Control system of transport carrier
By installing a control system on the transportation vehicle and restricting the operation of staff, the problems of pollution and disease transmission during bulk feed transportation are solved, and biosafety prevention and control of the transportation process is achieved.
Patent Information
- Application Number
- CN202411905271.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-23
- Publication Date
- 2025-05-06
AI Technical Summary
During bulk feed transportation, the operation of staff may cause contact with the outside world, causing contamination, especially the possible transmission of serious animal diseases such as African swine fever.
Design a control system for transport vehicles, including servers, data transmission modules, central processing modules, sensors and execution modules. The system collects status data of the transport vehicle by generating transportation ticket data and transportation map data, and generates operation management data based on this data, limiting or allowing staff operations to prevent feed contamination.
Dynamic management of staff operations is realized, bulk feed is prevented from being contaminated during transportation, the risk of animal disease transmission is reduced, and the biosafety of the transportation process is ensured.
Smart Images
Figure CN119937372A_ABST
Abstract
Description
Technical Field
[0001] The present invention generally relates to the field of control systems for transport vehicles. More specifically, the present invention relates to a control system for a transport vehicle used for bulk feed transportation. Background Art
[0002] With the development of technology, the livestock breeding industry has become more and more specialized and specialized. Livestock are increasingly being raised by livestock breeding enterprises in a centralized manner to improve breeding production efficiency. Livestock feed is produced by specialized livestock feed production enterprises, and the bulk livestock feed required by livestock is periodically transported to livestock breeding enterprises. However, during the transportation process, due to intentional or unintentional operations by staff, the transported bulk feed may come into contact with the outside world, causing pollution.
[0003] For example, transported bulk pig feed may be contaminated by viruses prevalent in pigs, such as African swine fever virus. African swine fever is a highly contagious disease that spreads among pigs, with a fast course and high mortality rate. Once the African swine fever virus spreads into livestock breeding enterprises through feed, it may cause a major epidemic and cause serious losses to livestock breeding enterprises.
[0004] In view of this, there is an urgent need to provide a solution for a control system of a transport vehicle used for transporting bulk feed, which can manage the transport of bulk feed, use electronic means to judge the operation of staff, prevent contamination during the transport, and regulate the operating behavior of staff. Summary of the invention
[0005] In order to at least solve the technical problems mentioned above, the present disclosure proposes a technical solution for a control system of a transport vehicle in multiple aspects.
[0006] The present disclosure provides a control system of a transport vehicle for transporting bulk feed, the control system comprising: a server, a data transmission module, a central processing module, a sensor and an execution module; wherein the server is used to generate transport work order data and transport map data according to transport task information; the data transmission module is used to send the transport work order data and the transport map data to the central processing module; the sensor is used to collect the transport vehicle status data of the transport vehicle, and transmit the transport vehicle status data to the central processing module; the central processing module is used to receive the transport vehicle status data, and generate operation management data of the transport vehicle according to the transport work order data, the transport map data and the transport vehicle status data; the central processing module is further used to generate an execution command according to the operation management data and the received operation instructions; the execution module is used to receive the execution command from the central processing module, and perform mechanical operation on the transport vehicle.
[0007] In some embodiments, the method for determining whether a vehicle is within the specific location range is: obtaining a specific location boundary based on the transport work order data and the transport map data; generating a virtual electronic fence based on the specific location boundary to obtain boundary vertex coordinate data of the virtual electronic fence; sensing the transport vehicle posture data through the posture sensor, and sensing the transport vehicle position data through the positioning sensor; obtaining transport vehicle coordinate data based on the transport vehicle posture data and the transport vehicle position data; generating a judgment vector based on the boundary vertex coordinate data and the transport vehicle coordinate data; and determining whether the transport vehicle is within the virtual electronic fence by performing a vector cross product calculation on the judgment vector.
[0008] In the embodiments of the present disclosure, operation management data of the transport vehicle is generated through transport work order data, transport map data and transport vehicle status data, and the operations of the staff are managed according to the operation management data, thereby realizing dynamic management of the operations of the staff. BRIEF DESCRIPTION OF THE DRAWINGS
[0009] By reading the detailed description below with reference to the accompanying drawings, the above and other objects, features and advantages of the exemplary embodiments of the present disclosure will become readily understood. In the accompanying drawings, several embodiments of the present disclosure are shown in an exemplary and non-limiting manner, and the same or corresponding reference numerals represent the same or corresponding parts, wherein:
[0010] Figure 1 A schematic diagram showing the structure of a control system of a transport vehicle according to an embodiment of the present disclosure;
[0011] Figure 2a , Figure 2b and Figure 2c A schematic diagram showing the structure of a transport vehicle according to an embodiment of the present disclosure is shown;
[0012] Figure 3 A schematic flow chart showing the workflow of the control system of the transport vehicle according to the disclosed embodiment;
[0013] Figure 4 A schematic diagram showing the structure of a sensor of a transport vehicle according to an embodiment of the present disclosure is shown;
[0014] Figure 5 A schematic flowchart of a method for determining whether a location is within a specific location range according to an embodiment of the present disclosure is shown. DETAILED DESCRIPTION
[0015] The following will be combined with the drawings in the embodiments of the present disclosure to clearly and completely describe the technical solutions in the embodiments of the present disclosure. Obviously, the described embodiments are part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present disclosure.
[0016] It should be understood that the terms "include" and "comprising" used in the specification and claims of the present disclosure indicate the presence of described features, integers, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or collections thereof.
[0017] It should also be understood that the terms used in this disclosure are only for the purpose of describing specific embodiments and are not intended to limit the disclosure. As used in this disclosure and claims, the singular forms of "a", "an", and "the" are intended to include the plural forms unless the context clearly indicates otherwise. It should also be further understood that the term "and / or" used in this disclosure and claims refers to any combination of one or more of the associated listed items and all possible combinations, including these combinations.
[0018] As used in this specification and claims, the term "if" may be interpreted as "when" or "upon" or "in response to determining" or "in response to detecting," depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" may be interpreted as meaning "upon determination" or "in response to determining" or "upon detection of [described condition or event]" or "in response to detecting [described condition or event]," depending on the context.
[0019] The specific implementation of the present disclosure is described in detail below with reference to the accompanying drawings.
[0020] Figure 1 A schematic diagram of the structure of a control system of a transport vehicle according to an embodiment of the present disclosure is shown.
[0021] like Figure 1As shown, a control system of a transport vehicle is used for transporting bulk feed, and the control system includes: a server, a data transmission module, a central processing module, a sensor and an execution module; wherein the server is used to generate transport work order data and transport map data according to transport task information; the data transmission module is used to send the transport work order data and the transport map data to the central processing module; the sensor is used to collect the transport vehicle status data of the transport vehicle, and transmit the transport vehicle status data to the central processing module; the central processing module is used to receive the transport vehicle status data, and generate the operation management data of the transport vehicle according to the transport work order data, the transport map data and the transport vehicle status data; the central processing module is further used to generate an execution command according to the operation management data and the received operation instructions; the execution module is used to receive the execution command from the central processing module, and perform mechanical operations on the transport vehicle.
[0022] Specifically, the embodiments of the present disclosure disclose a control system for a transport vehicle that can complete transport tasks according to work requirements.
[0023] Figure 2a - Figure 2c A schematic structural diagram of a transport vehicle according to an embodiment of the present disclosure is shown.
[0024] like Figure 2a - Figure 2c As shown, for the transport vehicle, the transport vehicle is provided with a sealed bin for transporting bulk feed. The sealed bin includes a sealed bin box, a sealed bin feed port, and a sealed bin discharge port. When the transport vehicle is loaded with the bulk feed to be transported, the sealed bin feed port is opened, and the bulk feed is input into the sealed bin box through the sealed bin feed port; when the loading is completed, the sealed bin feed port is closed, so that the bulk feed in the sealed bin box is isolated from the outside. Figure 2c As shown, in this embodiment, by driving the air cylinder 8, the bin cover 7 can be driven to slide along the slide rail in the direction from the front to the rear of the vehicle, so that the sealed bin feed port is opened and closed. Generally, the sealed bin feed port is set at the top of the sealed bin to facilitate the input of bulk feed into the sealed bin from the top of the transport vehicle; the sealed bin discharge port is set at the bottom of the sealed bin box to facilitate the output of all bulk feed in the sealed bin box. In order to facilitate the complete emptying of the sealed bin box and conveniently input the output bulk feed into the designated container, the transport vehicle is generally also provided with an auger device.
[0025] like Figure 2a and Figure 2bAs shown, in this embodiment, the auger device is mainly divided into three parts, a bottom auger 1, a vertical auger 3 and an upper auger 5. The bottom auger 1 is arranged at the bottom of the sealed bin, and the overall direction of the bottom auger 1 is from the front direction to the rear direction of the vehicle, parallel to the plane of the chassis of the transport vehicle. The bulk feed in the sealed bin box falls into the bottom auger 1 through the sealed bin discharge port, and under the action of the bottom auger motor 2, the bulk feed falling into the bottom auger 1 moves toward the rear direction of the vehicle. The bottom auger 1 and the vertical auger 3 are sealed and connected to each other, so that the bulk feed in the bottom auger 1 can enter the vertical auger 3. The vertical auger 3 is perpendicular to the bottom auger 1 and to the plane of the chassis of the transport vehicle. Under the action of the vertical auger motor 4, the bulk feed entering the bottom of the vertical auger 3 from the bottom auger 1 moves upward perpendicular to the plane of the chassis of the transport vehicle. The vertical auger 3 and the upper auger 5 are sealed and connected to each other, so that the bulk feed in the vertical auger 3 can enter the upper auger 5, and the vertical auger 3 can rotate at a certain angle along the axis perpendicular to the plane of the chassis of the transport vehicle, and drive the upper auger 5 to rotate at a certain angle along the axis perpendicular to the plane of the chassis of the transport vehicle. Under the initial condition, the upper auger 5 is perpendicular to the vertical auger 3, parallel to the bottom auger 1, and parallel to the plane of the chassis of the transport vehicle. Under the action of the upper auger motor 6, the bulk feed entering the upper auger 5 near the rear part of the vehicle from the vertical auger 3 moves in the direction of the upper auger 5 near the front part of the vehicle, and the bulk feed is output from the upper auger 5 near the front part of the vehicle. In addition to rotating at a certain angle along the axis perpendicular to the plane of the chassis of the transport vehicle under the drive of the vertical auger 3, the upper auger 5 itself can also rotate along the axis perpendicular to the side of the transport vehicle, so that the upper auger 5 near the front part of the vehicle is lifted or dropped. Through the function of the auger device, not only can the bulk feed in the sealed bin be emptied conveniently, but the output bulk feed can also be conveniently input into a designated container.
[0026] The number of sealed bins on the transport vehicle can be one or more. In the present embodiment, the number of sealed bins on the transport vehicle is 5. When multiple sealed bins are arranged on the transport vehicle, the sealed bins can be isolated from each other to avoid the bulk feed in the sealed bin box between the two sealed bins from mixing with each other. The transport vehicle is also provided with an unrestricted carrying mass, which can be a mini truck with a carrying capacity less than 1.8 tons, a light truck with a carrying capacity of 1.8 tons to 6 tons, a medium truck with a carrying capacity of 6 tons to 14 tons, and a medium and heavy truck with a carrying capacity greater than 14 tons. In the present embodiment, the transport vehicle is preferably a medium and heavy truck with a carrying capacity of 18 tons to 31 tons. There is no restriction on the shape of the head of the transport vehicle (such as long head, short head, flat head), the number of axles of the transport vehicle, the length of the vehicle, the power source of the transport vehicle (such as gasoline engine, diesel engine, motor or hybrid power), etc.
[0027] In order to facilitate the staff's operations such as loading and unloading of bulk feed, the mechanical device of the transport vehicle can be controlled through instructions, such as controlling the motor and rotating structure of the auger device through a touch screen or a remote control at a position far away from the auger. While providing convenience for the staff and improving work efficiency, it can also keep the staff away from the mechanical device and reduce the possibility of accidents.
[0028] The transported bulk feed may include pellet feed, crushed feed, powdered feed, and liquid feed. Since it is bulk feed, it is necessary to use a sealed container for storage during the transportation. The above-mentioned transport vehicle is used to realize the transportation of bulk feed, such as transportation from a feed processing plant to a breeding enterprise. In this embodiment, the bulk feed is pig feed, and it can also be other livestock feed.
[0029] At the same time, because it involves the breeding industry, it is necessary to carry out biosafety control on the transported bulk feed to prevent the transported bulk feed from being contaminated during transportation, causing disease or death of livestock raised by the breeding companies, causing losses to the breeding companies.
[0030] For example, African swine fever is a livestock disease that is easily spread among pigs. African swine fever is an acute, hemorrhagic, and highly contagious disease caused by the African swine fever virus (ASFV) infecting domestic pigs and wild boars. African swine fever is a type of animal epidemic that needs to be prevented. It is characterized by a short course of disease, a high mortality rate, and an acute infection mortality rate of up to 100%. For the source of African swine fever in domestic pigs, there are three main ways of transmission of the epidemic: cross-regional transportation of live pigs and their products, feeding pigs with kitchen waste, and transmission of the virus by people and vehicles. Among them, the third is the main way the epidemic is currently spreading. Therefore, it is very necessary to take biosafety prevention and control measures during the transportation of feed.
[0031] In view of this, electronic methods can be used to restrict the operations of staff. For example, when the transport vehicle is not at the origin and destination, it can be considered that the transport vehicle is on the transport route. Therefore, the staff should be prohibited from opening the feed port of the sealed bin and outputting bulk feed from the auger device. This prevents the bulk feed transported by the transport vehicle from being contaminated due to contact with the outside world during the transport route.
[0032] In this embodiment, the control system of the transport vehicle includes a server 10, a data transmission module 20, a central processing module 30, a sensor 40 and an execution module 50, wherein the server 10 is located at a remote end and can be centrally deployed or dispersedly deployed, and can use a local server or a cloud server. The data transmission module 20, the central processing module 30, the sensor 40 and the execution module 50 are located on the transport vehicle.
[0033] Figure 3 A schematic flow chart showing the workflow of the control system of the transport vehicle according to the embodiment of the present disclosure.
[0034] like Figure 3 As shown, the control system workflow 100 of the transport vehicle includes the following steps:
[0035] Step S110, generating transport work order data and transport map data according to the transport task information. The remote server 10 can obtain the information of the transport task, including the waybill number, the transport departure place, the transport destination, the deadline for completion of the transport task, the storage tank of the bulk feed required to be transported by each sealed warehouse, the type of bulk feed required to be transported by each sealed warehouse, the quantity (such as mass or volume) of the bulk feed required to be transported by each sealed warehouse, etc. The staff can schedule the transport task on the remote server 10 to maximize the utilization efficiency of the transport vehicle, and form a transport work order to be executed for each transport vehicle, and generate transport map data according to the transport departure place, transport destination and road condition information of the transport work order. Here, there is no restriction on the method of scheduling the transport task, the method of generating the transport work order, and the method of generating the transport map data.
[0036] Step S120, the transport work order data and the transport map data are sent to the central processing module. After the server 10 generates the transport work order data and the transport map data, these data will be transmitted to the transport vehicle through the data transmission module 20. Here, the data transmission module 20 can perform data transmission for the communication module, including transmission through a wired or wireless network, such as a wired connection through an RJ45 crystal head network cable, a wired connection through a USB interface data transmission cable or an RS485 interface data transmission cable, a wireless connection through WIFI, a 4G network, or a wireless connection through the Bluetooth protocol. The data transmission module 20 can also perform data transmission through a storage device, such as saving the data to be transmitted through an encrypted USB flash drive, and the transport vehicle indirectly realizes the transmission of data from the server 10 to the transport vehicle by reading the data saved in the encrypted USB flash drive.
[0037] Step S130, collect the transport vehicle status data of the transport vehicle, and transmit the transport vehicle status data to the central processing module. Sensors 40 are set on the transport vehicle, and these sensors 40 can collect various transport vehicle status data of the transport vehicle. After these data are collected, they are transmitted to the central processing module 30. The sensor 40 and the central processing module 30 can be connected through a data bus, that is, the sensor 40 sends data to the data bus as input data, and the central processing module 30 receives these input data. The method for the central processing module 30 to receive these input data can adopt a polling mechanism, an interrupt mechanism, or a mechanism combining polling and interruption. The transport vehicle status data transmitted to the central processing module 30 can be the original data collected by the sensor 40, or it can be processed data. For example, the analog signal data collected by the sensor 40 can be converted into digital signal data and then sent to the central processing module 30. The central processing module 30 can include a general-purpose processor, such as a CPU or a GPU, and can include a dedicated processor, such as an ASIC chip designed for a special purpose. The number of processors can be 1 or more.
[0038] Step S140, receiving the transport vehicle status data, and generating the transport vehicle operation management data according to the transport work order data, the transport map data and the transport vehicle status data. After receiving the transport vehicle status data, the central processing module 30 can calculate and store the data. Generate the operation management data of the transport vehicle according to the transport map data, the transport work order data and the transport vehicle status data. The operation management data is used to digitally manage the operating behaviors of the staff, such as prohibiting designated operating behaviors, prompting designated operating behaviors, recording designated operating behaviors, etc. The operation management data can be updated in real time, or a time interval can be pre-set and updated after the time interval has passed to save computing resources.
[0039] Step S150, generating an execution command according to the operation management data and the received operation instruction. The operation management data has been generated, and the central processing module 30 needs to wait for receiving the operation instruction. The operation instruction can be generated by the staff manually operating the mechanical device, such as a joystick or a button on the mechanical device, or can be generated through human-computer interaction, such as the staff operating a computer terminal or a tablet computer. When the central processing module 30 receives the operation instruction, the central processing module 30 combines the operation management data and the operation instruction and performs calculations to generate the operation instruction executed by the mechanical device. The operation instruction can be an electronic signal, including a digital signal or an analog signal.
[0040] Step S160, receiving the execution command from the central processing module, and performing mechanical operations on the transport vehicle. The execution module 50 may include a cylinder 8 that drives the silo cover 7 of the sealed silo feed port, and a motor that drives the auger device. The execution command can ultimately be used to operate the mechanical device, such as controlling the driving direction of the transport vehicle, controlling the driving speed of the transport vehicle, lighting / extinguishing the indicator light, driving the cylinder 8 to extend and retract, starting / stopping the motor, increasing / decreasing the motor speed, etc.
[0041] From the above, it can be seen that in the embodiment of the present disclosure, operation management data of the transport vehicle is generated through transport work order data, transport map data and transport vehicle status data, and the operations of the staff are managed according to the operation management data, so as to realize dynamic management of the operations of the staff.
[0042] Figure 4 A schematic diagram of the structure of the sensor of the transport vehicle according to the embodiment of the present disclosure is shown.
[0043] like Figure 4 As shown, in some embodiments, the sensor includes a posture sensor and a positioning sensor, and the transport vehicle status data includes the transport vehicle posture data sensed by the posture sensor and the transport vehicle position data sensed by the positioning sensor.
[0044] Specifically, in the present control system, the sensor 40 may include a posture sensor 41 and a positioning sensor 42. Here, the posture sensor 41 and the positioning sensor 42 are not limited to being two independent sensors 40, and a sensor 40 having both posture sensing function and position sensing function is also included in the protection scope of the present disclosure.
[0045] The attitude sensor 41 can sense the attitude data of the transport vehicle, for example, it can sense the direction of the front of the transport vehicle. The attitude sensor 41 mainly includes a three-axis gyroscope and a three-axis accelerometer. The three-axis gyroscope measures angular velocity, and the three-axis accelerometer measures acceleration. The three-axis gyroscope consists of a gyroscope and three rings connected to the gyroscope for rotation. Due to the gyro effect, the gyroscope always maintains the initial direction, and the three rings connected to the gyroscope will rotate as the attitude of the gyroscope changes. Therefore, the rotation direction and angle can be calculated by the deviation of the three rings connected to the gyroscope from the initial direction. The gyroscope is a device for indirectly measuring the rotation direction and angle. What it actually measures is the derivative of the angle, that is, the angular velocity. By integrating the angular velocity over time, the rotation direction and angle can be obtained. The accelerometer is used to sense the acceleration of an object. Its principle is based on Newton's second law, that is, the acceleration of an object is proportional to the force acting on it. The three-axis accelerometer can output the magnitude of the components of the acceleration on the three axes of the coordinate system. Based on their principles, accelerometers can also be divided into piezoelectric accelerometers, piezoresistive accelerometers, capacitive accelerometers, etc., which are not limited in this disclosure.
[0046] The positioning sensor 42 can sense the position data of the transport vehicle. The positioning sensor 42 is preferably a satellite positioning system, which has relatively high positioning accuracy and can avoid the accumulation of positioning errors of the positioning sensor 42. Satellite positioning systems include the Global Positioning System (GPS), Europe's Galileo system, Russia's Glonass system, and China's Beidou system. The positioning sensor 42 can use one or more satellite positioning systems to improve positioning accuracy. The embodiments in the present disclosure use the global positioning system.
[0047] In some embodiments, the central processing module generates the operating authority of the transport vehicle based on the transport work order data, the transport map data and the transport vehicle status data.
[0048] Specifically, as mentioned above, the central processing module 30 can generate the operation management data of the transport vehicle according to the transport work order data, the transport map data and the transport vehicle status data, wherein the generation of the operation management data of the transport vehicle includes generating the operation authority of the transport vehicle. Here, the operation authority is used to manage the operation behavior of the staff, such as allowing the staff to perform a certain operation, or prohibiting the staff from performing a certain operation, or restricting / unrestricting a certain parameter of a certain operation, such as limiting the travel speed of the transport vehicle, the operating gear of the transport vehicle mechanical device, etc.
[0049] In addition, the operating authority can be divided into multiple levels. For example, it can be divided into the manager level, the team leader level and the employee level. The manager level has the highest authority and is rarely used. The team leader level has medium authority, and the employee level has the lowest authority and is often used. When the staff at the employee level operates the transport vehicle, it can be set to travel along the route specified by the transport map data. If the deviation from the route specified by the transport map data is large, the speed of the transport vehicle is limited. If an unexpected situation occurs on the route specified by the transport map data, such as bad weather such as rain and snow, severe traffic jams or temporary traffic control, in addition to reissuing the transport map data to plan a new route, the staff of the transport vehicle can also be temporarily issued with a higher level of operating authority (such as issuing the team leader level operating authority). The operating authority can allow the transport vehicle driven by the staff to maintain a normal speed even if its route deviates greatly from the route specified by the transport map data.
[0050] In order to improve biosafety prevention and control measures, it can be set that for the staff at the team leader level and the employee level, when the transport vehicle is not at the origin and destination, it can be considered that the transport vehicle is located in the transportation route. Therefore, the staff should be prohibited from opening the feed port of the sealed bin and outputting bulk feed from the auger device. However, when an accident occurs during the transportation route, such as a major mechanical problem of the transport vehicle that cannot be used to transport bulk feed, the bulk feed transported by the transport vehicle needs to be transferred to other transport vehicles. Since the operation authority of the team leader level and the employee level cannot output bulk feed from the auger device, the staff of the transport vehicle can be temporarily issued with the highest level of operation authority, that is, the manager level operation authority. At this time, since the manager level operation authority has the highest authority, it can be allowed to output bulk feed from the auger device during the transportation route, thereby transferring the bulk feed transported by the transport vehicle to other transport vehicles.
[0051] In the embodiments of the present disclosure, the operating permissions of the transport vehicle are generated through transport work order data, transport map data and transport vehicle status data, and the staff's operations are managed in terms of permissions based on the operation management data. This can achieve dynamic management of the staff's operations, and by assigning different permissions to different staff members, the difficulty of managing the staff's operations can be effectively reduced.
[0052] In some embodiments, the operating permissions include: when the transport vehicle is within a specific position range, operating the execution module of the transport vehicle is prohibited; when the transport vehicle is within a specific position range, operating the execution module of the transport vehicle is allowed.
[0053] Specifically, the main function of the operation authority is to restrict the operation, that is, to prohibit certain operation behaviors and allow certain operation behaviors. Here, prohibition and permission also include partial prohibition and partial permission. For example, the operating power of a certain mechanical device is divided into five gears. The operating power gear of the mechanical device can be partially prohibited or partially allowed, such as allowing the operating power of the mechanical device to be in the first gear and the second gear, and not allowing the operating power of the mechanical device to be in the third gear, the fourth gear or the fifth gear. For the determination conditions of prohibition and permission, in this embodiment, it is in a specific position range. The specific position range can be directly obtained based on the transportation work order data and the transportation map data, or it can be obtained after calculation based on the transportation work order data and the transportation map data.
[0054] Figure 5 A schematic flowchart of a method for determining whether a location is within a specific location range according to an embodiment of the present disclosure is shown.
[0055] like Figure 5 As shown, in some embodiments, a method for determining whether a vehicle is within a specific location range is: obtaining a specific location boundary based on transport work order data and transport map data; generating a virtual electronic fence based on the specific location boundary to obtain boundary vertex coordinate data of the virtual electronic fence; sensing the transport vehicle posture data through a posture sensor, and sensing the transport vehicle position data through a positioning sensor; obtaining the transport vehicle coordinate data based on the transport vehicle posture data and the transport vehicle position data; generating a judgment vector based on the boundary vertex coordinate data and the transport vehicle coordinate data; and determining whether the transport vehicle is within the virtual electronic fence range by performing a vector cross product calculation on the judgment vector.
[0056] Specifically, in the present disclosure, the method 200 for determining whether a location is within a specific location range includes the following steps:
[0057] Step 210, obtaining the specific location boundary according to the transport work order data and the transport map data. For example, the transport work order data and the transport map data may include the origin and the destination, and the origin and the destination may be used as the specific location. The locations of the origin and the destination and the building structures at the locations may be found through the transport work order data and the transport map data. For example, if the origin is the first warehouse of the feed processing plant and the destination is the second warehouse of the breeding farm, the building boundary of the first warehouse and the second warehouse may be obtained. The building boundary may be a regular shape, such as a rectangle or a circle, or an irregular shape.
[0058] Step 220, generate a virtual electronic fence according to the specific location boundary to obtain the boundary vertex coordinate data of the virtual electronic fence. After obtaining the specific location boundary, that is, the boundary of the first warehouse and the boundary of the second warehouse mentioned above, a virtual electronic fence is formed according to the boundary shape.
[0059] Step 230, sensing the transport vehicle posture data through the posture sensor, and sensing the transport vehicle position data through the positioning sensor. In this embodiment, the sensor 40 includes a posture sensor 41 and a positioning sensor 42, which are used to obtain the transport vehicle posture data and the transport vehicle position data, respectively. In addition to obtaining the transport vehicle posture data and the transport vehicle position data, the transport vehicle posture data and the transport vehicle position data can also be stored in a certain order, such as in chronological order, and the stored transport vehicle posture data and transport vehicle position data can be associated with the time of data collection.
[0060] Step 240, obtain the transport vehicle coordinate data according to the transport vehicle posture data and the transport vehicle position data. Due to the functional limitation of the positioning sensor 42, the data sensed by the positioning sensor 42 is not instantaneous, and the transport vehicle position data obtained by the positioning sensor 42 is delayed, and the transport vehicle position data may be relatively inaccurate. For example, the positioning frequency of the positioning sensor 42 of a certain transport vehicle is 10 seconds / time, that is, positioning is performed once every 10 seconds. If positioning is performed at the 0th second, the converted transport vehicle coordinate data is P0, then the next positioning time is the 10th second, and the converted transport vehicle coordinate data is P 10 If the transport vehicle moves at a constant speed of 60 km / h, the distance between the two positionings is about 167 meters. a For generating judgment vectors, for example, the coordinate data P5 of the transport vehicle at the 5th second is used to generate judgment vectors, then the difference between P0 and P5 and between P5 and P 10 The difference between them will reach about 83 meters. Therefore, the transport vehicle coordinate data P0 or P 10 Compared with using the actual transport vehicle coordinate data P5 at the 5th second, the result calculated by the former may have a larger error.
[0061] In this embodiment, the error can be reduced by increasing the sensing frequency of the positioning sensor 42 and improving the method for calculating the coordinate data of the transport vehicle. In terms of increasing the sensing frequency of the positioning sensor 42, in the embodiments disclosed herein, the sensing frequency of the satellite positioning system can be increased to 1 time / second. In terms of improving the method for calculating the coordinate data of the transport vehicle, in the embodiments disclosed herein, a method combining the transport vehicle posture data and the transport vehicle position data is used to obtain the transport vehicle coordinate data. For example, the transport vehicle coordinate data obtained by converting the transport vehicle position data sensed by the positioning sensor 42 at time t1 and t2 are respectively and Then the transport vehicle coordinate data P at time t t The calculation formula is as follows:
[0062]
[0063] Among them, t1, t2, and t are three time points, and t1 < t2 ≤ t; the coordinate data of the transport vehicle at time points t1, t2, and t are respectively and P t , that is is is P t is (x t , y t ); v is the average moving speed of the transport vehicle between time points t1 and t2; is the attitude direction vector of the transport vehicle obtained by converting the attitude data of the transport vehicle at time t.
[0064] Step 250: Generate a judgment vector according to the boundary vertex coordinate data and the transport vehicle coordinate data.
[0065] Assume that through the above steps, a trapezoidal virtual electronic fence is obtained, and the boundary vertices of the virtual electronic fence are P A , P B , P C and P D , correspondingly, the boundary vertex coordinate data are (x A , y A ), (x B , y B ), (x C , y C ) and (x D , y D ). Under this condition, assume that there is a transport vehicle located at position P, and the transport vehicle coordinate data is (x, y). Therefore, the judgment vector used for calculation in step 260 can be expressed as:
[0066]
[0067] Step 260: Determine whether the transport vehicle is within the range of the virtual electronic fence by calculating the vector cross product of the judgment vector. Specifically, this method is to calculate and values, and judge whether the results are of the same sign, such as both being positive or both being negative. When the value of the vector cross product is of the same sign, it means that the transport vehicle located at position P is within the range of this virtual electronic fence, and then it can be judged whether the transport vehicle is within a specific position range. Compared with other judgment methods, such as the ray intersection method (that is, the number of intersections of the ray with the virtual electronic fence with P as the endpoint), since this method only needs to calculate the vector cross product and does not require other steps, it is particularly suitable for computer processing.
[0068] Through the above method, it is possible to effectively judge whether the transport vehicle is within a specific position range. The transport vehicle coordinate data obtained by calculating the transport vehicle posture data and the transport vehicle position data can improve the accuracy of the judgment; by performing vector cross product calculation on the judgment vector, it is possible to quickly and conveniently effectively judge whether the transport vehicle is within a specific position range.
[0069] like Figure 1 As shown, in some embodiments, the control system further includes a human-computer interaction module, which is used to display the transport work order data and the transport map data, and the human-computer interaction module can send operation instructions to the central processing module.
[0070] Specifically, the control system may further include a human-computer interaction module 60 for displaying transport work order data and transport map data. The human-computer interaction module 60 may be a display and an input device, and may be a touch screen. In the present embodiment, a touch screen is preferably used to improve work efficiency. The transport work order data and transport map data may be displayed on the human-computer interaction module 60 in a visual form, so that the staff may understand data such as planned transport routes to improve work efficiency. In addition, the staff may also send operation instructions to the central processing module 30 through the human-computer interaction module 60, such as triggering the operation of opening the feed port of the sealed bin by clicking the relevant button on the touch screen in the cab.
[0071] In addition, the human-computer interaction module 60 can also provide operation assistance to improve work efficiency. When the central processing module 30 determines that the transport vehicle has arrived at a specific location, it can prompt the human-computer interaction module 60 that it has arrived at the specific location, prompting the staff to perform the next operation. For example, after the central processing module 30 determines that the transport vehicle has arrived at the storage tank range of the designated output bulk feed, and then determines that the conditions for inputting bulk feed are met based on the transport vehicle status data, the human-computer interaction module 60 can prompt that the preparation for loading bulk feed has been completed, and then the staff can open the sealed bin feed port through the human-computer interaction module 60 to wait for the input of bulk feed.
[0072] like Figure 1 As shown, in some embodiments, the control system further includes a remote control module, which can send operating instructions to the central processing module.
[0073] Specifically, the control system may further include a remote control module 70, which may send operating instructions to the central processing module 30. The remote control module 70 may include a remote control handle and a remote control receiver, and adopts wireless radio frequency technology to remotely send operating instructions to the central processing module 30, which provides convenience for the staff and improves work efficiency. Since the staff is located far away from the machine, it can also keep the staff away from the mechanical device and reduce the possibility of accidents.
[0074] For example, the staff can use the remote control handle to remotely operate the upper auger to lift, drop, turn left or right, so that the outlet of the auger device can be docked with the feed inlet of the target storage tank. After docking, the staff can use the remote control handle to remotely start the upper auger, vertical auger and bottom auger respectively, and output the corresponding bulk feed into the corresponding storage tank.
[0075] like Figure 4 As shown, in some embodiments, the sensor also includes an air pressure sensor, a pressure sensor and a rotation speed sensor, and the transport vehicle status data also includes data sensed by the air pressure sensor, the pressure sensor and the rotation speed sensor.
[0076] Specifically, the sensor 40 includes, in addition to the aforementioned posture sensor 41 and positioning sensor 42, an air pressure sensor 43, a pressure sensor 44 and a rotation speed sensor 45, which are used to sense air pressure data, pressure data and rotation speed data, respectively.
[0077] In this embodiment, the bin cover 7 can be used to control the opening and closing of the sealed bin feed port, and the bin cover 7 of the sealed bin feed port is driven by one or more cylinders 8. At this time, an air pressure sensor 43 can be set on the cylinder 8 driving the bin cover 7, so that the central processing module 30 obtains the air pressure data of the cylinder 8, and then controls the opening and closing of the bin cover 7 according to the air pressure data.
[0078] In this embodiment, bulk feed is stored in a sealed bin box, so a pressure sensor 44 can be set in the sealed bin box to enable the central processing module 30 to obtain pressure data of the sealed bin box, and then obtain the mass of the existing bulk feed in the sealed bin box based on the pressure data.
[0079] In this embodiment, an auger device can be used to output bulk feed from the sealed bin of the transport vehicle to a designated container, and a speed sensor 45 can be provided on the motor that drives the auger device to rotate, so that the central processing module 30 can obtain the speed data of the motor that drives the auger device to rotate, and then adjust the motor according to the speed data.
[0080] like Figure 1As shown, in some embodiments, the control system also includes an energy regulation module, which regulates the execution module according to the transport work order data and the transport vehicle status data.
[0081] Specifically, the control system may also include an energy regulation module 80 to regulate the driving energy of the machinery driving the transport vehicle. The energy regulation module 80 may be regulated according to the transport work order data and the transport vehicle status data. For example, when it is known from the transport work order data that the transported bulk feed is large-particle granular feed or large-particle crushed feed, under the same circumstances, the speed of the motor driving the auger device is reduced to reduce the damage to the feed particles caused by the high-speed rotation of the motor. For another example, when it is known from the transport vehicle status data that the mass of the existing bulk feed in the sealed bin is small, under the same circumstances, the speed of the motor driving the auger device is increased to enable the remaining bulk feed in the sealed bin to be continuously output from the auger device, thereby avoiding the residual bulk feed from being retained in the auger device.
[0082] like Figure 1 As shown, in some embodiments, the control system also includes a hidden danger warning and fault diagnosis module, which warns of hidden dangers and diagnoses faults based on the transport vehicle status data through a machine learning algorithm.
[0083] Specifically, the control system may also include a hidden danger warning and fault diagnosis module 90. The hidden danger warning and fault diagnosis module 90 may be a separate module or may be combined with the central processing module 30. The hidden danger warning and fault diagnosis module 90 may judge the working state of the transport vehicle through the transport vehicle state data sensed by the sensor 40. The hidden dangers are warned and the faults are diagnosed through machine learning algorithms, such as decision trees or neural networks. For example, by sensing the air pressure of the cylinder 8 driving the bin cover 7, it can be determined whether the opening and closing of the bin cover 7 of the sealed bin feed port is faulty. For another example, by sensing the speed of the motor driving the auger device, before the auger device fails to work properly and without disassembling the auger device, it can be determined whether there is a blockage of bulk feed in the auger. These hidden danger warning information and fault diagnosis information can be sent to the server so as to inform the remote staff in time; they can be directly displayed to the staff in the transport vehicle through the human-computer interaction module 60. Before making a judgment, a decision tree model or a neural network model can be pre-generated on the server, and these models can be pre-transmitted to the transport vehicle or updated in real time.
[0084] In some embodiments, the data transmission module is used to upload the transport vehicle status data to the server, and the server is used to update the transport map data based on the uploaded transport vehicle status data.
[0085] Specifically, the transport vehicle status data of the transport vehicle can be uploaded to the server periodically or in real time by the data transmission module, so that the server or the transport vehicle status is updated to facilitate the unified deployment of the transport vehicle by the server. In addition, after receiving the uploaded transport vehicle status data, the server can also update the transport map data of the transport vehicle and transmit it to the transport vehicle. For example, when the original route of the transport vehicle includes a congested section after traveling for a period of time, the route of the transport vehicle can be re-planned on the server based on the transport vehicle status data, such as the transport vehicle posture data and the transport vehicle position data, and the transport map data can be updated. Then, the updated transport map data can be sent to the transport vehicle, so that the staff of the transport vehicle can travel according to the updated transport map data to avoid getting stuck in congested sections, thereby improving transportation efficiency.
[0086] In the embodiments of the present disclosure, operation management data of the transport vehicle is generated through transport work order data, transport map data and transport vehicle status data, especially operation permissions for the transport vehicle are generated, and the operations of the staff are managed according to the operation management data, thereby realizing dynamic management of the operations of the staff; the transport vehicle coordinate data obtained by calculating the transport vehicle posture data and the transport vehicle position data can improve the accuracy of judgment; and by performing vector cross product calculation on the judgment vector, it is possible to quickly and conveniently and effectively judge whether the transport vehicle is within a specific position range.
[0087] Although multiple embodiments of the present disclosure have been shown and described herein, it will be apparent to those skilled in the art that such embodiments are provided by way of example only. Those skilled in the art may think of many changes, modifications, and alternatives without departing from the thought and spirit of the present disclosure. It should be understood that in the process of practicing the present disclosure, various alternatives to the embodiments of the present disclosure described herein may be adopted. The attached claims are intended to define the scope of protection of the present disclosure, and therefore cover equivalents or alternatives within the scope of these claims.
Claims
1. A control system for a transport vehicle, used for bulk feed transportation, characterized in that: The control system includes: a server, a data transmission module, a central processing module, a sensor and an execution module; wherein, The server is used to generate transport work order data and transport map data according to the transport task information; The data transmission module is used to send the transport work order data and the transport map data to the central processing module; The sensor is used to collect the transport vehicle status data of the transport vehicle and transmit the transport vehicle status data to the central processing module; The central processing module is used to receive the transport vehicle status data, and generate the operation management data of the transport vehicle according to the transport work order data, the transport map data and the transport vehicle status data; The central processing module is further used to generate an execution command according to the operation management data and the received operation instruction; The execution module is used to receive the execution command from the central processing module and perform mechanical operations on the transport vehicle.
2. The control system according to claim 1, characterized in that: The sensor includes a posture sensor and a positioning sensor, and the transport vehicle state data includes the transport vehicle posture data sensed by the posture sensor and the transport vehicle position data sensed by the positioning sensor.
3. The control system according to claim 2, characterized in that: The central processing module generates the operation authority of the transport vehicle according to the transport work order data, the transport map data and the transport vehicle status data.
4. The control system according to claim 3, characterized in that: The operation permissions include: When the transport vehicle is within a specific position range, prohibiting the execution module of the transport vehicle from operating; When the transport vehicle is within a specific position range, the execution module of the transport vehicle is allowed to operate.
5. The control system according to claim 4, characterized in that: The method for determining whether it is within the specific position range is: Acquire a specific location boundary according to the transport work order data and the transport map data; Generate a virtual electronic fence according to the specific position boundary to obtain boundary vertex coordinate data of the virtual electronic fence; The posture data of the transport vehicle is sensed by the posture sensor, and the position data of the transport vehicle is sensed by the positioning sensor; Obtaining transport vehicle coordinate data according to the transport vehicle posture data and the transport vehicle position data; Generate a judgment vector according to the boundary vertex coordinate data and the transport vehicle coordinate data; By performing a vector cross product calculation on the judgment vector, it is determined whether the transport vehicle is within the range of the virtual electronic fence.
6. The control system according to claim 1, characterized in that: The control system further comprises a human-computer interaction module, which is used to display the transport work order data and the transport map data, and the human-computer interaction module can send the operation instruction to the central processing module.
7. The control system according to claim 1, characterized in that: The control system further comprises a remote control module, and the remote control module is capable of sending the operation instruction to the central processing module.
8. The control system according to claim 2, characterized in that: The sensors also include an air pressure sensor, a pressure sensor and a rotation speed sensor, and the transport vehicle status data also includes data sensed by the air pressure sensor, the pressure sensor and the rotation speed sensor.
9. The control system according to claim 8, characterized in that: The control system also includes an energy regulation module, which regulates the execution module according to the transport work order data and the transport vehicle status data.
10. The control system according to claim 8, characterized in that: The control system also includes a hidden danger warning and fault diagnosis module, which warns of hidden dangers and diagnoses faults based on the transport vehicle status data through a machine learning algorithm.