CN103309350A - Automatic guided vehicle scheduling system and method based on global wireless precise positioning - Google Patents

Abstract

An automatic guided vehicle dispatching system based on global wireless precise positioning includes a real-time positioning layer, an application layer man-machine interface, a distributed vehicle control layer, and a wireless communication layer. The real-time positioning layer includes mobile tags to be positioned, wireless ranging fixed base stations, UDP datagram sending module, coordinate measurement module; application layer man-machine interface includes task management and release module, position monitoring and scheduling module, environment modeling and electronic map download module; distributed vehicle control layer includes distributed path planning module, electronic Map receiving storage module, line inspection and path switching module, environment perception module; wireless communication layer includes wireless transceiver master module, wireless transceiver slave module, wireless peer-to-peer communication network. The positions of all AGVs are monitored in real time and fed back to the centralized main control computer, and the computer performs unified scheduling for all devices in the system.

Description

Automatic guided vehicle dispatching system and method based on global wireless precise positioning

technical field

The invention relates to an automatic guided vehicle dispatching system based on global wireless precise positioning and a method thereof, belonging to the field of automatic conveying equipment and distributed control in industrial automation.

Background technique

Automatic guided vehicle (AGV) is a kind of automatic material handling equipment, which has the characteristics of high degree of automation and variable running path, and is the key equipment for realizing automatic handling in advanced manufacturing systems and logistics systems. The automatic guided vehicle system (AGVs) is composed of multiple AGVs and scheduling control software. It is a handling system that can operate independently. It is responsible for material handling in production logistics. It can change the path according to the handling task, improve the flexibility of production and reduce the cost. cost. It is widely used in material handling places such as automobile manufacturing industry, tobacco industry, construction machinery industry, and airports.

The dispatching system of AGVs mainly refers to the control and dispatching software that assigns tasks to each vehicle by obtaining the state information of each automatic guided vehicle in the system, so that they can cooperate with each other and complete tasks optimally according to certain paths and operating rules.

The traditional dispatching system generally adopts two kinds of system structures: centralized and distributed. The structure of the centralized dispatching system is a master-slave mode. There is a master computer, and all AGV actions need to be coordinated through the master computer. This kind of structural control relationship is clear, easy to implement, and high in information and resource utilization, but the fault tolerance and scalability of the system are not good. At the same time, due to the limitation of communication rate, it is generally only applicable to small-scale AGVS. The AGV scheduling system disclosed in Chinese patent CN200910213872.5 is a centralized control method. After the AGV reads the radio frequency card set at the station, it stops and sends the information in the card to the main control computer, which determines the AGV's Behavior.

In the distributed scheduling system structure, the main control computer assigns tasks according to the state information of each AGV, and each AGV independently determines the running path and execution action. The behavior of each AGV depends on its own information, external environment and interaction with other AGVs. This structure solves the centralized bottleneck problem, but the design requirements for the AGV monomer are high, and the implementation is difficult, and the behavior of the AGV is completely judged by itself dynamically, which cannot be predicted, and the entire system is unpredictable. Chinese patent CN201110178601.8 discloses a distributed scheduling system. During the scheduling process, the AGV knows its own position by reading the information of the radio frequency card set at the entrance and exit of the path, and thus performs path search and scheduling. It is a discrete positioning method, and its positioning depends entirely on the density of the arranged radio frequency cards.

Contents of the invention

The present invention provides an automatic guided vehicle scheduling system and method based on global wireless precise positioning, introduces global real-time wireless precise positioning technology, monitors the positions of all AGVs in the system in real time, and feeds back to the centralized main control computer, by The computer performs unified scheduling on all devices in the system. At the same time, each AGV has a certain degree of autonomy. According to the tasks issued by the system, the distributed control system in the vehicle can independently complete the processing of path planning, line patrol driving, loading device operation, fault alarm and other events. The essence of the system is a hybrid dispatching system that combines the advantages of centralized and distributed systems. It not only has the advantages of centralized system information concentration and convenient management, but also has the advantages of distributed system with strong adaptability, easy expansion and stable system. advantage.

The present invention adopts the following technical solution: an automatic guided vehicle dispatching system based on global wireless precise positioning, the automatic guided vehicle dispatching system based on global wireless precise positioning includes a real-time positioning layer, an application layer man-machine interface, Control layer and wireless communication layer, the real-time positioning layer includes mobile tags to be positioned, wireless ranging fixed base stations, UDP datagram sending modules, and coordinate measurement modules; the application layer human-machine interface includes task management and release modules, position monitoring and scheduling module, environmental modeling and electronic map download module; the distributed vehicle control layer includes a distributed path planning module, an electronic map receiving and storing module, a line inspection and path switching module, and an environmental perception module; the wireless communication layer includes Wireless transceiver master module, wireless transceiver slave module, wireless peer-to-peer communication network; the application layer is connected with the wireless communication layer through the RS232 serial port, the distributed vehicle control layer is connected with the wireless communication layer through the RS232 serial port, and the real-time positioning layer and the application layer Sharing the same database, the real-time positioning layer continuously updates the database, the application layer reads data from the database for scheduling, the distributed vehicle control layer feeds back the current state of each vehicle, and the application layer decomposes the task and sends it to each idle online For vehicles, the real-time positioning layer provides the application layer with real-time location information of online vehicles for vehicle scheduling.

The mobile tag to be positioned is installed on the automatic guided vehicle and moves with the vehicle, and transmits a wireless ranging signal at a certain frequency; the number of the wireless ranging fixed base stations is at least 4, and the wireless ranging fixed base station is installed on Receive the wireless ranging signal sent from the mobile tag to be positioned at a high place without an obstruction in the actual application environment, and calculate the distance difference between the mobile tag to be positioned and each wireless ranging fixed base station; the UDP datagram The sending module sends the distance difference measured by the wireless ranging fixed base station to the application layer through Ethernet; the coordinate measurement module receives the distance difference data from the wireless ranging fixed base station, and according to the electronic map The coordinates in the electronic map are calculated to calculate the precise coordinates of each mobile tag to be located, and the information in the database is updated at the same time.

The task management and publishing module decomposes tasks into a task linked list, and assigns tasks to different vehicles for execution according to the current status of each vehicle connected to the system and its own load capacity; the position monitoring and dispatching module first reads through the database Take the precise coordinates of each vehicle in the current system, and then calculate the distance between vehicles and vehicles, and between vehicles and various types of stations according to the coordinate information of work stations, intersections, emergency parking spaces, and charging station stations defined in the electronic map , control the vehicle to start and stop, change the speed, and enter the emergency parking space to avoid the avoidance measures to prevent the vehicles from colliding with each other, and at the same time control the vehicle to carry out the operation of the charging station; Path and various types of station location information, draw, modify and archive the two-dimensional plane model, and process the logic information and station information of the guidance path into hexadecimal data through the wireless communication layer before the automatic guided vehicle is put into use Send it to the distributed vehicle control layer in a certain data frame format.

The distributed path planning module receives tasks from the application layer, plans an optimal path according to the starting and ending points of the tasks, and takes the shortest driving distance as the goal, and stores the path nodes passed by in the form of a linked list; the electronic map receiving and storing module passes The wireless communication layer receives the electronic map data frame of the application layer and restores it into a logical map and saves it in the FLASH for query; the line inspection and path switching module controls the vehicle driving part along the predetermined route according to the path node linked list provided by the distributed path planning module. Set the path to drive, and receive commands from the application layer to start and stop, change speed, and enter emergency parking spaces to avoid avoidance measures; the environment perception module detects the current state of the automatic guided vehicle, and feeds back to the application layer through the wireless communication layer.

The wireless transceiver master module is connected to the application layer through the RS232 serial port, has a node function, and sends vehicle control instructions to all wireless transceiver slave modules in the network in a broadcast manner, and simultaneously receives information fed back from the slave modules; the wireless transceiver slave module The machine module is connected to the distributed vehicle control layer through the RS232 serial port, and has the function of a routing node. It receives instructions from the host module and sends them to the distributed vehicle control layer, and feeds back corresponding information to the host module at the same time; The master module and multiple wireless slave modules are automatically formed into a network. It is a Mesh mesh wireless communication bus. The master data is sent to each slave by direct transmission or routing forwarding. At the same time, each slave sends The data is finally aggregated to the host.

The present invention also adopts the following technical solutions: An automatic guided vehicle scheduling method based on global wireless precise positioning, which includes the following steps:

(1) The application layer environment modeling module establishes a 2D model according to the actual environment, and configures various types of site information;

(2) The application layer electronic map conversion and download module sends the 2D environment model to the electronic map receiving and storage module in the distributed control layer of each automatic guided vehicle after being processed by the algorithm;

(3) The application layer decomposes the tasks into a task list, and assigns the tasks to different vehicles for execution according to the vehicle's current task status, fault status, load capacity and current location information;

(4) The path planning module in the distributed vehicle control layer plans an optimal path based on the acquired task information and path information, with the shortest driving distance as the goal, and stores the passed path nodes in the form of a linked list;

(5) The line inspection and path switching modules in the distributed vehicle control layer drive according to the path node linked list, and judge whether the surrounding environment is safe according to the data fed back by the environment sensing module. If an emergency occurs, make an emergency stop and report to the application layer for processing;

(6) After the entire system is powered on, the real-time positioning layer continuously refreshes the coordinate data of all vehicles in the current system at a certain frequency and saves them in the database. The application layer reads the information in the database and calculates the distance between each vehicle, the distance between the vehicle and The dynamic distance between various types of stations, and establish a distance response event list for all vehicles and various types of stations at the same time. The response event list is dynamically adjusted according to the task status, type, load capacity of the automatic guided vehicle and the working status of each type of station. When the distance between two vehicles is less than the safety distance or the distance between the vehicle and the station is less than the trigger distance, the corresponding event is triggered, and the cooperation between multiple vehicles or between the vehicle and the station is carried out to complete the corresponding goal.

The distance response event list includes a vehicle distance response event list, a work station distance response event list, an intersection distance response event list, an emergency parking space distance response event list, and a charging station distance response event list.

The vehicle distance response event list includes vehicle speed switching, start-stop control actions, and different vehicles have different events in the list according to task status and priority factors; the station point distance response event list includes vehicle speed switching, The control of start and stop, the material exchange action of the vehicle and the station point; the distance response event list of the intersection includes the switching of vehicle speed, the control action of start and stop; the emergency parking space distance response event list includes the judgment of vehicle priority, Line patrol path switching, speed switching, start and stop control actions; the charging station distance response event list includes vehicle logout and login in the system, power judgment, line patrol path switching, speed switching, start and stop control action.

The present invention has following beneficial effects:

(1) The wireless precise ranging technology based on TDOA (Time Difference of Arrival), supplemented by weighted centroid positioning algorithm and error correction, monitors the real-time position of all vehicles in the system, replacing the traditional position query and reporting process, At the same time, according to the position of the vehicle, calculate the real-time distance between the vehicle and the vehicle, and compare it with the safety distance. While ensuring the safety of the system, there is no need for the AGV to actively report the position, which reduces the communication burden on the wireless communication layer of the system and enhances the reliability of the system. scalability;

(2) The wireless positioning system obtains the AGV coordinates and the site coordinates, and judges the actions that the AGV should perform according to the distance between the two and the AGV task situation, which enhances the interaction between the AGV and the site, and reduces the functions and functions of various types of sensors on the AGV and the site. Quantity requirements, reducing costs;

(3) The modeling of the digital environment of the system is completed by the main control computer alone, which is easy to modify, store and maintain. Before the system is powered on and operated, the main control computer can release the updated information to the distributed vehicle control of all AGVs through the wireless communication layer. layer, the operation is simple and efficient, and at the same time increases the flexibility of the system;

(4) The ZigBee two-way wireless communication technology based on the IEEE802.15.4 standard is used as the communication method between the main control computer and the distributed vehicle control layer. It has low power consumption, low cost, supports a large number of nodes, and supports multiple network topologies. Self-organizing network feature, AGV will automatically register with the main control computer when it is powered on, and automatically log off when the power is off, without wasting system resources;

(5) The present invention uses the wireless positioning system as the information source of the centralized structure main control computer, uses the distributed vehicle control module to build the AGV distributed control system, integrates the advantages of the centralized and distributed dispatching system structures, and adopts a hybrid The system structure, as the AGVS dispatching system structure, increases the scalability and controllability of the system on the premise of ensuring the stability of the system.

Description of drawings

Fig. 1 is a structural diagram of an automatic guided vehicle dispatching system based on global wireless precise positioning according to the present invention.

Figure 2 is a schematic diagram of the system structure and layout of the real-time positioning layer.

Fig. 3 is a timing diagram of sending and receiving ranging signals of the real-time positioning layer.

Figure 4 is a schematic diagram of the real-time positioning layer positioning algorithm.

Figure 5 is a schematic diagram of the distributed vehicle control layer.

Detailed ways

The present invention will be described in further detail below in conjunction with the accompanying drawings.

Figure 1 is a structural diagram of an automatic guided vehicle dispatching system based on global wireless precise positioning. This system is mainly divided into four parts: real-time positioning layer, application layer human-machine interface, distributed vehicle control layer and wireless communication layer. The application layer is connected to the wireless communication layer through the RS232 serial port, the distributed vehicle control layer is connected to the wireless communication layer through the RS232 serial port, and the real-time positioning layer and the application layer share a database. The distributed vehicle control layer feeds back the current state of each vehicle, and the application layer decomposes the task and sends it to each online vehicle whose current state is idle. The real-time positioning layer provides the application layer with real-time location information of online vehicles for vehicle scheduling.

The real-time positioning layer includes a mobile tag to be positioned, a fixed base station for wireless distance measurement, a UDP datagram sending module, and a coordinate measurement module. The functions of each module in the real-time positioning layer: the mobile tag to be positioned, which is installed on the automatic guided vehicle and moves with the vehicle, and transmits 2.4G wireless signals to the surrounding space in all directions at a certain adjustable frequency after power-on. Wireless ranging fixed base stations (the number is at least 4), installed in a high place without obstructions in the actual application environment, used to receive the wireless ranging signal sent from the mobile tag to be positioned, and according to the data received by the four base stations time, three time differences are obtained, and the distance differences between the tag and the four base stations are calculated from the time differences. The UDP datagram sending module is used to send the distance difference data measured by the wireless ranging fixed base station to the application layer through Ethernet according to a certain protocol. The coordinate measurement module is used to receive the distance difference data from the wireless ranging fixed base stations, and calculate each mobile tag to be positioned (that is, each automatic guided vehicle) according to the coordinates of each wireless ranging fixed base station in the electronic map. ) precise coordinates in the electronic map, and update the information in the database at the same time.

Application layer man-machine interface, including task management and release module, location monitoring and scheduling module, environment modeling and electronic map download module. The task management and release module is mainly used to decompose tasks into a task list, according to the current status of each vehicle connected to the system (idle, busy, normal, fault and location information provided by the real-time positioning layer) and its own load capacity, Assign tasks to different vehicles for execution. The position monitoring and dispatching module is mainly used for: first reading the precise coordinates of each vehicle in the current system through the database, and then according to the coordinate information of the station points, intersections, emergency parking spaces, charging stations and other stations defined in the electronic map, Calculate the distance between vehicles and between vehicles and various types of stations. On the one hand, control vehicles to start and stop, change speed, enter emergency parking spaces and avoid avoidance measures to prevent vehicles from colliding with each other. On the other hand, control vehicles to carry , charging and other site operations. The environmental modeling and electronic map download module is mainly used to draw, modify and archive the two-dimensional plane model according to the actual guidance path and various site location information on site, and process the logic information of the guidance path and the site information into The hexadecimal data is sent to the distributed vehicle control layer in a certain data frame format through the wireless communication layer before the automatic guided vehicle is put into use.

The distributed vehicle control layer includes a distributed path planning module, an electronic map receiving and storing module, a line inspection and path switching module, and an environmental perception module. The distributed path planning module is mainly used to receive tasks from the application layer. According to the start and end points of the task, with the shortest driving distance as the goal, an optimal route is planned and the path nodes are stored in the form of a linked list. The electronic map receiving and storing module is mainly used to receive the electronic map data frame of the application layer through the wireless communication layer and restore it into a logical map and save it in FLASH for query. The line inspection and path switching module controls the driving part of the vehicle to drive along the preset path according to the path node list provided by the distributed path planning module, and at the same time receives commands from the application layer to perform avoidance measures such as start and stop, speed change, and emergency parking space avoidance. The environment perception module is used to detect the current state of the automatic guided vehicle and feed back to the application layer through the wireless communication layer.

The wireless communication layer includes a wireless transceiver master module, a wireless transceiver slave module, and a wireless peer-to-peer communication network. The wireless transceiver master module is connected to the application layer through the RS232 serial port and has a node function. It is mainly used to send vehicle control commands to all wireless transceiver slave modules in the network by broadcasting, and at the same time receive information fed back from the slave modules. The wireless transceiver module is connected to the distributed vehicle control layer through the RS232 serial port, and has the function of a routing node. It is mainly used to receive instructions from the host module and send them to the distributed vehicle control layer, and feed back corresponding information to the host module. The wireless peer-to-peer communication network is mainly formed by a wireless master module and multiple wireless slave modules. It is a Mesh mesh wireless communication bus. The master data is sent directly or routed to each slave At the same time, the data sent by each slave is finally aggregated to the master, and the slave and the slave can also directly communicate with each other through a special protocol.

Figure 2 is a schematic diagram of the system structure and layout of the real-time positioning layer. Four wireless ranging fixed base stations cover a rectangular indoor space, and are generally installed at the four corners of the rectangular space and on the same plane, with a height of not less than two meters from the ground. The coordinate system of the rectangular space is defined by the user, and the current actual coordinates of the four base stations are measured according to the coordinate system and imported into the application layer for backup. Each base station is connected to the switch through Ethernet, and then the switch is connected to the main control computer through the Ethernet bus. After the system is powered on, the four base stations synchronize the time through the main control computer. After the AGV registers with the system, the mobile tag to be positioned on the vehicle starts to work, and sends 2.4G wireless signals at a certain frequency without distinction in all directions, and the signal carries the ID of the tag Number. The four base stations receive the signal, and send the receiving time, tag ID, base station ID and other information to the coordinate measurement module in the main control computer through the UDP datagram sending module. After the coordinate measurement module receives the information in the four base stations, according to the TDOA algorithm, the distance difference is calculated from the time difference, and the tag position is determined by the distance difference.

Fig. 3 is a timing diagram of sending and receiving ranging signals of the real-time positioning layer. In the real-time positioning layer, the four base stations perform time synchronization through Ethernet firstly after they are powered on. At a certain time t0, tag 1 sends out a positioning signal. Since the distance between the tag and each base station is different (here, it is assumed that base station 1 is the closest to the tag, followed by base station 2, base station 3 again, and base station 4 is the farthest), the signal will be at t1, Time t2, t3, and t4 arrive at base station 1, base station 2, base station 3, and base station 4 successively. The three time intervals Δt1, Δt2, and Δt3 between the four moments are the time difference between the signal arrival at base station 1 and base station 2, the time difference between the signal arrival at base station 2 and base station 3, and the time difference between the signal arrival at base station 3 and base station 4. Since the propagation speed of radio waves in space is basically stable, the time difference between the two base stations receiving the signal multiplied by the propagation speed can be considered as the difference in distance between the tag and the two base stations, thus obtaining three distance differences △d1, Δd2, Δd3.

Figure 4 is a schematic diagram of the real-time positioning layer positioning algorithm. The coordinate system set by the user and the measured base station coordinates are stored in the application layer in advance, and after the three distance differences are obtained from the steps described in Figure 2, three curves are drawn on the electronic map :

  

分别为四个基站的坐标。 in

are the coordinates of the four base stations, respectively.

The area surrounded by two intersections of three curves (the shaded area in the figure) is the location where the label may exist. The final coordinates obtained by weighting the three endpoints of the shaded area with the center of mass are the theoretical label coordinates.

Figure 5 is a schematic diagram of the distributed vehicle control layer. The distributed vehicle control layer is mainly responsible for the communication between the vehicle and the main control computer, the storage of the electronic map, the selection of the optimal path, the operation of the transfer mechanism, the control of the drive motor, etc. The hardware of the distributed vehicle control layer mainly includes: main control chip, power supply module, external crystal oscillator, reset module, JTAG debugging interface, extended GPIO (optocoupler input and output and relay output), extended static RAM, extended FLASH, SPI bus driver . The static RAM and FLASH are connected to the main control chip through the 16-bit data address bus, the SPI bus driver is connected to the main control chip through the SPI bus, the JTAG debugging interface is connected to the main control chip through the JTAG protocol line, and the reset module is connected to the main control chip reset pin. pin, the power module is connected to the power pin of the main control chip, and the other modules are connected to the main control chip through I/O.

The power module provides 3.3V and 1.8V regulated power supply for the main control chip, and 5V regulated power supply for the peripheral circuit at the same time; the external crystal oscillator provides a stable reference signal for the main control chip; the debugging interface connects the main control chip through the JTAG protocol, and uses For program burning and online debugging; extended static RAM is mainly used to store programs, AGV vehicle parameters and environment variables; extended FLASH is mainly used to save electronic map information when power is off; EEPROM can store the basic configuration information of the system, which can be read by the system when it is powered on; the extended GPIO is mainly used for the motion control of the transfer mechanism; four RS232 serial ports are expanded through the SPI bus, and one is connected to the wireless transceiver module for communication with the main control For computer communication, one is connected to the serial display screen for the display of necessary information, and the other two are connected to the motor driver for controlling the motor speed and direction.

The present invention is based on the automatic guided vehicle scheduling method of global wireless accurate positioning, and it comprises the following steps:

(1) The application layer environment modeling module establishes a 2D model according to the actual environment, and configures various types of site information;

(2) The application layer electronic map download module sends the 2D environment model to the electronic map receiving and storage module in the distributed control layer of each automatic guided vehicle after algorithm processing;

(3) The application layer decomposes the tasks into a task list, and assigns the tasks to different vehicles for execution according to the vehicle's current task status, fault status, load capacity and current location information;

(4) The distributed path planning module in the distributed vehicle control layer plans an optimal path based on the acquired task information and path information, with the shortest driving distance as the goal, and stores the passed path nodes in the form of a linked list;

(5) The line inspection and path switching modules in the distributed vehicle control layer drive according to the path node linked list, and judge whether the surrounding environment is safe according to the data fed back by the environment sensing module. contact with obstacles, etc.), emergency stop and alarm to the application layer to wait for processing;

(6) After the entire system is powered on, the real-time positioning layer continuously refreshes the coordinate data of all vehicles in the current system at a certain frequency and saves them to the database. The application layer reads the information in the database, calculates the dynamic distance between each vehicle and between the vehicle and various types of stations, and establishes a distance response event list for all vehicles and various types of stations. The task status, type, load capacity and the working status of various types of sites are dynamically adjusted. When the distance between vehicles and between vehicles and various types of stations enters a certain range, the corresponding event is triggered, and the cooperation between multiple vehicles or between vehicles and stations has been completed, such as intersection avoidance, work site transfer, etc.

The distance response event list mainly includes the vehicle distance response event list, the station point distance response event list, the intersection distance response event list, the emergency parking space distance response event list, and the charging station distance response event list. The vehicle distance response event list is mainly used to solve the problem of collision avoidance when two or more automatic guided vehicles are in close range. The events in the list mainly include actions such as vehicle speed switching, start-stop control, etc. Due to factors such as status and priority, the events in the list are not exactly the same. The station point distance response event list is mainly used for the transfer of materials between the vehicle and the station point. When the vehicle that receives the task of the station point approaches the station point, the corresponding transfer event is triggered, including the speed of the vehicle. Switching, start and stop control, material exchange of vehicles and workstations, etc. The intersection distance response event list is mainly used to solve the problem of path overlap and vehicle path selection that may occur when two or more automatic guided vehicles are at the same intersection at the same time. According to the level of vehicle priority, notify the high priority vehicle to speed up and pass, and the low priority vehicle to decelerate or stop and wait. At the same time, notify the automatic guided vehicle of the ID number of the current intersection to assist the vehicle in route selection. The response event list mainly includes actions such as vehicle speed switching, start-stop control, and the like. The emergency parking space distance response event list is mainly used to solve the problem of two vehicles catching up. When two automatic guided vehicles approach the emergency parking space one after the other at the same time, if the priority of the rear vehicle is higher than that of the front vehicle, the front vehicle needs to enter Stop and wait in the emergency parking space, and the vehicle behind accelerates to catch up. The response event list mainly includes actions such as judging vehicle priority, switching patrol routes, switching speeds, and controlling start and stop. The charging station distance response event list is mainly used to charge the low-battery automatic guided vehicle, and when the low-battery automatic guided vehicle approaches the charging station, it is controlled to enter and charge. The list of response events mainly includes actions such as logout and login of the vehicle in the system, judgment of battery capacity, switching of patrol routes, switching of speed, control of start and stop, etc.

The above is only a preferred embodiment of the present invention, it should be pointed out that for those of ordinary skill in the art, some improvements can also be made without departing from the principle of the present invention, and these improvements should also be regarded as the invention. protected range.

Claims (8)

1. one kind based on the wireless pinpoint automatic guided vehicle dispatching system of the overall situation, it is characterized in that: describedly comprise real-time alignment layers, application layer man-machine interface, distributed vehicle key-course and wireless telecommunications layer based on the wireless pinpoint automatic guided vehicle dispatching system of the overall situation, described real-time alignment layers comprises mobile tag to be positioned, wireless distance finding fixed base stations, UDP datagram sending module, coordinate measuring and calculating module; Described application layer man-machine interface comprises task management and release module, monitoring position and scheduler module, environmental modeling and electronic chart download module; Described distributed vehicle key-course comprises that distribution route planning module, electronic chart receive storage module, line walking and path handover module, environment sensing module; Described wireless telecommunications layer comprises wireless receiving and dispatching host module, wireless receiving and dispatching slave module, wireless peer-to-peer communications network; Described application layer links to each other with the wireless telecommunications layer by the RS232 serial ports, distributed vehicle key-course links to each other with the wireless telecommunications layer by the RS232 serial ports, alignment layers and application layer are shared same database in real time, alignment layers is brought in constant renewal in database in real time, application layer is fetched data for scheduling from database read, distributed vehicle key-course feeds back the current state of each vehicle, application layer is decomposed task and is sent to each current state is idle online vehicle, and alignment layers provides the real-time position information of online vehicle in order to vehicle scheduling for application layer in real time.

2. as claimed in claim 1 it is characterized in that: described mobile tag to be positioned is installed on the automatic guided vehicle and moves with vehicle based on the wireless pinpoint automatic guided vehicle dispatching system of the overall situation, with certain frequency emission wireless distance finding signal; The quantity of described wireless distance finding fixed base stations is at least 4, described wireless distance finding fixed base stations is installed in the eminence that does not have shelter in the actual application environment, the wireless distance finding signal that reception is sent from mobile tag to be positioned, and calculate between this mobile tag to be positioned and each the wireless distance finding fixed base stations apart from difference; Described UDP datagram sending module is sent to application layer with the range difference that the wireless distance finding fixed base stations records by Ethernet; Described coordinate measuring and calculating module receives the range difference Value Data from the wireless distance finding fixed base stations, and according to the coordinate of each wireless distance finding fixed base stations in electronic chart, calculate the accurate coordinates of each mobile tag to be positioned in electronic chart, simultaneously information in the new database more.

3. as claimed in claim 1 based on the wireless pinpoint automatic guided vehicle dispatching system of the overall situation, it is characterized in that: described task management and release module are made the task chained list after task is decomposed, according to each vehicle current state and self load capacity of connecting system, assign the task to different vehicles and carry out; Described monitoring position and scheduler module at first read the accurate coordinates of each vehicle in the current system by database, again according to the work station point that defines in the electronic chart, intersection, stop in emergency the position, the charging station website coordinate information, calculate between vehicle and the vehicle, distance between vehicle and all types of website, the control vehicle carries out the change of start and stop, speed, enter the position of stopping in emergency dodges workaround to prevent collision mutually between the vehicle, controls the vehicle website operation of carrying, charge simultaneously; Described environmental modeling and electronic chart download module are according to the actual guide path in scene and all types of site location information, drafting, modification and file two dimensional surface model, and wherein the guide path logical message becomes 16 system data with site information through algorithm process, is sent to distributed vehicle key-course by the wireless telecommunications layer with certain data frame format before automatic guided vehicle comes into operation.

4. as claimed in claim 1 based on the wireless pinpoint automatic guided vehicle dispatching system of the overall situation, it is characterized in that: described distribution route planning module receives task from application layer, according to the task origin and destination, be target with the shortest driving distance, plan an optimal path and the form of institute's pathway footpath node with chained list stored; Described electronic chart receives storage module by the electronic map data frame of wireless telecommunications layer reception application layer and is reduced into the logic map and is kept among the FLASH for inquiry; The path node chained list that described line walking and path handover module provide according to the distribution route planning module, control vehicle traction part is travelled along preset path, and start and stop are carried out in the order that receives application layer simultaneously, speed changes, enters the position of stopping in emergency and dodges workaround; Described environment sensing module detects the automatic guided vehicle current state, and feeds back by wireless telecommunications course application layer.

5. as claimed in claim 1 based on the wireless pinpoint automatic guided vehicle dispatching system of the overall situation, it is characterized in that: described wireless receiving and dispatching host module links to each other with application layer by the RS232 serial ports, has nodal function, mode with broadcasting sends vehicle steering orders to interior all the wireless receiving and dispatching slave modules of net, receives slave module feedack simultaneously; Described wireless receiving and dispatching slave module links to each other with distributed vehicle key-course by the RS232 serial ports, has the routing node function, receives instruction and is sent to distributed vehicle key-course from host module, feeds back corresponding information simultaneously to host module; Described wireless peer-to-peer communications network is formed by a wireless host module, a plurality of wireless slave module automatic network-building, it is the netted wireless telecommunications bus of a kind of Mesh, host data is sent to each slave in the mode of direct transmission or routing forwarding, and the data of each slave transmission finally all are aggregated into main frame simultaneously.

6. one kind based on the wireless pinpoint automatic guided vehicle dispatching method of the overall situation, it is characterized in that: describedly comprise the steps: based on the wireless pinpoint automatic guided vehicle dispatching method of the overall situation

(1) application layer environmental modeling module is set up the 2D model according to actual environment, disposes all types of site information;

(2) application layer electronic chart conversion download module is sent to electronic chart reception storage module in the distributed key-course of each automatic guided vehicle to the 2D environmental model after algorithm process;

(3) application layer is decomposed task, is formulated to the task chained list, according to vehicle current task state, malfunction, load capacity and current location information, assigns the task to different vehicles and carries out;

(4) path planning module is target according to the mission bit stream that obtains and routing information with the shortest driving distance in the distributed vehicle key-course, plans an optimal path and the form of institute pathway footpath node with chained list stored;

(5) line walking and path handover module travel according to the path node chained list in the distributed vehicle key-course, and the data that feed back to according to the environment induction module are judged whether safety of surrounding enviroment, if emergency condition takes place, suddenly stop and pending to application layer warning etc.;

(6) after total system powers on, alignment layers constantly refreshes the coordinate data of all vehicles in the current system and is saved to database with certain frequency in real time, information in the application layer reading database, calculate between each vehicle, dynamic distance between vehicle and all types of website, set up the distance response list of thing for all vehicles and all types of website simultaneously, this response events tabulation is according to the task status of automatic guided vehicle, type, the duty of load capacity and all types of websites is dynamically adjusted, distance is less than triggering distance between distance between two cars is less than safe distance or vehicle and website, namely trigger corresponding event, carry out between many vehicles or the cooperation between vehicle and the website, finish respective objects.

7. as claimed in claim 6 based on the wireless pinpoint automatic guided vehicle dispatching method of the overall situation, it is characterized in that: described distance response list of thing comprises that vehicle distances response events tabulation and work station point distance response list of thing, intersection distance response list of thing, the distance of positions of stopping in emergency are from response events tabulation, charging station distance response list of thing.

8. as claimed in claim 7 based on the wireless pinpoint automatic guided vehicle dispatching method of the overall situation, it is characterized in that: described vehicle distances response events tabulation comprises that the speed of vehicle is switched, the start and stop control action, different vehicles are according to task status, priority factors, event is incomplete same in the tabulation; Described work station point distance response list of thing comprises the material switching motion of control, vehicle and work station point of switching, the start and stop of car speed; Described intersection distance response list of thing comprises the switching of car speed, the control action of start and stop; The described distance of positions of stopping in emergency comprises the judgement of vehicle priority, the switching in line walking path, the switching of speed, the control action of start and stop from the response events tabulation; Described charging station distance response list of thing comprise vehicle in system cancellation and land, the judgement of electric weight, the switching in line walking path, the switching of speed, the control action of start and stop.

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