AMR调度系统/AMR Dispatch System

AMR 调度系统

系统介绍

实现与AMR通讯，根据地图场景完成给定任务，具备交通管制、自动回充、异常处理等功能的系统

工作期间的主要项目：

• 使用mqtt协议完成与本体的通讯，参与制定通讯协议，实现本体状态获取、任务/交管信息交互逻辑，在协议和逻辑层面确保传输可靠性

• 设计调度系统架构，充分利用OOP思想及Python特性，功能模块化；设计AMR类作为数据结构，作为热数据通过设计的订阅/发布模块高效传输，冷数据则写入Redis，供展示；使用new+threading.RLock()实现高效可靠的单例模型，确保redis、mqtt、http通讯模块数据读取不出现脏读幻读

• 根据实际场景改进A*算法，设计二维码及slam场景下的地图拓扑模型；在算法原有的基础上，引入路径转角代价，根据AMR本体运动性能设置合理参数，兼顾耗时/耗能，在单个AMR上，做到最优；利用和改进Python内置数据模型，提高算法效率，如栈、队列等

• 设计解决AMR出现各种冲突的交管系统，主要思路是预定+重规划，根据AMR不同的运行速度区间，动态决定预定前向点的多少，出现冲突后，在冲突点形成队列，排序冲突AMRs后，根据规则重规划AMR，越过冲突点，即动态A*

• 设计AMR维护系统，同时维护充点电、休息点的占用状态，在AMR不同状态（空闲、低电量、高电量）时根据配置要求前往休息点或者充电点，或者充点电下桩；针对出现的各种异常（任务失败、无空闲站点、急停/防撞条、单次任务进行中、充电点手动占用、回充中断、系统宕机等）根据状态机做出异常处理，确保功能的完备性；

• 设计AMR避让系统，用于非调度系统控制下的车辆（如车间小火车）等情况下AMR执行就近点避让，任务再恢复；具备多种避让点选取逻辑，根据现场情况灵活配置

• 实现SM4加密功能，用于对接第三方接口，满足接口密级要求

• 实现任务断点继续，考虑AMR实际位置和状态及子任务信息实现任务再唤起

• 关键函数完备的异常捕获和处理，关键任务逻辑实现完备的异常处理，确保系统的鲁棒性

• 完备的日志记录，实现异步、自动打包、自动删除

• 相关发明专利撰写

  系统UML图

  最早写的，不规范哈哈~ 右键新窗口放大

  

  系统框架-截至2021年底，后续优化不会更新

  

  演示视频

  撰写专利

  已提交：

• 一种基于云端的AMR调度系统

• 一种适用于激光及二维码导航的AMR路径规划算法

• 基于无人驾驶技术的物流仓储管理系统

  

  审查状态：

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AMR Scheduling System

System Introduction

A system that realizes communication with AMR, completes given tasks according to map scenarios, and has functions such as traffic control, automatic recharging, and exception handling

Main items during work.

• Complete communication with the ontology using the mqtt protocol, participate in the development of the communication protocol, implement the logic for ontology state acquisition and task/traffic control information interaction, and ensure transmission reliability at the protocol and logic level

• Design scheduling system architecture, making full use of OOP ideas and Python features to modularize functions; design AMR classes as data structures, as hot data is efficiently transferred through the designed subscription/publishing module, and cold data is written to Redis for display; use new+threading.RLock() to achieve an efficient and reliable single instance model to ensure redis, mqtt, http communication module data reading without dirty read phantom reads

• Improve the A* algorithm according to the actual scenario, and design the map topology model in 2D code and slam scenarios; on the basis of the original algorithm, introduce the path corner cost, set reasonable parameters according to the motion performance of AMR ontology, take into account the time consumption/energy consumption, and achieve the optimum on a single AMR; use and improve the built-in data model in Python to improve the efficiency of the algorithm, such as stack, queue, etc.

• Design the intersection management system to solve various conflicts in AMRs, the main idea is reservation + replanning, according to the different operating speed intervals of AMRs, dynamically decide the number of scheduled forward points, after the emergence of conflicts, form a queue at the conflict points, sort the conflicting AMRs, and then replan AMRs according to the rules to cross the conflict points, that is, dynamic A*

• Design AMR maintenance system, while maintaining charging point power, rest point occupancy status, in different states of AMR (idle, low power, high power) according to the configuration requirements to go to the rest point or charging point, or charging point power down pile; for the emergence of various abnormalities (task failure, no idle site, emergency stop / anti-collision bar, single task in progress, charging point manual occupancy, back charging interruption, system downtime, etc.) Making exception handling according to the state machine to ensure functional completeness.

• Design AMR avoidance system for AMR to perform near point avoidance and task resumption for vehicles under non-dispatch system control (e.g. workshop train), etc.; with multiple avoidance point selection logic, flexible configuration according to site conditions

• Realize SM4 encryption function for docking third-party interfaces to meet interface confidentiality requirements

• Implement task breakpoint continuation, consider the actual position and status of AMR and sub-task information to achieve task re-initiation

• Complete exception catching and handling of key functions, and complete exception handling of key task logic to ensure the robustness of the system

• Complete logging, asynchronous, automatic packing and automatic deletion

• Related invention patent writing

  System UML diagram

  The earliest one, not standardized haha~ Right click new window to enlarge

  

  System framework – as of the end of 2021, subsequent optimizations will not be updated

  

  demo video

  Writing a Patent

  Submitted.

• A cloud-based AMR scheduling system

• An AMR path planning algorithm for laser and 2D code navigation

• A logistics warehouse management system based on driverless technology

  

  Review status.

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