CN105731013B - A kind of intelligent transfer cart and the Transfer method realized using the transfer cart - Google Patents
A kind of intelligent transfer cart and the Transfer method realized using the transfer cart Download PDFInfo
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- CN105731013B CN105731013B CN201610177298.2A CN201610177298A CN105731013B CN 105731013 B CN105731013 B CN 105731013B CN 201610177298 A CN201610177298 A CN 201610177298A CN 105731013 B CN105731013 B CN 105731013B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
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Abstract
A kind of intelligent transfer cart and the Transfer method realized using the transfer cart, are related to automatic transfer cart field.The problem of present invention is to solve existing hand propelled transfer cart, and goods is transported by manpower, and labor intensity is big and automaticity is low.SCM system input/output terminal of the present invention connects GPS module interface unit input/output end, SCM system input/output terminal connects infrared sensor interface unit input/output end, infrared sensor interface unit, for connecting infrared sensor, SCM system input/output terminal connects Radar interface unit input/output end, SCM system output end connects alarm module input, SCM system output end connects memory module input, SCM system input connects power module outlet, SCM system output end connects motor module input, motor module output end connects input end of motor, motor connects transfer cart wheel input.It is used for automatic conveying goods.
Description
Technical field
The present invention relates to a kind of automatic transfer cart.Belong to automatic transfer cart field.
Background technology
Existing hand propelled transfer cart, carry out promoting transfer cart to carry out transport goods by manpower, increase labor intensity, wave
Take manpower, automaticity is low.
The content of the invention
The present invention is to solve existing hand propelled transfer cart, transports goods by manpower, labor intensity is big and automates
The problem of degree is low.A kind of intelligent transfer cart and the Transfer method realized using the transfer cart are now provided.
A kind of intelligent transfer cart, it includes SCM system, infrared sensor, infrared sensor interface unit, radar mould
Block, Radar interface unit, GPS module, GPS module interface unit, power module, memory module, alarm module, motor mould
Block and motor,
The front end of transfer cart is provided with radar module and Radar interface unit, and SCM system, GPS module, GPS module connect
Mouth unit, infrared sensor, infrared sensor interface unit, alarm module, memory module, power module, motor module
It is arranged at motor on transfer cart,
The positioning signal input/output of the positioning signal input/output terminal connection GPS module interface unit of SCM system
End, GPS module interface unit, for connecting GPS module,
The infrared signal output of the infrared signal input/output terminal connection infrared sensor interface unit of SCM system/
Input, infrared sensor interface unit, for connecting infrared sensor,
The radar signal input/output end of the radar signal input/output terminal connection Radar interface unit of SCM system,
Radar interface unit, for connecting radar module,
The alarm signal input of the alarm signal output ends connection alarm module of SCM system,
The storage signal input part of the storage signal output part connection memory module of SCM system,
The power supply signal output end of the power supply signal input connection power module of SCM system,
The process signal input of the process signal output end connection motor module of SCM system,
The driving signal input of the driving signal output end connection motor of motor module,
The driving signal input of the driving signal output end connection transfer cart wheel of motor.
Beneficial effects of the present invention are：Transfer cart band weighing system, using PWM regulation motor movement velocitys, carries GPS
Module, can be with positioning vehicle information, it is not necessary to manual operation, as long as and fill weight reach requirement, can be arrived with autonomous operation
Specified location.For transporting component, load-carrying weight can be set, can also manually control forward, is automation equipment
There is provided preferably, infrared device for limiting is set near position, precision is brought up to 0.1 millimeter.It can not be gathered in gps signal
When, it can use and carry path learning function, can first simulate a path, the path of automatic record motion, for completing
The transport of material.Front and back belt surveys range radar module and prevents from hitting personnel equipment etc..Labor is saved using the automatic transfer cart
Power, improve automaticity.
Brief description of the drawings
Fig. 1 is a kind of principle schematic of intelligent transfer cart described in embodiment one；
Fig. 2 is a kind of principle schematic of intelligent transfer cart described in embodiment two；
Fig. 3 is a kind of principle schematic of intelligent transfer cart described in embodiment three；
Fig. 4 is a kind of principle schematic of intelligent transfer cart described in embodiment four；
Fig. 5 is a kind of principle schematic of intelligent transfer cart described in embodiment five；
Fig. 6 is a kind of principle schematic of intelligent transfer cart described in embodiment six；
Fig. 7 is a kind of principle schematic of intelligent transfer cart described in embodiment seven；
Fig. 8 is a kind of principle schematic of intelligent transfer cart described in embodiment eight；
Fig. 9 is a kind of principle schematic of intelligent transfer cart described in embodiment nine.
Embodiment
Embodiment one：Reference picture 1 illustrates present embodiment, and one kind intelligence described in present embodiment is changed a job
Car, it include SCM system 1, infrared sensor 2, infrared sensor interface unit 3, radar module 4, Radar interface unit 5,
GPS module 6, GPS module interface unit 7, power module 8, memory module 9, alarm module 10, motor module 11 and motor
12,
The front end of transfer cart is provided with radar module 4 and Radar interface unit 5, SCM system 1, GPS module 6, GPS moulds
Block interface unit 7, infrared sensor 2, infrared sensor interface unit 3, alarm module 10, memory module 9, power module 8, drive
Dynamic motor module 11 and motor 12 are arranged on transfer cart,
The positioning signal output of the positioning signal input/output terminal connection GPS module interface unit 7 of SCM system 1/defeated
Enter to hold, GPS module interface unit 7, for connecting GPS module 6,
The infrared signal of the infrared signal input/output terminal connection infrared sensor interface unit 3 of SCM system 1 is defeated
Go out/input, infrared sensor interface unit 3, for connecting infrared sensor 2,
The radar signal input/output of the radar signal input/output terminal connection Radar interface unit 5 of SCM system 1
End, Radar interface unit 5, for connecting radar module 4,
The alarm signal input of the alarm signal output ends connection alarm module 10 of SCM system 1,
The storage signal input part of the storage signal output part connection memory module 9 of SCM system 1,
The power supply signal output end of the power supply signal input connection power module 8 of SCM system 1,
The process signal input of the process signal output end connection motor module 11 of SCM system 1,
The driving signal input of the driving signal output end connection motor 12 of motor module 11,
The driving signal input of the driving signal output end connection transfer cart wheel 13 of motor 12.
In present embodiment, using two-way PWM controlled motors, forward-reverse, left and right turn are realized.GPS module 6 can determine
Position information of vehicles, but the precision of GPS module 6 is unable to reach grade, now by the way of infrared ray positioning, is put in specific bit
It is an infrared sensor to put, and coordinates range radar module, transfer cart is reached specified location.Reach the precision of millimeter.
Embodiment two：Reference picture 2 illustrates present embodiment, and present embodiment is to embodiment one
A kind of described intelligent transfer cart is described further, and in present embodiment, SCM system 1 includes model
MC9S12ZVL764 single-chip microcomputer U1, electric capacity C2, electric capacity C3, electric capacity C11 and electric capacity C12,
Model MC9S12ZVL764 single-chip microcomputer U1 No. 17 pins connect the one of power supply and electric capacity C11 simultaneously
End, the electric capacity C11 other end while with connecting power supply No. 19 pins with model MC9S12ZVL764 single-chip microcomputer U1,
Model MC9S12ZVL764 single-chip microcomputer U1 No. 18 pins, model MC9S12ZVL764 single-chip microcomputer U1
Single-chip microcomputer U1 No. 65 pins and model MC9S12ZVL764 single-chip microcomputer U1 of No. 31 pins, model MC9S12ZVL764
No. 57 pins with being all connected with power supply,
Model MC9S12ZVL764 single-chip microcomputer U1 No. 20 pins connection electric capacity C12 one end, electric capacity C12's is another
End connection power supply,
Model MC9S12ZVL764 single-chip microcomputer U1 No. 30 pins and model MC9S12ZVL764 single-chip microcomputer U1
No. 64 pins be all connected with power supply,
Model MC9S12ZVL764 single-chip microcomputer U1 No. 63 pins while with connecting power supply one end with electric capacity C2, electricity
The other end for holding C2 connects power supply and model MC9S12ZVL764 single-chip microcomputer U1 No. 62 pins simultaneously,
Model MC9S12ZVL764 single-chip microcomputer U1 No. 58 pins connection electric capacity C3 one end, the electric capacity C3 other end
With connecting power supply,
No. 15 pins of model MC9S12ZVL764 single-chip microcomputer U1 No. 3 pins connection GPS module interface unit 7,
No. 14 pins of model MC9S12ZVL764 single-chip microcomputer U1 No. 4 pins connection GPS module interface unit 7, GPS module connect
No. 23 pins of mouth No. 19 pins of unit 7, No. 21 pins of GPS module interface unit 7 and GPS module interface unit 7 connect
With connecing power supply, No. 25 pins of GPS module interface unit 7 and No. 27 pins of GPS module interface unit 7 are all connected with power supply electricity
Source,
No. 22 pins of GPS module interface unit 7 and No. 24 pins of GPS module interface unit 7 with being all connected with power supply,
No. 26 pins of GPS module interface unit 7 and No. 28 pins of GPS module interface unit 7 are all connected with power supply.
Embodiment three：Reference picture 3 illustrates present embodiment, and present embodiment is to embodiment one
A kind of described intelligent transfer cart is described further, in present embodiment, infrared sensor interface unit 3 include resistance R5,
Resistance R6, resistance R14, resistance R15, resistance R16, resistance R17, resistance R18, resistance R19, electric capacity C3, electric capacity C4 and No.1 connect
Mouth terminal XS1,
No.1 Interface Terminal XS1 is used to connect infrared sensor 3,
Model MC9S12ZVL764 single-chip microcomputer U1 No. 21 pins simultaneously connect resistance R19 one end and electric capacity C4
One end, the resistance R19 other end connect resistance R17 one end, resistance R15 one end, electric capacity the C4 other end and power supply simultaneously
Ground, the resistance R15 other end connect resistance R6 one end and No.1 Interface Terminal XS1 No. 2 pins simultaneously,
No.1 Interface Terminal XS1 No. 3 pins connect resistance R5 one end and resistance R14 one end simultaneously,
Resistance R5 other end connection power supply, the resistance R14 other end connect resistance R16 one end and resistance simultaneously
R18 one end, one end with electric capacity C3, the electric capacity C3 other end connect the resistance R16 other end simultaneously with connecting power supply simultaneously
No. 22 pins of the resistance R18 other end and model MC9S12ZVL764 single-chip microcomputer U1.
Embodiment four：Reference picture 4 illustrates present embodiment, and present embodiment is to embodiment one
A kind of described intelligent transfer cart is described further, and in present embodiment, power module 8 includes 5V power modules 8-1 and 12V
Power module 8-2,
5V power module 8-1, for providing 5V power supply for SCM system 1,
12V power module 8-2, for providing 12V power supply for SCM system 1,
5V power modules 8-1 includes diode RD3, model AE2576-125 step down switching voltage regulator KU1, electric capacity
C5, electric capacity C14, electric capacity C15, electric capacity C16, electric capacity C22, electric capacity C23, electric capacity C24 and electric capacity C25,
Model MC9S12ZVL764 single-chip microcomputer U1 No. 16 pins connection diode RD3 positive pole, diode RD3's
Negative pole connects electric capacity C5 one end and model AE2576-125 step down switching voltage regulator KU1 No. 1 pin simultaneously,
The electric capacity C5 other end connect simultaneously model AE2576-125 step down switching voltage regulator KU1 No. 3 pins,
Electric capacity C14 one end, electric capacity C15 one end, electric capacity C16 one end, electric capacity C22 one end, electric capacity C23 one end, electric capacity C24
One end and electric capacity C25 one end,
Model AE2576-125 step down switching voltage regulator KU1 No. 5 pins connect the another of electric capacity C14 simultaneously
End, the electric capacity C15 other end, the electric capacity C16 other end, the electric capacity C22 other end, the electric capacity C23 other end, electric capacity C24
The other end and power supply of the other end, electric capacity C25,
Model AE2576-125 step down switching voltage regulator KU1 No. 0 pin connection power supply；
12V power modules 7-2 includes No. three Interface Terminal XS3, resistance R11, resistance R9, resistance R7, resistance R12, resistance
R10, resistance R8, bi-directional voltage stabilizing diode FT1, transformer K1, electric capacity C11, diode RD2, electric capacity C12, electric capacity C13, voltage stabilizing
Diode RD4, inductance L1, electric capacity C19, electric capacity C20, electric capacity C21 and model TLE-4275 low drop-out voltage voltage-stablizer
KU2,
No. three Interface Terminal XS3, for connecting external power source,
Model MC9S12ZVL764 single-chip microcomputer U1 No. 16 pins connect electric capacity C21 one end, electric capacity C20 simultaneously
One end, electric capacity C19 one end, inductance L1 one end and model TLE-4275 low drop-out voltage voltage-stablizer No. 4 pins,
The inductance L1 other end connects voltage-regulator diode RD4 negative pole and model TLE-4275 low drop-out voltage simultaneously
Voltage-stablizer KU2 No. 2 pins,
The electric capacity C21 other end connects the electric capacity C20 other end, the electric capacity C19 other end, voltage-regulator diode RD4 simultaneously
Positive pole, model TLE-4275 No. 5 pins of low drop-out voltage voltage-stablizer, electric capacity C13 one end, electric capacity C12 one end,
Electric capacity C11 one end and one end of transformer K1 secondary winding, connection is double simultaneously for the other end of transformer K1 secondary winding
To voltage-regulator diode FT1 one end and power supply,
Model TLE-4275 low drop-out voltage voltage-stablizer KU2 No. 1 pin connect simultaneously electric capacity C13 the other end,
The electric capacity C12 other end and diode RD2 negative pole,
Diode RD2 positive pole connects one end of the electric capacity C11 other end and transformer K1 first winding simultaneously,
The other end of transformer K1 first winding connects the bi-directional voltage stabilizing diode FT1 other end, resistance R12 simultaneously
One end of one end, resistance R10 one end and resistance R8, the resistance R12 other end connect resistance R11 one end, resistance R9 simultaneously
One end, resistance R7 one end, the resistance R10 other end and resistance the R8 other end,
The resistance R11 other end connects the resistance R9 other end, the resistance R7 other end and No. three Interface Terminal XS3 simultaneously
No. 1 pin, No. three Interface Terminal XS3 No. 2 pins connection power supply.
Embodiment five：Reference picture 5 illustrates present embodiment, and present embodiment is to embodiment one
A kind of described intelligent transfer cart is described further, and in present embodiment, radar module interface unit 5 includes No. three interface ends
Sub- XS2 and No. four Interface Terminal XS6,
No. three Interface Terminal XS2 and No. four Interface Terminal XS6 are used to connect radar module 4,
No. three Interface Terminal XS2 No. 1 pin connection power supply,
No. three Interface Terminal XS2 No. 4 pins connection power supply,
No. three Interface Terminal XS2 No. 2 pins connection model MC9S12ZVL764 single-chip microcomputer U1 No. 55 pins, three
Number Interface Terminal XS2 No. 3 pins connection model MC9S12ZVL764 single-chip microcomputer U1 No. 7 pins,
No. four Interface Terminal XS6 No. 1 pin connection power supply,
No. four Interface Terminal XS6 No. 4 pins connection power supply,
No. four Interface Terminal XS6 No. 2 pins connection model MC9S12ZVL764 single-chip microcomputer U1 No. 5 pins,
No. four Interface Terminal XS6 No. 2 pins connection model MC9S12ZVL764 single-chip microcomputer U1 No. 6 pins.
Embodiment six：Reference picture 6 illustrates present embodiment, and present embodiment is to embodiment one
A kind of described intelligent transfer cart is described further, and in present embodiment, memory module 9 includes the serial of model 24C04
Interface electrically-erasable memory KU4, resistance R42, resistance R43 and resistance R44,
Model MC9S12ZVL764 single-chip microcomputer U1 No. 60 pins connection model 24C04 serial line interface electrically erasable
Memory write KU4 No. 2 pins, model MC9S12ZVL764 single-chip microcomputer U1 No. 59 pins connection model 24C04's
Serial line interface electrically-erasable memory KU4 No. 3 pins, the 4 of model 24C04 serial line interface electrically-erasable memory KU4
Number pin connection power supply,
Model 24C04 serial line interface electrically-erasable memory KU4 No. 8 pins connect power supply, resistance simultaneously
One end of R42 one end, resistance R43 one end and resistance R44,
No. 7 of the serial line interface electrically-erasable memory KU4 that the resistance R42 other end connects model 24C04 simultaneously are drawn
Pin and model MC9S12ZVL764 single-chip microcomputer U1 No. 53 pins,
Resistance R43 other end connection model 24C04 serial line interface electrically-erasable memory KU4 No. 6 pins and
Model MC9S12ZVL764 single-chip microcomputer U1 No. 52 pins,
Resistance R44 other end connection model 24C04 serial line interface electrically-erasable memory KU4 No. 5 pins and
Model MC9S12ZVL764 single-chip microcomputer U1 No. 51 pins.
Embodiment seven：Reference picture 7 illustrates present embodiment, and present embodiment is to embodiment one
A kind of described intelligent transfer cart is described further, and in present embodiment, motor module 11 includes resistance R26, resistance
R36, resistance R22, resistance R31, resistance R24, resistance R34, resistance R20, resistance R29, resistance R37, resistance R27, resistance R30,
Resistance R23, resistance R35, resistance R25, resistance R28, resistance R21, the first nmos pass transistor Q1, the second nmos pass transistor Q2,
Three nmos pass transistor Q3, the 4th nmos pass transistor Q4, the 5th nmos pass transistor Q5, the 6th nmos pass transistor Q6, the 7th NMOS are brilliant
Body pipe Q7, the 8th nmos pass transistor Q8, the first voltage-regulator diode D1, the second voltage-regulator diode D2, the 3rd voltage-regulator diode D3,
Four voltage-regulator diode D4, the 5th voltage-regulator diode D5, the 6th voltage-regulator diode D6, the 7th voltage-regulator diode D7, the 8th voltage stabilizing two
Pole pipe D8, Interface Terminal M1 and Interface Terminal M2,
Interface Terminal M1 and Interface Terminal M2 is used to connect the driving signal input of motor 9,
Resistance R26 one end connection model MC9S12ZVL764 single-chip microcomputer U1 No. 48 pins, resistance R26's is another
End connects resistance R36 one end and the 7th nmos pass transistor Q7 grid simultaneously, and the resistance R36 other end connects model simultaneously
MC9S12ZVL764 single-chip microcomputer U1 No. 29 pins and Interface Terminal M2 No. 1 interface, Interface Terminal M2 No. 2 interfaces are simultaneously
Resistance R37 one end and model MC9S12ZVL764 single-chip microcomputer U1 No. 26 pins are connected, the resistance R37 other end is simultaneously
Connect the 8th nmos pass transistor Q8 grid and resistance R27 one end, resistance R27 other end connection model
MC9S12ZVL764 single-chip microcomputer U1 No. 25 pins,
8th nmos pass transistor Q8 drain electrode connects the leakage of+12V power supplys, the 7th nmos pass transistor Q7 of power supply source simultaneously
The negative pole of pole, the 7th voltage-regulator diode D7 negative pole and the 8th voltage-regulator diode D8,
7th voltage-regulator diode D7 positive pole connects the 7th nmos pass transistor Q7 source electrode, the 3rd nmos pass transistor Q3 simultaneously
Drain electrode and the 3rd voltage-regulator diode D3 negative pole, the 3rd nmos pass transistor Q3 grid connect simultaneously resistance R22 one end and
Resistance R31 one end, No. 45 pins of resistance R22 other end connection model MC9S12ZVL764 chip, resistance R31's
The other end connects model MC9S12ZVL764 single-chip microcomputer U1 No. 43 pins, the 3rd nmos pass transistor Q3 source simultaneously
Pole, the 3rd voltage-regulator diode D3 positive pole and power supply,
8th nmos pass transistor Q8 source electrode connects the 4th nmos pass transistor Q4 drain electrode and the 4th voltage-regulator diode simultaneously
D4 negative pole, the 4th nmos pass transistor Q4 grid connect resistance R30 one end and resistance R23 one end simultaneously, resistance R23's
Other end connection model MC9S12ZVL764 single-chip microcomputer U1 No. 27 pins, the resistance R30 other end connect the 4th simultaneously
Nmos pass transistor Q4 source electrode, the 4th voltage-regulator diode D4 positive pole and power supply,
Resistance R24 one end connection model MC9S12ZVL764 single-chip microcomputer U1 No. 36 pins, resistance R24's is another
End connects one end of resistance R34 and the 6th nmos pass transistor Q6 grid simultaneously, and the other end of resistance R34 connects model simultaneously
MC9S12ZVL764 single-chip microcomputer U1 No. 37 pins and Interface Terminal M1 No. 1 interface, Interface Terminal M1 No. 2 interfaces are simultaneously
Resistance R35 one end and model MC9S12ZVL764 single-chip microcomputer U1 No. 38 pins are connected, the resistance R35 other end is simultaneously
Connect the 5th nmos pass transistor Q5 grid and resistance R25 one end, resistance R25 other end connection model
MC9S12ZVL764 single-chip microcomputer U1 No. 39 pins,
5th nmos pass transistor Q5 drain electrode connects the leakage of+12V power supplys, the 6th nmos pass transistor Q6 of power supply source simultaneously
The negative pole of pole, the 6th voltage-regulator diode D6 negative pole and the 5th voltage-regulator diode D5,
6th voltage-regulator diode D6 positive pole connects the 6th nmos pass transistor Q6 source electrode, the first nmos pass transistor Q1 simultaneously
Drain electrode and the first voltage-regulator diode D1 negative pole, the first nmos pass transistor Q1 grid connect simultaneously resistance R20 one end and
Resistance R29 one end, resistance R20 other end connection model MC9S12ZVL764 single-chip microcomputer U1 No. 33 pins, resistance
The R29 other end connects model MC9S12ZVL764 single-chip microcomputer U1 No. 32 pins, the first nmos pass transistor Q1 simultaneously
Source electrode, the first voltage-regulator diode D1 positive pole and power supply,
5th nmos pass transistor Q5 source electrode connects the second nmos pass transistor Q2 drain electrode and the second voltage-regulator diode simultaneously
D2 negative pole, the second nmos pass transistor Q2 grid connect resistance R21 one end and resistance R28 one end simultaneously, resistance R21's
Other end connection model MC9S12ZVL764 single-chip microcomputer U1 No. 42 pins, the resistance R28 other end connect second simultaneously
Nmos pass transistor Q2 source electrode, the second voltage-regulator diode D2 positive pole and power supply.
Embodiment eight：Reference picture 8 illustrates present embodiment, and present embodiment is to embodiment one
A kind of described intelligent transfer cart is described further, and in present embodiment, alarm module 10 includes resistance R2, resistance R3, electricity
Hold C6, triode KT1, diode RD1, resistance R13 and LED PS1,
Model MC9S12ZVL764 single-chip microcomputer U1 No. 50 pins connection resistance R3 one end, the resistance R3 other end
One end of resistance R2 one end, triode KT1 base stage and electric capacity C6 is connected simultaneously,
Triode KT1 colelctor electrode connects LED PS1 one end and diode RD1 positive pole simultaneously, triode KT1's
Emitter stage connect with the electric capacity C6 other end, the resistance R2 other end and power supply simultaneously,
Diode RD1 negative pole connects the LED PS1 other end and resistance R13 one end simultaneously, and resistance R13's is another
End connection power supply.
Embodiment nine：Reference picture 9 illustrates present embodiment, and present embodiment is to embodiment one
A kind of described intelligent transfer cart is described further, and in present embodiment, it also includes switch element 14,
Switch element 14 is arranged on transfer cart, and switch element 14 is used to drive motor module 11 to work,
Switch element 14 includes button S1, electric capacity C1, electric capacity C2 and resistance R1,
Model MC9S12ZVL764 single-chip microcomputer U1 No. 61 pins simultaneously connect electric capacity C2 one end and resistance R1
One end, the electric capacity C2 other end simultaneously with connecting power supply, electric capacity C1 one end and button S1 one end,
The button S1 other end connects the resistance R1 other end and the electric capacity C1 other end simultaneously.
Embodiment ten：The Transfer method realized using a kind of intelligent transfer cart described in embodiment one,
It comprises the following steps：
Step 1: workpiece is placed on transfer cart, after stable, the weight of workpiece is measured by SCM system 1, when the weight of workpiece
When amount reaches the threshold value of the setting of SCM system 1, transfer cart automatic running, GPS module 6 positions transfer cart in real time in running
Positional information, while the real time scan of radar module 4 in front of whether have barrier, if it is, perform step 2, if not,
Then perform step 3；
Step 2: SCM system 1 adjusts the direction of motion of transfer cart, active avoiding obstacles, if can not avoid hindering
Hinder thing, then alarmed by alarm module 5, perform step 3；
Step 3: sensing the transporting position of transfer cart by infrared sensor 2, specified what the workpiece on transfer cart was transported to
Position.
In present embodiment, workpiece is placed on transfer cart, after stable, is measured weight, is obtained gravimetric value, waits to reach setting threshold
During value, dolly automatic running to specified location, whether have whether barrier avoids in front of radar real time scan in operation, run to
During specified location, because GPS accuracy is unable to reach grade, now by the way of infrared ray positioning, placed in specified location
It is an infrared sensor, coordinates range radar, control software is completed jointly, reaches specified location.Reach the precision of millimeter.Control
Part uses external battery, power supply, two-way PWM controlled motors, realizes forward-reverse, left and right turn.
Claims (9)
1. a kind of intelligent transfer cart, it include SCM system (1), infrared sensor (2), infrared sensor interface unit (3),
Radar module (4), Radar interface unit (5), GPS module (6), GPS module interface unit (7), power module (8), storage mould
Block (9), alarm module (10), motor module (11) and motor (12),
The front end of transfer cart is provided with radar module (4) and Radar interface unit (5), SCM system (1), GPS module (6),
GPS module interface unit (7), infrared sensor (2), infrared sensor interface unit (3), alarm module (10), memory module
(9), power module (8), motor module (11) and motor (12) are arranged on transfer cart,
The positioning signal output of the positioning signal input/output terminal connection GPS module interface unit (7) of SCM system (1)/defeated
Enter to hold, GPS module interface unit (7), for connecting GPS module (6),
The infrared signal of the infrared signal input/output terminal connection infrared sensor interface unit (3) of SCM system (1) is defeated
Go out/input, infrared sensor interface unit (3), for connecting infrared sensor (2),
The radar signal input/output of the radar signal input/output terminal connection Radar interface unit (5) of SCM system (1)
End, Radar interface unit (5), for connecting radar module (4),
The alarm signal input of the alarm signal output ends connection alarm module (10) of SCM system (1),
The storage signal input part of the storage signal output part connection memory module (9) of SCM system (1),
The power supply signal output end of the power supply signal input connection power module (8) of SCM system (1),
The process signal input of the process signal output end connection motor module (11) of SCM system (1),
The driving signal input of the driving signal output end connection motor (12) of motor module (11),
The driving signal input of the driving signal output end connection transfer cart wheel (13) of motor (12)；
Characterized in that,
Infrared sensor interface unit (3) includes resistance R5, resistance R6, resistance R14, resistance R15, resistance R16, resistance R17, electricity
R18, resistance R19, electric capacity C3, electric capacity C4 and No.1 Interface Terminal (XS1) are hindered,
No.1 Interface Terminal (XS1) is used to connect infrared sensor (3),
No. 21 pins of model MC9S12ZVL764 single-chip microcomputer (U1) connect simultaneously resistance R19 one end and electric capacity C4 one
End, the resistance R19 other end connect with resistance R17 one end, resistance R15 one end, the electric capacity C4 other end and power supply simultaneously,
The resistance R15 other end connects resistance R6 one end and No. 2 pins of No.1 Interface Terminal (XS1) simultaneously,
No. 3 pins of No.1 Interface Terminal (XS1) connect resistance R5 one end and resistance R14 one end simultaneously,
Resistance R5 other end connection power supply, the resistance R14 other end connect resistance R16 one end and resistance R18 simultaneously
One end, the resistance R16 other end simultaneously with connecting power supply and electric capacity C3 one end, the electric capacity C3 other end connects resistance simultaneously
No. 22 pins of the R18 other end and model MC9S12ZVL764 single-chip microcomputer (U1).
2. a kind of intelligent transfer cart according to claim 1, it is characterised in that SCM system (1) includes model
MC9S12ZVL764 single-chip microcomputer (U1), electric capacity C2, electric capacity C3, electric capacity C11 and electric capacity C12,
No. 17 pins of model MC9S12ZVL764 single-chip microcomputer (U1) connect power supply and electric capacity C11 one end simultaneously,
The electric capacity C11 other end while with connecting power supply No. 19 pins with model MC9S12ZVL764 single-chip microcomputer (U1),
No. 18 pins of model MC9S12ZVL764 single-chip microcomputer (U1), model MC9S12ZVL764 single-chip microcomputer (U1)
No. 65 pins of single-chip microcomputer (U1) and model MC9S12ZVL764 single-chip microcomputer of No. 31 pins, model MC9S12ZVL764
(U1) No. 57 pins with being all connected with power supply,
No. 20 pins connection electric capacity C12 of model MC9S12ZVL764 single-chip microcomputer (U1) one end, the electric capacity C12 other end
With connecting power supply,
No. 30 pins of model MC9S12ZVL764 single-chip microcomputer (U1) and model MC9S12ZVL764 single-chip microcomputer (U1)
No. 64 pins be all connected with power supply,
No. 63 pins of model MC9S12ZVL764 single-chip microcomputer (U1) while with connecting power supply one end with electric capacity C2, electric capacity
The C2 other end connects No. 62 pins of power supply and model MC9S12ZVL764 single-chip microcomputer (U1) simultaneously,
No. 58 pins connection electric capacity C3 of model MC9S12ZVL764 single-chip microcomputer (U1) one end, the electric capacity C3 other end connect
With connecing power supply,
No. 15 pins of No. 3 pins connection GPS module interface unit (7) of model MC9S12ZVL764 single-chip microcomputer (U1),
No. 14 pins of No. 4 pins connection GPS module interface unit (7) of model MC9S12ZVL764 single-chip microcomputer (U1), GPS moulds
The 23 of No. 19 pins of block interface unit (7), No. 21 pins of GPS module interface unit (7) and GPS module interface unit (7)
Number pin with being all connected with power supply, No. 25 pins of GPS module interface unit (7) and No. 27 pins of GPS module interface unit (7)
It is all connected with power supply,
No. 22 pins of GPS module interface unit (7) and No. 24 pins of GPS module interface unit (7) with being all connected with power supply,
No. 26 pins of GPS module interface unit (7) and No. 28 pins of GPS module interface unit (7) are all connected with power supply.
3. a kind of intelligent transfer cart according to claim 1, it is characterised in that power module (8) includes 5V power modules
(8-1) and 12V power modules (8-2),
5V power modules (8-1), for providing 5V power supply for SCM system (1),
12V power modules (8-2), for providing 12V power supply for SCM system (1),
5V power modules (8-1) include diode (RD3), model AE2576-125 step down switching voltage regulator (KU1), electricity
Hold C5, electric capacity C14, electric capacity C15, electric capacity C16, electric capacity C22, electric capacity C23, electric capacity C24 and electric capacity C25,
The positive pole of No. 16 pins connection diode (RD3) of model MC9S12ZVL764 single-chip microcomputer (U1), diode (RD3)
Negative pole connect No. 1 pin of electric capacity C5 one end and model AE2576-125 step down switching voltage regulator (KU1) simultaneously,
The electric capacity C5 other end connects No. 3 pins, electricity of model AE2576-125 step down switching voltage regulator (KU1) simultaneously
Hold C14 one end, electric capacity C15 one end, electric capacity C16 one end, electric capacity C22 one end, electric capacity C23 one end, electric capacity C24
One end and electric capacity C25 one end,
No. 5 pins of model AE2576-125 step down switching voltage regulator (KU1) connect simultaneously electric capacity C14 the other end,
The electric capacity C15 other end, the electric capacity C16 other end, the electric capacity C22 other end, the electric capacity C23 other end, electric capacity C24 it is another
End, electric capacity the C25 other end and power supply,
No. 0 pin connection power supply of model AE2576-125 step down switching voltage regulator (KU1)；
12V power modules (7-2) include No. three Interface Terminals (XS3), resistance R11, resistance R9, resistance R7, resistance R12, resistance
R10, resistance R8, bi-directional voltage stabilizing diode (FT1), transformer (K1), electric capacity C11, diode (RD2), electric capacity C12, electric capacity
C13, voltage-regulator diode (RD4), inductance L1, electric capacity C19, electric capacity C20, electric capacity C21 and model TLE-4275 low pressure drop electricity
Voltage-stablizer (KU2) is pressed,
No. three Interface Terminals (XS3), for connecting external power source,
No. 16 pins of model MC9S12ZVL764 single-chip microcomputer (U1) connect electric capacity C21 one end, the one of electric capacity C20 simultaneously
End, electric capacity C19 one end, inductance L1 one end and model TLE-4275 low drop-out voltage voltage-stablizer No. 4 pins,
The inductance L1 other end connect simultaneously voltage-regulator diode (RD4) negative pole and model TLE-4275 low drop-out voltage it is steady
No. 2 pins of depressor (KU2),
The electric capacity C21 other end simultaneously connects the electric capacity C20 other end, the electric capacity C19 other end, voltage-regulator diode (RD4)
Positive pole, model TLE-4275 low drop-out voltage voltage-stablizer No. 5 pins, electric capacity C13 one end, electric capacity C12 one end, electricity
Hold C11 one end and one end of the secondary winding of transformer (K1), the other end of the secondary winding of transformer (K1) connects simultaneously
One end of bi-directional voltage stabilizing diode (FT1) and power supply,
No. 1 pin of model TLE-4275 low drop-out voltage voltage-stablizer (KU2) connects the electric capacity C13 other end, electricity simultaneously
Hold the C12 other end and the negative pole of diode (RD2),
The positive pole of diode (RD2) connects one end of the electric capacity C11 other end and the first winding of transformer (K1) simultaneously,
The other end of the first winding of transformer (K1) connects bi-directional voltage stabilizing diode (FT1) other end, resistance R12 simultaneously
One end of one end, resistance R10 one end and resistance R8, the resistance R12 other end connect resistance R11 one end, resistance R9 simultaneously
One end, resistance R7 one end, the resistance R10 other end and resistance the R8 other end,
The resistance R11 other end connects the resistance R9 other end, the resistance R7 other end and No. three Interface Terminals (XS3) simultaneously
No. 1 pin, No. 2 pins connection power supply of No. three Interface Terminals (XS3).
4. a kind of intelligent transfer cart according to claim 1, it is characterised in that radar module interface unit (5) includes three
Number Interface Terminal (XS2) and No. four Interface Terminals (XS6),
No. three Interface Terminals (XS2) and No. four Interface Terminals (XS6) are used to connect radar module (4),
No. 1 pin connection power supply of No. three Interface Terminals (XS2),
No. 4 pins connection power supply of No. three Interface Terminals (XS2),
No. 55 pins of No. 2 pins connection model MC9S12ZVL764 of No. three Interface Terminals (XS2) single-chip microcomputer (U1), three
No. 7 pins of No. 3 pins connection model MC9S12ZVL764 of number Interface Terminal (XS2) single-chip microcomputer (U1),
No. 1 pin connection power supply of No. four Interface Terminals (XS6),
No. 4 pins connection power supply of No. four Interface Terminals (XS6),
No. 5 pins of No. 2 pins connection model MC9S12ZVL764 of No. four Interface Terminals (XS6) single-chip microcomputer (U1),
No. 6 pins of No. 2 pins connection model MC9S12ZVL764 of No. four Interface Terminals (XS6) single-chip microcomputer (U1).
5. a kind of intelligent transfer cart according to claim 1, it is characterised in that memory module (9) includes model 24C04
Serial line interface electrically-erasable memory (KU4), resistance R42, resistance R43 and resistance R44,
No. 60 pins connection model 24C04 of model MC9S12ZVL764 single-chip microcomputer (U1) serial line interface electrically-erasable
No. 2 pins of memory (KU4), No. 59 pins connection model 24C04 of model MC9S12ZVL764 single-chip microcomputer (U1)
Serial line interface electrically-erasable memory (KU4) No. 3 pins, model 24C04 serial line interface electrically-erasable memory
No. 4 pins connection power supply (KU4),
No. 8 pins of model 24C04 serial line interface electrically-erasable memory (KU4) connect power supply, resistance R42 simultaneously
One end, resistance R43 one end and resistance R44 one end,
The resistance R42 other end connects No. 7 pins of model 24C04 serial line interface electrically-erasable memory (KU4) simultaneously
With No. 53 pins of model MC9S12ZVL764 single-chip microcomputer (U1),
No. 6 pins and type of resistance R43 other end connection model 24C04 serial line interface electrically-erasable memory (KU4)
Number for MC9S12ZVL764 single-chip microcomputer (U1) No. 52 pins,
No. 5 pins and type of resistance R44 other end connection model 24C04 serial line interface electrically-erasable memory (KU4)
Number for MC9S12ZVL764 single-chip microcomputer (U1) No. 51 pins.
6. a kind of intelligent transfer cart according to claim 1, it is characterised in that motor module (11) includes resistance
R26, resistance R36, resistance R22, resistance R31, resistance R24, resistance R34, resistance R20, resistance R29, resistance R37, resistance R27,
Resistance R30, resistance R23, resistance R35, resistance R25, resistance R28, resistance R21, the first nmos pass transistor (Q1), the 2nd NMOS are brilliant
Body pipe (Q2), the 3rd nmos pass transistor (Q3), the 4th nmos pass transistor (Q4), the 5th nmos pass transistor (Q5), the 6th NMOS are brilliant
Body pipe (Q6), the 7th nmos pass transistor (Q7), the 8th nmos pass transistor (Q8), the first voltage-regulator diode (D1), the second voltage stabilizing two
Pole pipe (D2), the 3rd voltage-regulator diode (D3), the 4th voltage-regulator diode (D4), the 5th voltage-regulator diode (D5), the 6th voltage stabilizing two
Pole pipe (D6), the 7th voltage-regulator diode (D7), the 8th voltage-regulator diode (D8), Interface Terminal M1 and Interface Terminal M2,
Interface Terminal M1 and Interface Terminal M2 is used to connect the driving signal input of motor (9),
No. 48 pins of resistance R26 one end connection model MC9S12ZVL764 single-chip microcomputer (U1), the resistance R26 other end
Resistance R36 one end and the grid of the 7th nmos pass transistor (Q7) are connected simultaneously, and the resistance R36 other end connects model simultaneously
No. 29 pins of MC9S12ZVL764 single-chip microcomputer (U1) and Interface Terminal M2 No. 1 interface, Interface Terminal M2 No. 2 interfaces are same
When connect No. 26 pins of resistance R37 one end and model MC9S12ZVL764 single-chip microcomputer (U1), the resistance R37 other end
The grid of the 8th nmos pass transistor (Q8) and resistance R27 one end, resistance R27 other end connection model are connected simultaneously
No. 25 pins of MC9S12ZVL764 single-chip microcomputer (U1),
The drain electrode of 8th nmos pass transistor (Q8) connects the leakage of+12V power supplys, the 7th nmos pass transistor (Q7) of power supply source simultaneously
The negative pole of pole, the negative pole of the 7th voltage-regulator diode (D7) and the 8th voltage-regulator diode (D8),
The positive pole of 7th voltage-regulator diode (D7) connects source electrode, the 3rd nmos pass transistor of the 7th nmos pass transistor (Q7) simultaneously
(Q3) drain electrode and the negative pole of the 3rd voltage-regulator diode (D3), the grid of the 3rd nmos pass transistor (Q3) connect resistance R22 simultaneously
One end and resistance R31 one end, No. 45 pins of resistance R22 other end connection model MC9S12ZVL764 chip,
The resistance R31 other end connects No. 43 pins, the 3rd NMOS crystal of model MC9S12ZVL764 single-chip microcomputer (U1) simultaneously
With managing the source electrode of (Q3), the positive pole of the 3rd voltage-regulator diode (D3) and power supply,
The source electrode of 8th nmos pass transistor (Q8) connects drain electrode and the 4th voltage-regulator diode of the 4th nmos pass transistor (Q4) simultaneously
(D4) negative pole, the grid of the 4th nmos pass transistor (Q4) connect resistance R30 one end and resistance R23 one end, resistance simultaneously
No. 27 pins of R23 other end connection model MC9S12ZVL764 single-chip microcomputer (U1), the resistance R30 other end connect simultaneously
With connecing the source electrode of the 4th nmos pass transistor (Q4), the positive pole of the 4th voltage-regulator diode (D4) and power supply,
No. 36 pins of resistance R24 one end connection model MC9S12ZVL764 single-chip microcomputer (U1), the resistance R24 other end
One end of resistance R34 and the grid of the 6th nmos pass transistor (Q6) are connected simultaneously, and the other end of resistance R34 connects model simultaneously
No. 37 pins of MC9S12ZVL764 single-chip microcomputer (U1) and Interface Terminal M1 No. 1 interface, Interface Terminal M1 No. 2 interfaces are same
When connect No. 38 pins of resistance R35 one end and model MC9S12ZVL764 single-chip microcomputer (U1), the resistance R35 other end
The grid of the 5th nmos pass transistor (Q5) and resistance R25 one end, resistance R25 other end connection model are connected simultaneously
No. 39 pins of MC9S12ZVL764 single-chip microcomputer (U1),
The drain electrode of 5th nmos pass transistor (Q5) connects the leakage of+12V power supplys, the 6th nmos pass transistor (Q6) of power supply source simultaneously
The negative pole of pole, the negative pole of the 6th voltage-regulator diode (D6) and the 5th voltage-regulator diode (D5),
The positive pole of 6th voltage-regulator diode (D6) connects source electrode, the first nmos pass transistor of the 6th nmos pass transistor (Q6) simultaneously
(Q1) drain electrode and the negative pole of the first voltage-regulator diode (D1), the grid of the first nmos pass transistor (Q1) connect resistance R20 simultaneously
One end and resistance R29 one end, No. 33 of resistance R20 other end connection model MC9S12ZVL764 single-chip microcomputer (U1)
Pin, the resistance R29 other end connect No. 32 pins, the first NMOS of model MC9S12ZVL764 single-chip microcomputer (U1) simultaneously
The source electrode of transistor (Q1), the positive pole of the first voltage-regulator diode (D1) and power supply,
The source electrode of 5th nmos pass transistor (Q5) connects drain electrode and the second voltage-regulator diode of the second nmos pass transistor (Q2) simultaneously
(D2) negative pole, the grid of the second nmos pass transistor (Q2) connect resistance R21 one end and resistance R28 one end, resistance simultaneously
No. 42 pins of R21 other end connection model MC9S12ZVL764 single-chip microcomputer (U1), the resistance R28 other end connect simultaneously
With connecing the second nmos pass transistor (Q2) source electrode, the positive pole of the second voltage-regulator diode (D2) and power supply.
7. a kind of intelligent transfer cart according to claim 1, it is characterised in that alarm module (10) includes resistance R2, electricity
R3, electric capacity C6, triode KT1, diode RD1, resistance R13 and LED (PS1) are hindered,
No. 50 pins connection resistance R3 of model MC9S12ZVL764 single-chip microcomputer (U1) one end, the resistance R3 other end are same
When connect resistance R2 one end, triode KT1 base stage and electric capacity C6 one end,
Triode KT1 colelctor electrode connects one end of LED (PS1) and diode RD1 positive pole, triode KT1 hair simultaneously
Emitter-base bandgap grading connect with the electric capacity C6 other end, the resistance R2 other end and power supply simultaneously,
Diode RD1 negative pole connects the other end of LED (PS1) and resistance R13 one end, the resistance R13 other end simultaneously
Connect power supply.
A kind of 8. intelligent transfer cart according to claim 1, it is characterised in that it also includes switch element (14),
Switch element (14) is arranged on transfer cart, and switch element (14) is used to drive motor module (11) to work,
Switch element (14) includes button S1, electric capacity C1, electric capacity C2 and resistance R1,
No. 61 pins of model MC9S12ZVL764 single-chip microcomputer (U1) connect simultaneously electric capacity C2 one end and resistance R1 one
End, the electric capacity C2 other end simultaneously with connecting power supply, electric capacity C1 one end and button S1 one end,
The button S1 other end connects the resistance R1 other end and the electric capacity C1 other end simultaneously.
9. the Transfer method realized using a kind of intelligent transfer cart described in claim 1, it is characterised in that it includes following step
Suddenly：
Step 1: workpiece is placed on transfer cart, after stable, the weight of workpiece is measured by SCM system (1), when the weight of workpiece
When reaching the threshold value of SCM system (1) setting, transfer cart automatic running, GPS module (6) in real time change a job by positioning in running
The positional information of car, while whether have barrier in front of radar module (4) real time scan, if it is, step 2 is performed, if
It is no, then perform step 3；
Step 2: the direction of motion of SCM system (1) adjustment transfer cart, active avoiding obstacles, if obstacle can not be avoided
Thing, then alarmed by alarm module (5), perform step 3；
Step 3: the transporting position of transfer cart, the specific bit that the workpiece on transfer cart is transported to are sensed by infrared sensor (2)
Put.
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| DE4339004A1 (en) * | 1993-05-28 | 1994-12-08 | Mannesmann Ag | Installation in a vehicle for billing the use of toll routes |
| CN103065540A (en) * | 2012-12-31 | 2013-04-24 | 黑龙江大学 | Intelligent wrecker |
| CN204719535U (en) * | 2015-05-21 | 2015-10-21 | 苏州工业职业技术学院 | Based on the Intelligent tracking trolley of infrared sensor |
| CN204927975U (en) * | 2015-09-17 | 2015-12-30 | 国家电网公司 | Transmission line system of patrolling and examining that can independently fix a position |
| CN205080434U (en) * | 2015-11-11 | 2016-03-09 | 黄河科技学院 | WIFI intelligent video dolly based on 51 singlechip |
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|---|---|---|---|---|
| DE4339004A1 (en) * | 1993-05-28 | 1994-12-08 | Mannesmann Ag | Installation in a vehicle for billing the use of toll routes |
| CN103065540A (en) * | 2012-12-31 | 2013-04-24 | 黑龙江大学 | Intelligent wrecker |
| CN204719535U (en) * | 2015-05-21 | 2015-10-21 | 苏州工业职业技术学院 | Based on the Intelligent tracking trolley of infrared sensor |
| CN204927975U (en) * | 2015-09-17 | 2015-12-30 | 国家电网公司 | Transmission line system of patrolling and examining that can independently fix a position |
| CN205080434U (en) * | 2015-11-11 | 2016-03-09 | 黄河科技学院 | WIFI intelligent video dolly based on 51 singlechip |
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