CN107194440A

CN107194440A - Manipulator is allocated in logistics

Info

Publication number: CN107194440A
Application number: CN201610141219.2A
Authority: CN
Inventors: 端木希睿
Original assignee: Individual
Current assignee: Individual
Priority date: 2016-03-14
Filing date: 2016-03-14
Publication date: 2017-09-22

Abstract

Logistics allocates manipulator and belongs to mechanical field, the problem of solving slow present manual sorting's speed and intricate operation.This machine mainly distinguishes parcel kind of information by the 2 D code information that superscribes, and has photoelectric sensor and judge parcel location information, so that order manipulator is sometime coming out packages.This equipment accurately can be sorted parcel, and accuracy is high, beneficial to logistics, promotes the development of ecommerce.

Description

Manipulator is allocated in logistics

Technical field

Development with internet plus with ecommerce, has driven the development of logistic industry, but traditional logistics industry is all by manually carrying out mostly Parcel is allocated, speed is big compared with slow and workload, expends substantial amounts of manpower and materials, and Traditional Man allocates the phenomenon for often having violence to get rid of part. Main this of our product is designed this problem, can be realized the quick identification of machine and be allocated, and can protect the safety of parcel.

Background technology

This machine needle allocates slow, intricate operation and goods is thrown out without care and disorderly falls problem and design, our manipulator when parcel is located on conveyer belt to artificial The instruction that can be sent by scanning machine judges whether article needs to intercept from conveyer belt, and sentences a section parcel location by photoelectric sensor, leads to Single-chip microprocessor MCU calculating is crossed, order stepper motor rotates a certain angle correct at the time of, goods sorting gets off by brace and connecting rod framework.Point Goods after picking is put into storage net by soft.Sorter possesses tally function can send police after sorting work reaches certain amount to staff Report reminds staff to store net packing.This machine possesses efficiency high, and precision is high, and reaction is fast, and efficient feature will be brought for logistics Gospel.

The content of the invention

It is a kind of the automatic machinery quickly allocated to be wrapped up to logistics by logistics Quick Response Code.

Brief description of the drawings

Fig. 1 and Fig. 2 represent the outward appearance of product.

Fig. 3 represented when there is 6 express mails to be arrived by the scanning of scanner successively, but without exemplified by entering and allocating area, the flow of introducing system.

Fig. 4 and Fig. 5 represent the control information of each control unit storage.

Fig. 6 and Fig. 7 represent the control information of each control unit storage.

Fig. 8 represents control system block diagram.

Embodiment

This can be achieved to read the information of express mail by scanning the bar code on express mail using the stm32f103rbt6 single-chip microcomputers of ST companies as core controller, And judge whether express mail sends out mistake, and express mail is allocated, the real-time time time is shown, the quantity of each round express mail is counted.

The bar code on express mail is scanned by bar code scanner first, judges whether the parcel should be sent to this RDC, if it is not, just Staff can be reminded to be detected, the express mail is the express mail that hair is wrong, need for return, takes, then will sweep if express mail just is put into biography The database for retouching data and oneself this sortation hubs that rifle is scanned is compared, and after information comparison, corresponding control information is sent out by CAN controller Give control the corresponding MCU for allocating manipulator, inside MCU, control information stored using the data structure of queue this first in first out, Since it is considered that MCU memory capacity is limited, so round-robin queue is realized used here as array, it is just a piece of to single-chip microcomputer application when start Internal memory, control information is stored for after in system operation.

When the corresponding MCU for allocating manipulator of control receives the order from CAN, message is received, and control information is entered Team operates, store control information, and whether MCU scans express mail by realizing that the control queue to storage information is carried out by outside sensor Go out the operation of team, and control information is judged, express mail is not operated if control information content is 0, if control information content is 1, MCU sends control signal to the controller of stepper motor, and then controllor for step-by-step motor carries out excitation to stepper motor, so that driving mechanical arm, Express mail is allocated in storage net.When allocating the express mail that manipulator allocates and reaching certain quantity, MCU, which understands, oneself to be sent prompting and reminds work Personnel are packed article storing net.

Characteristic and advantage

1) with the characteristics of the application of bar code/RFID technique, the automation that logistics data is collected is realized, the manual labor for the personnel that allocate is reduced, effect is allocated in raising Rate, accuracy and promptness.

(2) science coding is carried out to express mail, to realize different management objectives, such as being followed the trail of single product, batch is managed.

(3) to carrying out science coding, labelled with bar code/RFID symbols, and the links gathered data of express mail transport, while importing management system. Realize the management objectives of first in first out and the efficiency of express mail transport.

(4) the express mail quantity allocated to allocating mechanical arm often to take turns is set, and realizes the demand of business demand.

(5) using barcode device gather express mail allocate link data (whether route/express mail that the terminal of express mail/express mail is set will recall to/or terminal believe The data such as the change of breath), and terminate rank rear in package handling and print off packing list, reduce error.

The selection of controller (MCU)

STM32f1 32 MCU of series, the processor based on Cortex-M3, reduced instruction set computer supports 1 to 240 external interrupt input, And most interruption can be realized by software programming.Specific numerical value is determined that such CPU can have more by chip manufacturer in design chips Time go respective interrupt and computing, achievable serial communication mode SPI, I2C, USART, USB and CAN, frequency maxima 72MHz, Control in real time and accurate control can be realized.

Low-power consumption, after system or power reset, microcontroller is in running status.When CPU is not required to continue to run with, it is possible to use a variety of low work( Consumption pattern saves power consumption, such as when waiting some external event.User needs according to minimum electrical source consumption, most rapid boot-up time and available called out The conditions such as awake source, select an optimal low-power consumption mode.

Power management, user can be compared to monitor power supply using PVD to vdd voltage and power supply register.Opening what PVD was interrupted Under the conditions of, available for for performing emergency cut-off task, and the storage operation information to be preserved.

CAN communicates

CAN has very reliability and good error detection capability, can effectively support the distribution with very high safety grade to control in real time, be used extensively To bad environments, in electromagnetic radiation and the larger environment of vibration.Development difficulty, the composition cost of system can be greatly reduced, the construction cycle is shortened.

CAN has the characteristics that：

(1) transmission speed：

CAN protocol has two kinds of ISO11898 standards and ISO11519-2 standards after iso standard, and ISO11898 is that communication speed is 125kbps-1Mbps CAN high-speed communication standards；ISO11519 is the CAN low-speed communication standards that communication speed is below 125kbps.ISO is marked Quasi-mode.Data link layer and physical layer are specifically defined, in engineering, this two layers generally by CAN controller and transceiver realization.CAN Controller generally has two classes：One class is the CAN microcontroller in piece, using this device user can be facilitated to make printed panel, and circuit diagram is also relatively tighter Gather；Another kind of is independent CAN controller, and developer can be made to select practical single-chip microcomputer as needed.The system selects independent CAN Controller.

(2) unit being connected with bus is not similar to the information of " address ".Therefore during adding unit, other units in bus are connected in bus Software and hardware and application layer need not all change, thus cost and workload are all relatively low when expansion equipment.CAN is can be while connect many The bus of individual unit.Attachable unit sum does not have theoretically conditional.But in practice attachable unit number by the time delay in bus and The limitation of electrical load.Reduce communication speed, attachable unit number increase；Communication speed is improved, then attachable unit number is reduced.

(3) CAN controller works in multiple host pattern, bus is accessed according to priority using many main websites, while having extremely strong error processing capacity.Branch Hold principal and subordinate or broadcast mode, maximum network node 110.

(4) transmission medium uses twisted-pair feeder.In order to further improve the antijamming capability of system, Phototube Coupling is taken between controller and transmission medium.

(5) information transfer uses CAN communication agreement.The Primary communication mode of the system is that console sends control data and each control to each controller

ZigBee data transfers

ZigBee is a kind of wireless connection, can be operated in 2.4GHz (Global prevalence), 868MHz (Europe is popular) and 3 frequency ranges of 915MHz (U.S. is popular) On, the transmission rate respectively with highest 250kbit/s, 20kbit/s and 40kbit/s, its transmission range, but can be after in the range of 10-75m Continuous increase.Be characterized in closely, low complex degree, self-organizing, low-power consumption, low data rate.The various electromagnetic interferences of industry spot can be resisted.

The characteristics of ZigBee data transfers：

(1) short time-delay：ZigBee response speed is very fast, and being typically transferred to working condition from sleep only needs 15ms, and node connection only needs 30ms into network, Further save electric energy.Compare, bluetooth needs 3~10s, WiFi to need 3s.

Inexpensive (being compared to for other radio communications).By significantly simplifying agreement (less than the 1/10 of bluetooth), reduce and communication controler is wanted Ask, by forecast analysis, calculated with 8,051 8 8-digit microcontrollers, Full Featured host node needs 32KB codes, subfunction node as little as 4KB generations Code, and ZigBee exempts from agreement patent fee.The price of every piece of chip is about 2 dollars.

(2) low-power consumption：Under low power consumption standby mode, 2 No. 5 dry cells of section can support 1 node to work 6~24 months, or even longer.This is ZigBee Outstanding advantage.Compare, can work several weeks, WiFi of bluetooth can work a few hours.

(3) low rate：ZigBee is operated in 20~250kbps speed, respectively provide 250kbps (2.4GHz), 40kbps (915MHz) and 20kbps (868MHz) initial data throughput, meets the application demand of lower rate transmissions data.

Wifi data transfers

WIFI data transmission bauds can reach more than 5MB/s, and WIFI coverage is not that very open place has close to 100 meters, indoors Effect distance also has tens meters.WIFI uses radio-frequency technique, and data are sent and received by air, uses radio wave transmissions data-signal, information Easily it is interfered and destroys；

To sum up state, in order to which networking is convenient, with controlling cost, and has the change of concrete application demand, can be expanded on the basis of original system rapidly Expansion hair, data transfer is realized from CAN.

Human-computer interaction interface

OLED

In terms of display：Actively luminous, angular field of view is big；Fast response time, image stabilization；Brightness height, rich color, high resolution.Brightness 20~ 60nit, normal temperature working life 50000 hours, -40~85 DEG C of tolerable temperature scope.To strong environmental adaptability；

Condition of work：Driving voltage is low, energy consumption is low；

TFT

TFT thin film transistor (TFT)s are one kind in active matrix type liquid crystal display AM-LCD, and TFT sets special light pipe at the back of liquid crystal, can Each independent pixel on screen is controlled with " active ", so can greatly be improved the reaction time, general TFT reaction time Than very fast, about 80ms, and STN is then 200ms, and scintillation is had if improving.And because TFT is active-matrix LCD It can allow the arrangement mode of liquid crystal that there is Memorability, will not at once be restored to the original state after current vanishes.TFT further improves STN flickers (water ripples)-fuzzy Phenomenon be effectively improved play dynamic menu ability.Compared with STN, TFT have outstanding color full with degree, reducing power with it is higher Contrast, but shortcoming is exactly to compare power consumption, and also cost is also higher.

Claims

1. the present invention is read package information and parcel progress is allocated for foundation by the Quick Response Code coding superscribed belongs to the protected scope of present patent application Within.

2. the present invention judges parcel location by photoelectric technology, and order manipulator the principle for sometime promoting parcel belong to present patent application by Within protection domain.

3. the present invention by stepper motor rotate drive toggle come promote parcel move allocate mode, belong within application range.