolley, and the output end of the positioning module is connected with the data processing module;
The communication module is connected with the data processing module and is externally connected with a remote control end;
The output end of the data processing module is connected with the trolley driving system, the data processing module outputs and controls the trolley driving system, and the trolley driving system integrally drives and walks the automatic trolley;
The operation mode of the automatic trolley shortest path automatic scheduling system is specifically as follows:
S1: building a space model in the running space of the automatic trolley based on the BIM system, and specifically setting each object in the running space according to the proportion;
s2: setting a coordinate system in the established space model, and marking coordinate values for the boundary of the running space of the automatic trolley and each object;
s3: placing the automatic trolley in a running space, wherein a positioning module is arranged at the center point of the automatic trolley, and the position where the positioning module detects the position in the running space is the position where the center point of the automatic trolley is located, and the distance between the center point of the automatic trolley and the outer edge of the automatic trolley is L;
s4: based on the communication connection between the remote control end and the communication module, the remote control end sends a destination instruction to the communication module, the automatic trolley formulates a shortest path to the destination based on the current positioning position, and then the automatic trolley walks based on the shortest path until reaching the destination;
When the shortest path is established, acquiring the position information of the automatic trolley and the position information of the destination, and detecting whether a straight line formed by two points between the position information of the automatic trolley and the position information of the destination has other objects or not:
If no other object exists on a straight line formed by two points between the position information of the automatic trolley and the position information of the destination, determining that the straight line formed by the two points between the position information of the automatic trolley and the position information of the destination is the shortest path;
If there is another object on the straight line formed by two points between the position information of the automatic trolley and the position information of the destination, a minimum circumcircle of the object is formulated, an circumcircle is set outside the minimum circumcircle, the circumcircle and the minimum circumcircle are concentric circles, the radius of the circumcircle is larger than that of the minimum circumcircle by L, the positions of the automatic trolley and the destination are respectively used as starting points to connect tangent lines with the outer edge of the circumcircle, and one section on the circumferences of the two tangent lines and the circumcircle is used as the shortest path.
Preferably, the communication module is a wireless communication module, and the wireless communication module is a bluetooth communication module, a wifi communication module or a zigbee communication module.
Preferably, if there are a plurality of other objects on a straight line formed by two points between the position information of the automatic trolley and the position information of the destination, a minimum circumcircle of the plurality of objects is formulated, an circumcircle is set outside the minimum circumcircle, the circumcircle and the minimum circumcircle are concentric circles, the radius of the circumcircle is larger than the radius of the minimum circumcircle by L, the positions of the automatic trolley and the position of the destination are respectively used as starting points to respectively connect tangent lines with the outer edges of the circumcircle closest to the position of the automatic trolley and the position of the destination, and the tangent lines are connected between the circumcircles of the plurality of objects positioned on the inner side, so that the shortest path formed by the tangent lines is formed.
Preferably, the specific method for establishing the space model in the running space of the automatic trolley comprises the following steps: the positions of all the points are collected in the running space of the automatic trolley, all the points are connected to form a three-dimensional space, and all the objects and walls in the three-dimensional space are used as real objects.
Compared with the prior art, the invention has the beneficial effects that:
In actual use, the shortest path between the automatic trolley and the destination can be obtained in a way of calculation at any time, so that the running time can be saved, and the transportation efficiency can be improved.
A space model is built in the running space of the automatic trolley, so that the automatic trolley or a plurality of automatic trolleys can conveniently build running tracks, and the track setting between the trolleys and avoiding in the running process are convenient.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic view of the structure of the present invention A, B without an object between two points;
FIG. 3 is a schematic view of the structure of the present invention with a circular object between two points A, B;
Fig. 4 is a schematic structural diagram of the present invention A, B with a polygonal columnar object between two points.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "top," "bottom," "inner," "outer," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the present invention and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Embodiment one:
referring to fig. 1-4, the present invention provides a technical solution: an automated trolley optimal path automated dispatch system, the automated trolley shortest path automated dispatch system comprising: the system comprises a data processing module, a positioning module, a communication module and a trolley driving system;
the automatic dispatch control program of integrated shortest path in the data processing module, the data processing module is integrated on automatic dolly, positioning module is used for detecting the location to automatic dolly position, positioning module's output and data processing module establish the connection, communication module establishes the connection with data processing module, communication module external remote control end, data processing module's output and dolly actuating system establish the connection, data processing module output control dolly actuating system, dolly actuating system is to the whole drive walking of automatic dolly.
The operation mode of the automatic trolley shortest path automatic scheduling system is specifically as follows:
S1: building a space model in the running space of the automatic trolley based on the BIM system, and specifically setting each object in the running space according to the proportion;
s2: setting a coordinate system in the established space model, and marking coordinate values for the boundary of the running space of the automatic trolley and each object;
s3: placing the automatic trolley in a running space, wherein a positioning module is arranged at the center point of the automatic trolley, and the position where the positioning module detects the position in the running space is the position where the center point of the automatic trolley is located, and the distance between the center point of the automatic trolley and the outer edge of the automatic trolley is L;
s4: based on the communication connection between the remote control end and the communication module, the remote control end sends a destination instruction to the communication module, the automatic trolley formulates a shortest path to the destination based on the current positioning position, and then the automatic trolley walks based on the shortest path until reaching the destination;
When the shortest path is established, acquiring the position information of the automatic trolley and the position information of the destination, and detecting whether a straight line formed by two points between the position information of the automatic trolley and the position information of the destination has other objects or not:
If no other object exists on a straight line formed by two points between the position information of the automatic trolley and the position information of the destination, determining that the straight line formed by the two points between the position information of the automatic trolley and the position information of the destination is the shortest path;
If there is another object on the straight line formed by two points between the position information of the automatic trolley and the position information of the destination, a minimum circumcircle of the object is formulated, an circumcircle is set outside the minimum circumcircle, the circumcircle and the minimum circumcircle are concentric circles, the radius of the circumcircle is larger than that of the minimum circumcircle by L, the positions of the automatic trolley and the destination are respectively used as starting points to connect tangent lines with the outer edge of the circumcircle, and one section on the circumferences of the two tangent lines and the circumcircle is used as the shortest path.
Embodiment two:
Referring to fig. 1-4, the present invention provides a technical solution:
The operation mode of the automatic trolley shortest path automatic scheduling system is specifically as follows:
S1: building a space model in the running space of the automatic trolley based on the BIM system, and specifically setting each object in the running space according to the proportion;
s2: setting a coordinate system in the established space model, and marking coordinate values for the boundary of the running space of the automatic trolley and each object;
s3: placing the automatic trolley in a running space, wherein a positioning module is arranged at the center point of the automatic trolley, and the position where the positioning module detects the position in the running space is the position where the center point of the automatic trolley is located, and the distance between the center point of the automatic trolley and the outer edge of the automatic trolley is L;
s4: based on the communication connection between the remote control end and the communication module, the remote control end sends a destination instruction to the communication module, the automatic trolley formulates a shortest path to the destination based on the current positioning position, and then the automatic trolley walks based on the shortest path until reaching the destination;
When the shortest path is established, acquiring the position information of the automatic trolley and the position information of the destination, and detecting whether a straight line formed by two points between the position information of the automatic trolley and the position information of the destination has other objects or not:
If no other object exists on a straight line formed by two points between the position information of the automatic trolley and the position information of the destination, determining that the straight line formed by the two points between the position information of the automatic trolley and the position information of the destination is the shortest path;
If there is another object on the straight line formed by two points between the position information of the automatic trolley and the position information of the destination, a minimum circumcircle of the object is formulated, an circumcircle is set outside the minimum circumcircle, the circumcircle and the minimum circumcircle are concentric circles, the radius of the circumcircle is larger than that of the minimum circumcircle by L, the positions of the automatic trolley and the destination are respectively used as starting points to connect tangent lines with the outer edge of the circumcircle, and one section on the circumferences of the two tangent lines and the circumcircle is used as the shortest path.
As shown in fig. 2,3 and 4, the position of the automatic trolley is point a, the position of the destination is point B, and when there is no object between A, B (fig. 2), the straight line between the points AB is the shortest path. When objects exist between A, B, the objects are round C or polygon D, the minimum circumscribing circle is established by taking the polygon D as a reference, a concentric circle is established at the periphery of the minimum circumscribing circle and the round C, the concentric circle is an external tangent circle, and A, B points are tangent to the external tangent circle, so that when the automatic trolley walks from the periphery of the objects, the objects cannot touch the automatic trolley.
The communication module is a wireless communication module, and the wireless communication module is a Bluetooth communication module, a wifi communication module or a zigbee communication module. If a plurality of other objects are arranged on a straight line formed by two points between the position information of the automatic trolley and the position information of the destination, a minimum circumscribing circle of the objects is formulated, an circumscribing circle is set outside the minimum circumscribing circle, the circumscribing circle and the minimum circumscribing circle are concentric circles, the radius of the circumscribing circle is larger than that of the minimum circumscribing circle by L, the positions of the automatic trolley and the position of the destination are respectively used as starting points to respectively connect tangent lines with the outer edges of the circumscribing circles at the positions closest to the automatic trolley and the position of the destination, and the circumscribing circles of the objects positioned on the inner side are connected with tangent lines, so that the shortest path formed by the tangent lines is formed. The specific method for establishing the space model in the running space of the automatic trolley comprises the following steps: the positions of all the points are collected in the running space of the automatic trolley, all the points are connected to form a three-dimensional space, and all the objects and walls in the three-dimensional space are used as real objects.
While the fundamental and principal features of the invention and advantages of the invention have been shown and described, it will be apparent to those skilled in the art that the invention is not limited to the details of the foregoing exemplary embodiments, but may be embodied in other specific forms without departing from the spirit or essential characteristics thereof; the present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (4)
1. An automatic dispatch system for an optimal path of an automatic trolley, characterized in that the automatic dispatch system for a shortest path of the automatic trolley comprises:
the data processing module is integrated with a shortest path automatic scheduling control program and is integrated on the automatic trolley;
The positioning module is integrated on the automatic trolley and is used for detecting and positioning the position of the automatic trolley, and the output end of the positioning module is connected with the data processing module;
The communication module is connected with the data processing module and is externally connected with a remote control end;
The output end of the data processing module is connected with the trolley driving system, the data processing module outputs and controls the trolley driving system, and the trolley driving system integrally drives and walks the automatic trolley;
The operation mode of the automatic trolley shortest path automatic scheduling system is specifically as follows:
S1: building a space model in the running space of the automatic trolley based on the BIM system, and specifically setting each object in the running space according to the proportion;
s2: setting a coordinate system in the established space model, and marking coordinate values for the boundary of the running space of the automatic trolley and each object;
s3: placing the automatic trolley in a running space, wherein a positioning module is arranged at the center point of the automatic trolley, and the position where the positioning module detects the position in the running space is the position where the center point of the automatic trolley is located, and the distance between the center point of the automatic trolley and the outer edge of the automatic trolley is L;
s4: based on the communication connection between the remote control end and the communication module, the remote control end sends a destination instruction to the communication module, the automatic trolley formulates a shortest path to the destination based on the current positioning position, and then the automatic trolley walks based on the shortest path until reaching the destination;
When the shortest path is established, acquiring the position information of the automatic trolley and the position information of the destination, and detecting whether a straight line formed by two points between the position information of the automatic trolley and the position information of the destination has other objects or not:
If no other object exists on a straight line formed by two points between the position information of the automatic trolley and the position information of the destination, determining that the straight line formed by the two points between the position information of the automatic trolley and the position information of the destination is the shortest path;
If there is another object on the straight line formed by two points between the position information of the automatic trolley and the position information of the destination, a minimum circumcircle of the object is formulated, an circumcircle is set outside the minimum circumcircle, the circumcircle and the minimum circumcircle are concentric circles, the radius of the circumcircle is larger than that of the minimum circumcircle by L, the positions of the automatic trolley and the destination are respectively used as starting points to connect tangent lines with the outer edge of the circumcircle, and one section on the circumferences of the two tangent lines and the circumcircle is used as the shortest path.
2. An automated guided vehicle optimal path automatic dispatch system according to claim 1, wherein: the communication module is a wireless communication module, and the wireless communication module is a Bluetooth communication module, a wifi communication module or a zigbee communication module.
3. An automated guided vehicle optimal path automatic dispatch system according to claim 1, wherein: if a plurality of other objects are arranged on a straight line formed by two points between the position information of the automatic trolley and the position information of the destination, a minimum circumscribing circle of the objects is formulated, an circumscribing circle is set outside the minimum circumscribing circle, the circumscribing circle and the minimum circumscribing circle are concentric circles, the radius of the circumscribing circle is larger than that of the minimum circumscribing circle by L, the positions of the automatic trolley and the position of the destination are respectively used as starting points to respectively connect tangent lines with the outer edges of the circumscribing circles at the positions closest to the automatic trolley and the position of the destination, and the circumscribing circles of the objects positioned on the inner side are connected with tangent lines, so that the shortest path formed by the tangent lines is formed.
4. An automated guided vehicle optimal path automatic dispatch system according to claim 1, wherein: the specific method for establishing the space model in the running space of the automatic trolley comprises the following steps: the positions of all the points are collected in the running space of the automatic trolley, all the points are connected to form a three-dimensional space, and all the objects and walls in the three-dimensional space are used as real objects.
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