CN108840009A - Intelligent movable storage - Google Patents
Intelligent movable storage Download PDFInfo
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- CN108840009A CN108840009A CN201810867449.6A CN201810867449A CN108840009A CN 108840009 A CN108840009 A CN 108840009A CN 201810867449 A CN201810867449 A CN 201810867449A CN 108840009 A CN108840009 A CN 108840009A
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- 238000003860 storage Methods 0.000 title claims abstract description 63
- 239000000463 material Substances 0.000 claims abstract description 47
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 12
- 230000007246 mechanism Effects 0.000 claims abstract description 9
- 210000000078 claw Anatomy 0.000 claims abstract description 6
- 230000003287 optical effect Effects 0.000 claims description 62
- 238000001514 detection method Methods 0.000 claims description 49
- 230000005540 biological transmission Effects 0.000 claims description 27
- 238000001914 filtration Methods 0.000 claims description 15
- 230000005611 electricity Effects 0.000 claims description 13
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- 238000006243 chemical reaction Methods 0.000 claims description 9
- 238000005259 measurement Methods 0.000 claims description 8
- 230000001133 acceleration Effects 0.000 claims description 7
- 238000012360 testing method Methods 0.000 claims description 6
- 239000003990 capacitor Substances 0.000 claims description 5
- 238000004458 analytical method Methods 0.000 claims description 4
- 238000004891 communication Methods 0.000 claims description 3
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- 230000002123 temporal effect Effects 0.000 claims description 3
- 230000000007 visual effect Effects 0.000 claims description 3
- 238000005314 correlation function Methods 0.000 claims description 2
- 238000004364 calculation method Methods 0.000 claims 1
- 238000012546 transfer Methods 0.000 abstract description 11
- 238000009434 installation Methods 0.000 abstract description 3
- 238000004519 manufacturing process Methods 0.000 description 10
- 230000004888 barrier function Effects 0.000 description 6
- 230000033001 locomotion Effects 0.000 description 6
- 230000003044 adaptive effect Effects 0.000 description 5
- 230000008901 benefit Effects 0.000 description 4
- 230000005622 photoelectricity Effects 0.000 description 4
- 238000012545 processing Methods 0.000 description 3
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- 210000001367 artery Anatomy 0.000 description 1
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- 239000013589 supplement Substances 0.000 description 1
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Classifications
-
- 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
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
A kind of intelligent movable storage provided by the invention, it includes storage component, moving parts is provided with below the storage component, the storage component includes pedestal, is used to support the storage of upper part, and the pedestal includes four support legs, and four support legs form one and encircle space, described encircles for accommodating moving parts in space, and Conveyor is set on pedestal for conveying material unit；Clip claw mechanism; for clamping the operation of accurate route, avoidance and speed regulation of its installation preset path that can be realized intelligent carriage of material unit; personnel can be followed to move to reach specified site simultaneously, while can voluntarily return to charging station and charge and charging protection mechanism realization security protection is set；Component of storing in a warehouse simultaneously can voluntarily transfer cargo and enter storage inside, and material is clamped and shifted by clamp hand component.The automatic transportation that the present invention can complete material improves material in the transfer efficiency on plant produced line side.
Description
Technical field
The present invention relates to storage technique fields, and in particular to a kind of intelligent movable storage applied to plant produced line side,
It includes that storage component and intelligent movable trolley can be realized material unit from intelligent storage to the automatic of plant produced line side
Transfer transport, the intelligent carriage have mobile according to setting path and the mobile both of which of worker are followed to realize material unit
Intelligent transport.
Background technique
Intelligence manufacture is a very large technical field.Wherein Intelligent logistics are exactly one of them important environment.
It is equally tried out to be conveyed in from storage to the material on production line side in the technical field of intelligent storage.In the prior art, usually
By material is transplanted on production line side in such a way that artificial push is carried after intelligent storage shipment, it is clear that this mode efficiency
It is low.Therefore, applicant expects the material fortune that AGV (Automated Guided Vehicle) trolley is applied to factory
Transport of the material from storage to production line side is realized in the scene sent.
Transporting scene in the side logistics of factory's line has following features：Station is more, and obstruction is more and complex circuit, and needs full
Material is sent to behind specified site by sufficient intelligent carriage to be needed to return storage side once again and charge again and to next specified site shifting
Delivery object.Therefore existing intelligent carriage needs are modified to adapt to material automatic loading and transfer or follow movement.
Specifically, it is production line according to factory that intelligent carriage in the prior art, which includes a kind of two kinds of modes of move mode,
Layout preset action route, and run according to program according to course of action；Another way is to use to follow loose impediment
(specifically in the application be worker) and move and reach corresponding site.A kind of intelligent carriage as disclosed in CN106829374,
It is used to transport food, in specification subscript the 0005th section of record intelligent carriage of page 1 according to letter acquired in weight sensor
Number starting, and working motion tracks are formed according to several arrangements to mechanism of Gary Austria, intelligent carriage is in motion profile
Several supplement positions carry out the by-carriage of material.The defect of above-mentioned intelligent carriage is, lacks the transfer device that fills into of material, object
Material is the material that " toppling over " can only on intelligent carriage and once transfer a kind of category and corresponding number, cannot achieve multiple sites
Continuous moving；Secondly, its application scenarios is unmanned factory and has the ability continuously processed automatically, i.e. material is not necessarily to people
Tooling is set on the device of production line.And the equipment on actually present most production line sides is required to transport manually
Material is loaded on equipment, thus intelligent carriage need " association " hide worker this " barrier " realize walk-stopping-walk or
The function of evading, otherwise intelligent storage can not normal use.
Based on this, intelligent carriage need solve to barrier " discovery " and control intelligent carriage speed.?《China
New traffic》" the intelligent carriage speed control of analysis single-chip microcontroller " (author Wang Bo, Kant, Zheng Zhibo) disclosed in the fourth phase in 2017
It records：The barrier avoiding function of intelligent carriage is effectively detected using infrared photoelectric sensor and ultrasonic wave.And utilize arteries and veins
Rush control of the wide cut modulation technique reinforcement to intelligent carriage travel speed.Pulse width modulation is PWM, mainly to supply voltage
Pulse-width regulated so that a degree of change is carried out to the average voltage at auxiliary both ends, and then control the rotation speed of motor
Degree.For another example《Instrument and meter for automation》In September, 2017 the 9th phase (author Zhang Ping) of volume 38 records the method for utilizing ultrasonic distance measurement, benefit
Barrier and object distance are detected with ultrasonic signal feedback combination algorithm to realize the avoidance of trolley.But above-mentioned technical proposal
The problem of be firstly because the complexity of environment so that ultrasonic distance measurement avoidance inaccuracy usually breaks down, secondly utilize voltage
Average value mean difference has deviation speed regulation accuracy not high.Needing to provide one kind thus can be to " noise " object in working environment
It is shielded, and realizes that accurately speed is adjusted.
Further more, in actual production process, intelligent carriage is needed to realize " following " worker from a site to another site
Movement.This kind follows motor pattern, is that factory's line side logistics in existing intelligent plant is wanted to solve.The fortune intelligently followed
The benefit of dynamic model formula is very more, and such as transporting flexibly can realize really transfer in real time according to the motion profile of worker is mobile.But
It is that the material that this intelligent carriage for just needing to follow is stored has a variety of categories and quantity more, the energy when material lacks
Storage side stock is enough automatically returned to, and can be realized the accurate identification and adjustment movement to object (being worker in the application) is followed
Posture such as angle of rotation etc..The above problem is the hot spot studied in the industry, and the application provides a kind of scheme realized.
Summary of the invention
In order to solve the above technical problems, the present invention provides a kind of storage of intelligent movable, intelligent storage and intelligence is small
Vehicle is combined as a whole, and realizes that small-sized intelligent storage is realized in the regional scope of intelligent plant and moves freely, can be by material
It is directly sent to production line side and transfers out material in the equipment for facilitating worker to take out installation and production line, and the intelligence is small
Vehicle can follow the mobile flexible transported material of worker.
A kind of intelligent movable storage comprising component of storing in a warehouse is provided with moving parts below the storage component；
The storage component includes：
Pedestal is used to support the storage of upper part, and the pedestal includes four support legs, and described four support
Foot forms one and encircles space, and described encircles in space for accommodating moving parts；
Conveyor is set on pedestal for conveying material unit；
Clip claw mechanism, for clamping material unit；
The storage component further includes having the shell being coated on except frame body, is provided with door on the shell and is used for
The output of material unit, camera, control panel and indicator light are used for for the entrance of material unit and discharge port.
Preferably, the circumferential four sides of the shell can be opened, and can transfer out material.
Above structure is the overall structure of intelligent movable storage, wherein storage is the accommodating space that can place material, institute
Conveyor being stated for will be transferred by the material in supervisory intelligent storage into storage, being transferred out material by clip claw mechanism
Storage.Moving parts below the storage component is that by the structural member of intelligent transport, and the intelligent transport is
Refer to that moving parts at least has barrier avoiding function, the function of corresponding station is moved to according to the track of setting, it can be according to setting
The function of track adjustment speed, the function that worker can be followed mobile.
Preferably, the support leg is provided with everything wheel.The everything wheel is moved easily.
Further, the moving parts is intelligent carriage comprising power-supply system, speed control module, photoelectricity inspection
Survey module, wireless communication module and range finder module.
Further, the power-supply system includes battery pack, battery detection module, conversion module and charging station,
Wherein, the battery pack is for storing electricity；
The battery detection module and conversion module is used for the status real time monitor to battery pack, and to the defeated of battery
Parameter is converted out；
Charging station can charge to battery pack according to the voltage, electric current and time parameter of setting；
Wherein the battery detection module includes an accessory power supply, when carrying out battery detecting by battery detection module
Charging disable signal is sent to battery pack, then provides auxiliary electricity from the accessory power supply to intelligent carriage, at the same time
By the voltage of the voltage detector detection battery pack of battery detection module, sentence when the supply voltage detected is less than threshold voltage
Disconnected battery pack breaks down, and the battery detection module further includes capacitor and current control circuit, the current control
Circuit includes the part of electric current and power supply system power supply line based on system power supply line and prevents electric current from charging electricity
Road is supplied to the circuit of system power supply line；
The conversion module includes multiple power converters, and the signal of the power converter output has different
Phase, and the positive output end and negative sense output end exported is separately connected positive input and the negative sense input of difference amplifier
End；
Charging station, including charger, it is used to the energy of power supply passing to intelligence according to set charge mode small
The battery pack of vehicle, the charger include three-phase alternating current input unit, rectifier and AC/DC convertor.
Intelligent carriage is the moving parts to be worked using DC power supply.Therefore be required to repeatedly return to charging station
It charges, in order to guarantee to be monitored using working condition of the security needs to battery pack.The general voltage when battery pack
When deviateing safety value, that is, it can determine that battery pack goes wrong.Starting accessory power supply is used to support the work of intelligent carriage at this time,
And issue the order for forbidding intelligent carriage playback charging and when in charged state battery detection module further include capacitor and
Current control circuit, the current control circuit include electric current and power supply system power supply based on system power supply line
The part of line and prevention electric current are supplied to the circuit of system power supply line from charging circuit.
Further, speed control module includes controller, power inverter and motor, the controller output
To driving circuit, the driving circuit output electric current controls motor to motor and rotates PWM wave；It is real by the following method
Now to the speed control of trolley：
Step 1：The conduct route of default intelligent carriage simultaneously marks straight way and bend, and sets intelligent carriage in straight way
With the threshold speed on bend；
Step 2：Several groups infrared sensor by being set to the front end of intelligent carriage obtains the position letter of trolley
Breath, passes through the velocity sensor acquisition speed information being arranged on trolley driving wheel；
Step 3：The speed of service of the trolley is detected by detector to generate feedback signal；With the detector electricity
The controller of connection, for the feedback signal to be converted to digital signal, to be compared with the predetermined value of desin speed, from
And control signal is generated, wherein the controller further includes：Register, for storing the digital signal and predetermined value；One
For the digital signal and the predetermined value with the operator of the output state of the determination control signal；And driving
Device, for adjusting the output power of the motor and according to motor running described in the control signal driving.
The mean value measuring and calculating to output voltage is changed in the present invention to debug the debugging mode of the velocity of rotation of motor.Successively
Position, vehicle wheel rotational speed and controller are combined, and implement to be compared according to the pre-set velocity in design route site, and use
The control operator of digital signal is to adjust the rotation of motor, due to the restriction and Digital Signal Processing speed of threshold speed
Advantage make speed regulation it is softer and accurate.
Further, the Photoelectric Detection module is used to detect the shading object in environment, includes at least photoelectricity and sends out
Emitter and several photelectric receivers, wherein several described photelectric receivers are divided into a main path optical signal receiver
Photelectric receiver is assisted with several；The main path optical signal receiver and photoemitter is located at the same position, and
The auxiliary photelectric receiver and photoemitter is spaced apart, and the greatest limit of the distance is to be sent out by photoemitter
The reflected light for the light penetrated, which can be received, to be limited.
Further, the method for the Photoelectric Detection module detection object is：Main path optical signal receiver is obtained by light
The main optical path signal of electric transmitter transmitting, and assist photelectric receiver that will receive the ambient light signal of reflection, it is based at least one
The ambient light signal of auxiliary optical path warp, Photoelectric Detection module will be to the adaptive ambient light signal mistake by main optical path signal
Filter, specific method are main path optical signal and Ge Lu secondary path optical signal to be inputted transmission path filter, and compare auxiliary
Help the strength relationship between the environment light in the environment light in the optical signal of path and main path optical signal；In an adaptive-filtering
In period, the output signal of each bypass diameter optical signal by each transmission path filter is calculated；According to the main path
The correlation function of optical signal calculates the renewal amount of the transmission path filter coefficient of each bypass diameter optical signal, and filtering leads to this certainly
Secondary path optical signal in the adaptive filtering period；Correspondingly increase renewal amount to the transmission path of each secondary path optical signal
Filter coefficient；After the transmission path filter for updating each bypass optical signal, further include：Judge updated transmission road
Whether diameter filter meets filter constraint condition, if it is, using updated transmission path filter as ancillary equipment
Transmission path filter in next adaptive-filtering period, if it is not, then to updated transmission path filter
It is normalized, and the middle filtering in main optical path signal by the ambient light signal of normalized；
The visual token module includes,
CCD camera is used to capture the Front image of intelligent carriage, passes through the figure of CCD camera ray measuring optical body
Picture；
Distance measuring component obtains two-dimensional scanning and the measurement for being synchronously carried out prescribed limit with image；
Arithmetic control unit；
Posture detecting unit, for detecting tilt angle of the described image shooting unit relative to horizontality；
Wherein, the Operations Analysis by the testing result of measurement result and the posture detection unit and corresponds to institute
Each pixel on the scanning track of the image of acquisition is associated.
One main path optical signal receiver and several auxiliary photelectric receivers are set in the present invention, and examined by photoelectricity
The adaptive ambient light signal by main optical path signal will be filtered by surveying module, so that the environment light in removal environment " is made an uproar
Sound ", and the feedback signal to veil in prominent main path optical signal, so that avoidance is accurate.
Further, the posture detection unit detects on the predetermined direction of the direction of advance relative to the moving body
The tilt angle of the benchmark optical axis, the CCD camera are configured as obtaining consecutive image, the distance measuring unit quilt
It is configured to two-dimensionally scan preset range, and the arithmetic control unit with the frame image synchronization of the composition consecutive image
It is configured as combining the frame image in temporal sequence, the arithmetic control unit is configured as based on the scanning track respectively
The scanning information of the pixel of intersection, the posture detection unit include the inclination sensor and acceleration as inclination sensor
Sensor is spent, and the output from the posture detection unit is the institute of the comparison Data correction based on the inclination sensor
State the testing result of acceleration transducer.
Image is captured by CCD camera in the present invention, and is measured at a distance from wanted follower person, is passed according to inclination
Sensor and acceleration transducer correct its relative velocity with personnel, realize the function of continuously following, when personnel stop with
With stopping and keep preset relative distance.
A kind of intelligent movable storage provided by the invention, the beneficial effect is that：Its installation that can be realized intelligent carriage
The operation of accurate route, avoidance and the speed regulation of preset path, while personnel can be followed to move to reach specified site, while can
Charging station is voluntarily returned to charge and charging protection mechanism realization security protection is arranged；Component of storing in a warehouse simultaneously can voluntarily transfer cargo
It is internal into storage, and material is clamped and shifted by clamp hand component.The automatic transportation that the present invention can complete material improves
Transfer efficiency of the material on plant produced line side.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described.
Attached drawing 1 is a kind of structural schematic diagram of intelligent movable storage in the present invention；
Attached drawing 2 is the structural schematic diagram of storage component in the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description.
The present embodiment as depicted in figs. 1 and 2
A kind of intelligent movable storage comprising storage component 1, the lower section of the storage component 1 is provided with moving parts
2；
The storage component 1 includes：
Pedestal 3 is used to support the storage component 1 of upper part, and the pedestal 3 includes four support legs 31, and described
Four 31 feet of support form one and encircle space, described encircling is used to accommodate moving parts 2 in the space in；
Conveyor 4 is set on pedestal 3 for conveying material unit；
Clip claw mechanism 5, for clamping material unit；
The storage component 1 further includes having the shell being coated on except frame body 6, is provided with door 7 on the shell 6
For being used for the output of material unit, camera, control panel 8 and indicator light for the entrance of material unit and discharge port
9。
Above structure is the overall structure of intelligent movable storage, wherein storage is the accommodating space that can place material, institute
Conveyor being stated for will be transferred by the material in supervisory intelligent storage into storage, being transferred out material by clip claw mechanism
Storage.Moving parts below the storage component is that by the structural member of intelligent transport, and the intelligent transport is
Refer to that moving parts at least has barrier avoiding function, the function of corresponding station is moved to according to the track of setting, it can be according to setting
The function of track adjustment speed, the function that worker can be followed mobile.
The support leg 31 is provided with everything wheel 32.The everything wheel is moved easily.
The moving parts is intelligent carriage comprising power-supply system, speed control module, Photoelectric Detection module, nothing
Line communication module and range finder module.
The power-supply system includes battery pack, battery detection module, conversion module and charging station,
Wherein, the battery pack is for storing electricity；
The battery detection module and conversion module is used for the status real time monitor to battery pack, and to the defeated of battery
Parameter is converted out；
Charging station can charge to battery pack according to the voltage, electric current and time parameter of setting；
Wherein the battery detection module includes an accessory power supply, when carrying out battery detecting by battery detection module
Charging disable signal is sent to battery pack, then provides auxiliary electricity from the accessory power supply to intelligent carriage, at the same time
By the voltage of the voltage detector detection battery pack of battery detection module, sentence when the supply voltage detected is less than threshold voltage
Disconnected battery pack breaks down, and the battery detection module further includes capacitor and current control circuit, the current control
Circuit includes the part of electric current and power supply system power supply line based on system power supply line and prevents electric current from charging electricity
Road is supplied to the circuit of system power supply line；
The conversion module includes multiple power converters, and the signal of the power converter output has different
Phase, and the positive output end and negative sense output end exported is separately connected positive input and the negative sense input of difference amplifier
End；
Charging station, including charger, it is used to the energy of power supply passing to intelligence according to set charge mode small
The battery pack of vehicle, the charger include three-phase alternating current input unit, rectifier and AC/DC convertor.
Intelligent carriage is the moving parts to be worked using DC power supply.Therefore be required to repeatedly return to charging station
It charges, in order to guarantee to be monitored using working condition of the security needs to battery pack.The general voltage when battery pack
When deviateing safety value, that is, it can determine that battery pack goes wrong.Starting accessory power supply is used to support the work of intelligent carriage at this time,
And issue the order for forbidding intelligent carriage playback charging and when in charged state battery detection module further include capacitor and
Current control circuit, the current control circuit include electric current and power supply system power supply based on system power supply line
The part of line and prevention electric current are supplied to the circuit of system power supply line from charging circuit.
Speed control module includes controller, power inverter and motor, and the controller exports PWM wave to drive
Dynamic circuit, the driving circuit output electric current control motor rotation to motor；It is realized by the following method to trolley
Speed control：
Step 1：The conduct route of default intelligent carriage simultaneously marks straight way and bend, and sets intelligent carriage in straight way
With the threshold speed on bend；
Step 2：Several groups infrared sensor by being set to the front end of intelligent carriage obtains the position letter of trolley
Breath, passes through the velocity sensor acquisition speed information being arranged on trolley driving wheel；
Step 3：The speed of service of the trolley is detected by detector to generate feedback signal；With the detector electricity
The controller of connection, for the feedback signal to be converted to digital signal, to be compared with the predetermined value of desin speed, from
And control signal is generated, wherein the controller further includes：Register, for storing the digital signal and predetermined value；One
For the digital signal and the predetermined value with the operator of the output state of the determination control signal；And driving
Device, for adjusting the output power of the motor and according to motor running described in the control signal driving.
The mean value measuring and calculating to output voltage is changed in the present invention to debug the debugging mode of the velocity of rotation of motor.Successively
Position, vehicle wheel rotational speed and controller are combined, and implement to be compared according to the pre-set velocity in design route site, and use
The control operator of digital signal is to adjust the rotation of motor, due to the restriction and Digital Signal Processing speed of threshold speed
Advantage make speed regulation it is softer and accurate.
The Photoelectric Detection module is used to detect shading object in environment, if include at least photoemitter and
Dry photelectric receiver, wherein several described photelectric receivers are divided into a main path optical signal receiver and several are auxiliary
Help photelectric receiver；The main path optical signal receiver and photoemitter are located at the same position, and the auxiliary
Photelectric receiver is spaced apart with photoemitter, and the greatest limit of the distance is the light emitted by photoemitter
Reflected light, which can be received, to be limited.
The method of the Photoelectric Detection module detection object is：The acquisition of main path optical signal receiver is sent out by photoemitter
The main optical path signal penetrated, and assist photelectric receiver that will receive the ambient light signal of reflection, it is passed through based at least one auxiliary optical path
Ambient light signal, Photoelectric Detection module will filter the adaptive ambient light signal by main optical path signal, specific side
Method is main path optical signal and Ge Lu secondary path optical signal to be inputted transmission path filter, and compare secondary path light letter
The strength relationship between environment light in environment light in number and main path optical signal；In an adaptive-filtering period, meter
Calculate the output signal of each bypass diameter optical signal by each transmission path filter；According to the phase of the main path optical signal
The renewal amount that function calculates the transmission path filter coefficient of each bypass diameter optical signal is closed, filtering causes the adaptive-filtering all
Secondary path optical signal in phase；Correspondingly increase renewal amount to the transmission path filter system of each secondary path optical signal
Number；After the transmission path filter for updating each bypass optical signal, further include：Judge updated transmission path filter
Whether filter constraint condition is met, if it is, using updated transmission path filter as the transmission road of ancillary equipment
Diameter filter is in next adaptive-filtering period, if it is not, then carrying out normalizing to updated transmission path filter
Change processing, and the middle filtering in main optical path signal by the ambient light signal of normalized；
The visual token module includes,
CCD camera is used to capture the Front image of intelligent carriage, passes through the figure of CCD camera ray measuring optical body
Picture；
Distance measuring component obtains two-dimensional scanning and the measurement for being synchronously carried out prescribed limit with image；
Arithmetic control unit；
Posture detecting unit, for detecting tilt angle of the described image shooting unit relative to horizontality；
Wherein, the Operations Analysis by the testing result of measurement result and the posture detection unit and corresponds to institute
Each pixel on the scanning track of the image of acquisition is associated.
One main path optical signal receiver and several auxiliary photelectric receivers are set in the present invention, and examined by photoelectricity
The adaptive ambient light signal by main optical path signal will be filtered by surveying module, so that the environment light in removal environment " is made an uproar
Sound ", and the feedback signal to veil in prominent main path optical signal, so that avoidance is accurate.
The posture detection unit detects the benchmark on the predetermined direction of the direction of advance relative to the moving body
The tilt angle of optical axis, the CCD camera be configured as obtain consecutive image, the distance measuring unit be configured as with
Two-dimensionally scan preset range with constituting the frame image synchronization of the consecutive image, and the arithmetic control unit is configured as
The frame image is combined in temporal sequence, and the arithmetic control unit is configured as being based on the scanning track respectively intersection
Pixel scanning information, the posture detection unit includes the inclination sensor and acceleration sensing as inclination sensor
Device, and the output from the posture detection unit is the acceleration of the comparison Data correction based on the inclination sensor
Spend the testing result of sensor.
The above description of disclosed embodiment of this invention makes professional and technical personnel in the field can be realized or use this hair
It is bright.Various modifications to these embodiments will be readily apparent to those skilled in the art, and determine herein
The General Principle of justice can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, originally
Invention is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein
Consistent widest scope.
Claims (9)
1. a kind of intelligent movable storage, which is characterized in that it includes storage component, is provided with shifting below the storage component
Dynamic component；
The storage component includes：
Pedestal, is used to support the storage of upper part, and the pedestal includes four support legs, and four support leg shapes
Space is encircled at one, described encircles in space for accommodating moving parts；
Conveyor is set on pedestal for conveying material unit；
Clip claw mechanism, for clamping material unit；
The storage component further includes having the shell being coated on except frame body, and door is provided on the shell for for object
The entrance of material unit and discharge port are used for the output of material unit.
2. a kind of intelligent movable storage according to claim 1, which is characterized in that the support leg is provided with everything
Wheel.
3. a kind of intelligent movable storage according to claim 1 or 2, which is characterized in that the circumferential four sides of the shell is equal
It can be opened, and material can be transferred out.
4. a kind of intelligent movable storage according to claim 1 or 2, which is characterized in that the moving parts is intelligence
Energy trolley comprising power-supply system, speed control module, Photoelectric Detection module, wireless communication module and range finder module.
5. a kind of intelligent movable storage according to claim 3, which is characterized in that the power-supply system includes battery
Group, battery detection module, conversion module and charging station,
Wherein, the battery pack is for storing electricity；
The battery detection module and conversion module is used for the status real time monitor to battery pack, and joins to the output of battery
Number is converted；
Charging station can charge to battery pack according to the voltage, electric current and time parameter of setting；
Wherein the battery detection module includes an accessory power supply, when carrying out battery detecting from battery detection module to electricity
Pond group sends charging disable signal, then auxiliary electricity is provided from the accessory power supply to intelligent carriage, at the same time by electricity
The voltage of the voltage detector detection battery pack of pond detection module, the judgement electricity when the supply voltage detected is less than threshold voltage
Pond group breaks down, and the battery detection module further includes capacitor and current control circuit, the current control circuit
Part and prevention electric current including electric current and power supply system power supply line based on system power supply line are mentioned from charging circuit
The circuit of feed system power supply line；
The conversion module includes multiple power converters, and the signal of the power converter output has different phases
Position, and the positive output end and negative sense output end exported is separately connected the positive input and negative input of difference amplifier；
Charging station, including charger, it is used to the energy of power supply passing to intelligent carriage according to set charge mode
Battery pack, the charger include three-phase alternating current input unit, rectifier and AC/DC convertor.
6. a kind of intelligent movable storage according to claim 5, which is characterized in that speed control module include controller,
Power inverter and motor, the controller export PWM wave to driving circuit, and the driving circuit output electric current arrives
Motor is to control motor rotation；The speed control to trolley is realized by the following method in it：
Step 1：The conduct route of default intelligent carriage simultaneously marks straight way and bend, and sets intelligent carriage in straight way and curved
Threshold speed on road；
Step 2：Several groups infrared sensor by being set to the front end of intelligent carriage obtains the location information of trolley, and
Pass through the velocity sensor acquisition speed information being arranged on trolley driving wheel；
Step 3：The speed of service of the trolley is detected by detector to generate feedback signal；It is electrically connected with the detector
Controller, for the feedback signal to be converted to digital signal, to be compared with the predetermined value of desin speed, thus raw
At control signal, wherein the controller further includes：Register, for storing the digital signal and predetermined value；One is used for
Compare the digital signal and the predetermined value with the operator of the output state of the determination control signal；And driving dress
It sets, for adjusting the output power of the motor and according to motor running described in the control signal driving.
7. a kind of intelligent movable storage according to claim 4, which is characterized in that the Photoelectric Detection module is for examining
The shading object in environment is surveyed, photoemitter and several photelectric receivers are included at least, wherein several described
Photelectric receiver is divided into a main path optical signal receiver and several auxiliary photelectric receivers；The main path optical signal
Receiver and photoemitter are located at the same position, and the auxiliary photelectric receiver and one spacing of photoemitter interval
It is that the reflected light of the light emitted by photoemitter can be received and be limited from, the greatest limit of the distance.
8. a kind of intelligent movable storage according to claim 7, which is characterized in that the Photoelectric Detection module detection object
Method be：Main path optical signal receiver obtains the main optical path signal emitted by photoemitter, and assists photelectric receiver
The ambient light signal that reflection will be received, based on the ambient light signal of at least one auxiliary optical path warp, Photoelectric Detection module will be to certainly
What is adapted to filters the ambient light signal in main optical path signal, and specific method is, by main path optical signal and Ge Lu auxiliary route
Diameter optical signal inputs transmission path filter, and compares the environment light in secondary path optical signal and the ring in main path optical signal
Strength relationship between the light of border；In an adaptive-filtering period, calculate auxiliary by each of each transmission path filter
The output signal of path optical signal；The transmission of each bypass diameter optical signal is calculated according to the correlation function of the main path optical signal
The renewal amount of path filters coefficient, filtering lead to the secondary path optical signal in the adaptive-filtering period；Correspondingly increase
Transmission path filter coefficient of the renewal amount to each secondary path optical signal；In the transmission path for updating each bypass optical signal
After filter, further include：Judge whether updated transmission path filter meets filter constraint condition, if it is,
Using updated transmission path filter as the transmission path filter of ancillary equipment in next adaptive-filtering period,
If it is not, then updated transmission path filter is normalized, and by the ambient light signal of normalized
The middle filtering in main optical path signal；
The visual token module includes,
CCD camera is used to capture the Front image of intelligent carriage, passes through the image of CCD camera ray measuring optical body；
Distance measuring component obtains two-dimensional scanning and the measurement for being synchronously carried out prescribed limit with image；
Arithmetic control unit；
Posture detecting unit, for detecting tilt angle of the described image shooting unit relative to horizontality；
Wherein, the Operations Analysis by the testing result of measurement result and the posture detection unit and corresponds to acquired
Image scanning track on each pixel it is associated.
9. a kind of intelligent movable storage according to claim 8, which is characterized in that the posture detection unit relative to
The tilt angle of the benchmark optical axis, the CCD camera quilt are detected on the predetermined direction of the direction of advance of the moving body
It is configured to obtain consecutive image, the distance measuring unit is configured as with the frame image synchronization that constitutes the consecutive image two
Dimension ground scanning preset range, and the arithmetic control unit is configured as combining the frame image, the calculation in temporal sequence
Art control unit is configured as the scanning information based on the respective pixel of intersection in scanning track, the posture detection list
Member includes the inclination sensor and acceleration transducer as inclination sensor, and the output from the posture detection unit
It is the testing result of the acceleration transducer of the comparison Data correction based on the inclination sensor.
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