CN108840009B - Mobile intelligent warehouse - Google Patents
Mobile intelligent warehouse Download PDFInfo
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- CN108840009B CN108840009B CN201810867449.6A CN201810867449A CN108840009B CN 108840009 B CN108840009 B CN 108840009B CN 201810867449 A CN201810867449 A CN 201810867449A CN 108840009 B CN108840009 B CN 108840009B
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- 239000000463 material Substances 0.000 claims abstract description 49
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- 230000003287 optical effect Effects 0.000 claims description 44
- 230000005540 biological transmission Effects 0.000 claims description 24
- 238000001914 filtration Methods 0.000 claims description 17
- 238000006243 chemical reaction Methods 0.000 claims description 9
- 230000000007 visual effect Effects 0.000 claims description 9
- 230000001133 acceleration Effects 0.000 claims description 7
- 238000005259 measurement Methods 0.000 claims description 6
- 238000000034 method Methods 0.000 claims description 6
- 238000012545 processing Methods 0.000 claims description 6
- 239000003990 capacitor Substances 0.000 claims description 5
- 238000004891 communication Methods 0.000 claims description 4
- 230000003044 adaptive effect Effects 0.000 claims description 3
- 238000005314 correlation function Methods 0.000 claims description 3
- 238000013461 design Methods 0.000 claims description 3
- 230000005764 inhibitory process Effects 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 3
- 238000010606 normalization Methods 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 12
- 238000012546 transfer Methods 0.000 abstract description 7
- 230000033228 biological regulation Effects 0.000 abstract description 6
- 238000009434 installation Methods 0.000 abstract description 2
- 230000033001 locomotion Effects 0.000 description 11
- 230000036544 posture Effects 0.000 description 7
- 230000008901 benefit Effects 0.000 description 4
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- 238000004458 analytical method Methods 0.000 description 1
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Classifications
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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
- 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
The invention provides a mobile intelligent warehouse, which comprises a warehouse part, wherein a mobile part is arranged below the warehouse part, the warehouse part comprises a seat body which is used for supporting the warehouse at the upper part of the warehouse part, the seat body comprises four supporting legs, the four supporting legs form an encircling space, the encircling space is used for accommodating the mobile part, and a roller conveyor is arranged above the seat body and used for conveying a material unit; the clamping jaw mechanism is used for clamping the material unit, can realize accurate route operation, obstacle avoidance and speed regulation of an installation preset path of the intelligent trolley, can move along with personnel to reach a designated site, and can automatically return to a charging station to charge and set a charging protection mechanism to realize safety protection; meanwhile, the storage part can automatically transfer goods into the storage part, and the materials are clamped and transferred through the clamping part. The invention can complete automatic transportation of materials and improve the conveying efficiency of the materials at the side of a factory production line.
Description
Technical Field
The invention relates to the technical field of storage, in particular to a mobile intelligent storage applied to the side of a factory production line, which comprises a storage part and a mobile intelligent trolley, wherein the mobile intelligent storage can automatically transfer and transport a material unit from the intelligent storage to the side of the factory production line, and the intelligent trolley is provided with two modes of moving according to a set route and following workers to realize intelligent transport of the material unit.
Background
Intelligent manufacturing is a very huge technical field. Wherein smart logistics is one of the important environments. In the technical field of intelligent warehousing, the material conveying from the warehouse to the production line side is also plagued. In the prior art, materials are usually transferred to the side of a production line by adopting a manual pushing and carrying mode after intelligent storage shipment, and obviously, the efficiency of the mode is low. The applicant therefore envisages the application of AGV (Automated Guided Vehicle) trolleys to the context of material transport of the plant, enabling transport of material from warehouse to line side.
The factory line side logistics transportation scene has the following characteristics: the intelligent trolley has the advantages of multiple stations, multiple barriers and complex circuits, and needs to return to the storage side for reloading and transfer goods to the next appointed position after the intelligent trolley sends the materials to the appointed position. Existing intelligent carts therefore need to be modified to accommodate automatic shipment, transfer or follow-up of material.
Specifically, the intelligent trolley in the prior art comprises two moving modes, wherein one mode is to preset an action route according to the layout of a production line of a factory and run according to the action route according to a program; another way is to use a mobile object (in particular a worker in the present application) to follow and move to the corresponding site. The intelligent trolley disclosed in CN106829374 is used for transporting food, and on page 1, paragraph 05 of the specification, the intelligent trolley is started according to signals obtained by a weight sensor, and forms a working movement track according to the arrangement mode of a plurality of mechanisms to be added, and the intelligent trolley performs material feeding at a plurality of supplementary positions of the movement track. The intelligent trolley has the defects that the intelligent trolley lacks a material supplementing and transferring device, the material is poured on the intelligent trolley and can only transfer one product and a corresponding quantity of materials at a time, and continuous movement of a plurality of sites cannot be realized; secondly, the application scene is an unmanned factory and has continuous automatic processing capability, namely, the material is arranged on a device of a production line without a human tool. In fact, most of the existing equipment on the production line side needs to manually load the transported materials on the equipment, so that the intelligent trolley needs to "learn" to avoid the obstacle of workers to realize the functions of running, stopping and walking or avoiding, otherwise, the intelligent warehouse cannot be normally used.
Based on this, the intelligent vehicle needs to solve the "discovery" of the obstacle and control the vehicle speed of the intelligent vehicle. Intelligent speed control of a single-chip microcomputer of analyse disclosed in "new communication in china" 2017 "(author Wang Bo, kangde, zheng Zhibo) describes: utilize infrared photoelectric sensor and ultrasonic wave to carry out effectual detection to intelligent trolley's obstacle avoidance function. And the control of the intelligent trolley running speed is enhanced by using a pulse wide-amplitude modulation technology. Pulse Width Modulation (PWM) is mainly to perform pulse width modulation on power supply voltage so as to change the average value of voltages at two ends of an auxiliary to a certain extent, and further to control the rotation speed of a motor. And then, as described in Automation Instrument, 2017, 9, volume 38, ninth stage (author Zhang Ping), an obstacle avoidance method of the trolley is realized by detecting the obstacle and the object distance by using an ultrasonic signal feedback combination algorithm. However, the problems of the technical scheme are that firstly, due to the complexity of the environment, the ultrasonic ranging obstacle avoidance is inaccurate and frequently fails, and secondly, the average difference value of the voltage average value is utilized to have deviation, and the speed regulation precision is not high. For this reason, it is desirable to provide a device that can shield "noisy" objects in the working environment and achieve accurate speed regulation. Furthermore, in the actual production process, the intelligent trolley is required to realize the movement of 'following' workers from one site to another. The following motion mode is intended to be solved by factory line edge logistics in the existing intelligent factory. The intelligent following motion mode has a great number of benefits, such as flexible transportation and real-time transfer realized by moving according to the motion trail of workers. However, the intelligent trolley needs to be used for storing various materials and a large quantity of materials, the materials can automatically return to storage for stock when the materials are short, and the accurate identification of the following objects (workers in the application) and the adjustment of the movement postures such as the rotation angle and the like can be realized. The above problems are the hot spot of research in the industry, and the present application provides an implementation scheme.
Disclosure of Invention
In order to solve the technical problems, the invention provides the mobile intelligent warehouse, which integrates the intelligent warehouse and the intelligent trolley into a whole, realizes free movement of the small intelligent warehouse in the area range of an intelligent factory, can directly send materials to the side of a production line and move the materials out of equipment which is convenient for workers to take out, install and produce the line, and can move and flexibly transport the materials along with the workers.
The mobile intelligent warehouse comprises a warehouse component, wherein a mobile component is arranged below the warehouse component;
The warehouse component comprises:
The seat body is used for supporting the storage at the upper part of the seat body, the seat body comprises four supporting legs, the four supporting legs form an encircling space, and the encircling space is used for accommodating the moving part;
the roller conveyor is arranged on the seat body and used for conveying the material units;
the clamping jaw mechanism is used for clamping the material unit;
The storage part also comprises a shell which is coated outside the frame body, wherein the shell is provided with a bin gate for feeding the material unit and a discharge hole for outputting the material unit, a camera, a control panel and an indicator lamp.
Preferably, the shell can be opened on four sides in the circumferential direction, and the materials can be moved out.
The structure is an integral structure of the mobile intelligent storage, wherein the storage is a containing space capable of containing materials, and the roller conveyor is used for moving the materials in the upper intelligent storage into the storage and moving the materials out of the storage through the clamping jaw mechanism. The movable part below the storage part is a structural part capable of realizing intelligent transportation, the intelligent transportation means that the movable part at least has an obstacle avoidance function, moves to a corresponding station according to a set track, can adjust the speed according to the set track and can follow the movement of workers.
Preferably, the supporting legs are provided with universal wheels. The universal wheel is convenient to move.
Further, the movable part is an intelligent trolley, and comprises a power supply system, a vehicle speed control module, a photoelectric detection module, a wireless communication module and a ranging module.
Further, the power supply system comprises a battery pack, a battery detection module, a conversion module and a charging station, wherein the battery pack is used for storing electric quantity;
the battery detection module and the conversion module are used for monitoring the state of the battery pack in real time and converting the output parameters of the battery;
the charging station can charge the battery pack according to the set voltage, current and time parameters;
The battery detection module comprises an auxiliary power supply, a battery detection module sends a charge inhibition signal to the battery pack when the battery is detected, the auxiliary power supply provides auxiliary electric quantity for the intelligent trolley, a voltage detector of the battery detection module detects the voltage of the battery pack, and when the detected power supply voltage is smaller than a threshold voltage, the battery detection module judges that the battery pack fails, the battery detection module further comprises a capacitor and a current control circuit, and the current control circuit comprises a current based on a system power line, a part of the power supply supplied to the system power line and a circuit for preventing the current from being supplied from the charging circuit to the system power line;
The conversion module comprises a plurality of power converters, signals output by the power converters have different phases, and a positive output end and a negative output end of the output are respectively connected with a positive input end and a negative input end of the differential amplifier;
the charging station comprises a charger and a battery pack, wherein the charger is used for transmitting the energy of a power supply to the intelligent trolley according to a set charging mode, and the charger comprises a three-phase alternating current input unit, a rectifier and an alternating current-direct current converter.
The intelligent trolley is a movable part which works by adopting a direct current power supply. Therefore, the battery pack needs to be repeatedly returned to the charging station for charging, and the working condition of the battery pack needs to be monitored for safety in use. Generally, when the voltage of the battery pack deviates from a safety value, it is determined that a problem occurs in the battery pack. The auxiliary power supply is started to support the operation of the intelligent trolley, and a command for prohibiting the intelligent trolley from resetting and charging is sent out, and the battery detection module further comprises a capacitor and a current control circuit when the intelligent trolley is in a charging state, wherein the current control circuit comprises a current based on a system power line, a part of the power supply supplied to the system power line and a circuit for preventing the current from being supplied to the system power line from the charging circuit.
Further, the vehicle speed control module comprises a controller, a power converter and a motor, wherein the controller outputs PWM waves to a driving circuit, and the driving circuit outputs current to the motor to control the motor to rotate; the speed control of the trolley is realized by the following method:
Step one: presetting a travelling path of an intelligent trolley, marking a straight road and a curve, and setting speed thresholds of the intelligent trolley on the straight road and the curve;
Step two: acquiring position information of the trolley through a plurality of groups of infrared sensors arranged at the front end of the intelligent trolley, and acquiring speed information through speed sensors arranged on driving wheels of the trolley;
Step three: detecting the running speed of the trolley by a detector to generate a feedback signal; a controller electrically connected to the detector for converting the feedback signal to a digital signal for comparison to a predetermined value of the design speed to generate a control signal, wherein the controller further comprises: a register for storing the digital signal and a predetermined value; an operator for comparing said digital signal with said predetermined value to determine an output state of said control signal; and the driving device is used for adjusting the output power of the motor and driving the motor to operate according to the control signal.
According to the invention, the average value measurement of the output voltage is changed to debug the motor rotation speed. The position, the wheel rotating speed and the controller are combined in sequence, the preset speed according to the designed route locus is compared, and the digital signal is adopted to control the operator to regulate the rotation of the motor, so that the speed regulation is softer and more accurate due to the limitation of the speed threshold value and the advantages of the digital signal processing speed.
Further, the photoelectric detection module is used for detecting a shading object in the environment and at least comprises a photoelectric transmitter and a plurality of photoelectric receivers, wherein the plurality of photoelectric receivers are divided into a main path optical signal receiver and a plurality of auxiliary photoelectric receivers; the main path optical signal receiver and the photoelectric transmitter are positioned at the same position, and the auxiliary photoelectric receiver and the photoelectric transmitter are separated by a certain distance, and the maximum limit of the distance is that the reflected light of the light rays emitted by the photoelectric transmitter can be received to the limit.
Further, the method for detecting the object by the photoelectric detection module comprises the following steps: the main path optical signal receiver acquires a main optical path signal transmitted by the photoelectric transmitter, the auxiliary photoelectric receiver receives the reflected ambient light signal, and the photoelectric detection module filters the ambient light signal in the main optical path signal in a self-adaptive manner based on the ambient light signal of at least one auxiliary optical path; calculating an output signal of each of the sub-path optical signals passing through the respective transmission path filters in one adaptive filtering period; calculating the updating quantity of the transmission path filter coefficient of each auxiliary path optical signal according to the correlation function of the main path optical signal, and filtering the auxiliary path optical signal in the self-adaptive filtering period; correspondingly increasing the update amount for the transmission path filter coefficient of each auxiliary path optical signal; after updating the transmission path filter of each of the auxiliary optical signals, further comprising: judging whether the updated transmission path filter meets the filter constraint condition, if so, taking the updated transmission path filter as the transmission path filter of auxiliary equipment in the next self-adaptive filtering period, if not, carrying out normalization processing on the updated transmission path filter, and filtering the normalized ambient light signal in a main light path signal;
The visual ranging module comprises a visual ranging module and a visual ranging module,
The CCD camera is used for capturing the front image of the intelligent trolley, and the CCD camera is used for shooting the image of the measured object;
a distance measuring unit that performs two-dimensional scanning of a predetermined range in synchronization with image acquisition and measures the two-dimensional scanning;
An arithmetic control unit;
A posture detecting unit for detecting an inclination angle of the image capturing unit with respect to a horizontal state;
Wherein the arithmetic control unit associates a measurement result and a detection result of the posture detection unit with each pixel on a scanning trajectory corresponding to the acquired image.
According to the invention, the main path optical signal receiver and the auxiliary photoelectric receivers are arranged, and the photoelectric detection module is used for filtering the self-adaptive ambient light signal in the main optical path signal, so that the noise of the ambient light in the environment is removed, the feedback signal of the main path optical signal to the shielding object is highlighted, and the obstacle avoidance is accurate.
Further, the posture detecting unit detects an inclination angle of the reference optical axis in a predetermined direction with respect to the advancing direction of the moving member, the CCD camera is configured to acquire a continuous image, the distance measuring unit is configured to scan a predetermined range two-dimensionally in synchronization with frame images constituting the continuous image, and the arithmetic control unit is configured to combine the frame images in time series, the arithmetic control unit is configured to include an inclination sensor and an acceleration sensor as inclination sensors based on scan information of pixels at respective intersections of the scan trajectories, and an output from the posture detecting unit is a detection result of the acceleration sensor corrected based on comparison data of the inclination sensors.
According to the invention, the CCD camera captures an image, measures the distance between the image and a person to be followed, corrects the relative speed between the image and the person according to the inclination sensor and the acceleration sensor, realizes the continuous following function, and stops following and maintains the preset relative distance when the person stops. The mobile intelligent warehouse provided by the invention has the beneficial effects that: the intelligent trolley can realize accurate route operation, obstacle avoidance and speed regulation of the installation preset path of the intelligent trolley, can simultaneously move along with personnel to reach a designated site, and can simultaneously return to a charging station to charge automatically and set a charging protection mechanism to realize safety protection; meanwhile, the storage part can automatically transfer goods into the storage part, and the materials are clamped and transferred through the clamping part. The invention can complete automatic transportation of materials and improve the conveying efficiency of the materials at the side of a factory production line.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below.
FIG. 1 is a schematic diagram of a mobile intelligent warehouse in the present invention;
Fig. 2 is a schematic structural view of a warehouse component in the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
This embodiment is shown in fig. 1 and 2.
The mobile intelligent warehouse comprises a warehouse part 1, wherein a mobile part 2 is arranged below the warehouse part 1;
the warehouse component 1 comprises:
The seat body 3 is used for supporting the storage part 1 at the upper part of the seat body 3, the seat body 3 comprises four supporting feet 31, the four supporting feet 31 form an encircling space, and the encircling space is used for accommodating the moving part 2;
A roller conveyor 4 disposed above the base 3 for conveying the material units;
the clamping jaw mechanism 5 is used for clamping the material unit;
The storage part 1 also comprises a shell 6 coated outside the frame body, wherein the shell 6 is provided with a bin gate 7 for feeding a material unit and a discharge hole for outputting the material unit, a camera, a control panel 8 and an indicator lamp 9.
The structure is an integral structure of the mobile intelligent storage, wherein the storage is a containing space capable of containing materials, and the roller conveyor is used for moving the materials in the upper intelligent storage into the storage and moving the materials out of the storage through the clamping jaw mechanism. The movable part below the storage part is a structural part capable of realizing intelligent transportation, the intelligent transportation means that the movable part at least has an obstacle avoidance function, moves to a corresponding station according to a set track, can adjust the speed according to the set track and can follow the movement of workers.
The supporting leg 31 is provided with a universal wheel 32. The universal wheel is convenient to move.
The movable part is an intelligent trolley and comprises a power supply system, a vehicle speed control module, a photoelectric detection module, a wireless communication module and a visual ranging module.
The power supply system comprises a battery pack, a battery detection module, a conversion module and a charging station,
The battery pack is used for storing electric quantity;
the battery detection module and the conversion module are used for monitoring the state of the battery pack in real time and converting the output parameters of the battery;
the charging station can charge the battery pack according to the set voltage, current and time parameters;
The battery detection module comprises an auxiliary power supply, a battery detection module sends a charge inhibition signal to the battery pack when the battery is detected, the auxiliary power supply provides auxiliary electric quantity for the intelligent trolley, a voltage detector of the battery detection module detects the voltage of the battery pack, and when the detected power supply voltage is smaller than a threshold voltage, the battery detection module judges that the battery pack fails, the battery detection module further comprises a capacitor and a current control circuit, and the current control circuit comprises a current based on a system power line, a part of the power supply supplied to the system power line and a circuit for preventing the current from being supplied from the charging circuit to the system power line;
The conversion module comprises a plurality of power converters, signals output by the power converters have different phases, and a positive output end and a negative output end of the output are respectively connected with a positive input end and a negative input end of the differential amplifier;
the charging station comprises a charger and a battery pack, wherein the charger is used for transmitting the energy of a power supply to the intelligent trolley according to a set charging mode, and the charger comprises a three-phase alternating current input unit, a rectifier and an alternating current-direct current converter.
The intelligent trolley is a movable part which works by adopting a direct current power supply. Therefore, the battery pack needs to be repeatedly returned to the charging station for charging, and the working condition of the battery pack needs to be monitored for safety in use. Generally, when the voltage of the battery pack deviates from a safety value, it is determined that a problem occurs in the battery pack. The auxiliary power supply is started to support the operation of the intelligent trolley, and a command for prohibiting the intelligent trolley from resetting and charging is sent out, and the battery detection module further comprises a capacitor and a current control circuit when the intelligent trolley is in a charging state, wherein the current control circuit comprises a current based on a system power line, a part of the power supply supplied to the system power line and a circuit for preventing the current from being supplied to the system power line from the charging circuit.
The vehicle speed control module comprises a controller, a power converter and a motor, wherein the controller outputs PWM waves to a driving circuit, and the driving circuit outputs current to the motor to control the motor to rotate; the speed control of the trolley is realized by the following method:
Step one: presetting a travelling path of an intelligent trolley, marking a straight road and a curve, and setting speed thresholds of the intelligent trolley on the straight road and the curve;
Step two: acquiring position information of the trolley through a plurality of groups of infrared sensors arranged at the front end of the intelligent trolley, and acquiring speed information through speed sensors arranged on driving wheels of the trolley;
Step three: detecting the running speed of the trolley by a detector to generate a feedback signal; a controller electrically connected to the detector for converting the feedback signal to a digital signal for comparison to a predetermined value of the design speed to generate a control signal, wherein the controller further comprises: a register for storing the digital signal and a predetermined value; an operator for comparing said digital signal with said predetermined value to determine an output state of said control signal; and the driving device is used for adjusting the output power of the motor and driving the motor to operate according to the control signal.
According to the invention, the average value measurement of the output voltage is changed to debug the motor rotation speed. The position, the wheel rotating speed and the controller are combined in sequence, the preset speed according to the designed route locus is compared, and the digital signal is adopted to control the operator to regulate the rotation of the motor, so that the speed regulation is softer and more accurate due to the limitation of the speed threshold value and the advantages of the digital signal processing speed.
The photoelectric detection module is used for detecting a shading object in the environment and at least comprises a photoelectric transmitter and a plurality of photoelectric receivers, wherein the photoelectric receivers are divided into a main path optical signal receiver and a plurality of auxiliary photoelectric receivers; the main path optical signal receiver and the photoelectric transmitter are positioned at the same position, and the auxiliary photoelectric receiver and the photoelectric transmitter are separated by a certain distance, and the maximum limit of the distance is that the reflected light of the light rays emitted by the photoelectric transmitter can be received to the limit.
The method for detecting the object by the photoelectric detection module comprises the following steps: the main path optical signal receiver acquires a main optical path signal transmitted by the photoelectric transmitter, the auxiliary photoelectric receiver receives the reflected ambient light signal, and the photoelectric detection module filters the ambient light signal in the main optical path signal in a self-adaptive manner based on the ambient light signal of at least one auxiliary optical path; calculating an output signal of each of the sub-path optical signals passing through the respective transmission path filters in one adaptive filtering period; calculating the updating quantity of the transmission path filter coefficient of each auxiliary path optical signal according to the correlation function of the main path optical signal, and filtering the auxiliary path optical signal in the self-adaptive filtering period; correspondingly increasing the update amount for the transmission path filter coefficient of each auxiliary path optical signal; after updating the transmission path filter of each of the auxiliary optical signals, further comprising: judging whether the updated transmission path filter meets the filter constraint condition, if so, taking the updated transmission path filter as the transmission path filter of auxiliary equipment in the next self-adaptive filtering period, if not, carrying out normalization processing on the updated transmission path filter, and filtering the normalized ambient light signal in a main light path signal;
The visual ranging module comprises a visual ranging module and a visual ranging module,
The CCD camera is used for capturing the front image of the intelligent trolley, and the CCD camera is used for shooting the image of the measured object;
a distance measuring unit that performs two-dimensional scanning of a predetermined range in synchronization with image acquisition and measures the two-dimensional scanning;
An arithmetic control unit;
A posture detecting unit for detecting an inclination angle of the image capturing unit with respect to a horizontal state;
Wherein the arithmetic control unit associates a measurement result and a detection result of the posture detection unit with each pixel on a scanning trajectory corresponding to the acquired image.
According to the invention, the main path optical signal receiver and the auxiliary photoelectric receivers are arranged, and the photoelectric detection module is used for filtering the self-adaptive ambient light signal in the main optical path signal, so that the noise of the ambient light in the environment is removed, the feedback signal of the main path optical signal to the shielding object is highlighted, and the obstacle avoidance is accurate.
The attitude detection unit detects an inclination angle of the reference optical axis in a predetermined direction with respect to an advancing direction of the moving member, the CCD camera is configured to acquire a continuous image, the distance measurement unit is configured to scan a predetermined range two-dimensionally in synchronization with frame images constituting the continuous image, and the arithmetic control unit is configured to combine the frame images in time series, the arithmetic control unit is configured to include an inclination sensor and an acceleration sensor as inclination sensors based on scan information of pixels at respective intersections of the scanning trajectories, and an output from the attitude detection unit is a detection result of the acceleration sensor corrected based on comparison data of the inclination sensors. The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (3)
1. The mobile intelligent warehouse is characterized by comprising a warehouse component, wherein a mobile component is arranged below the warehouse component; the warehouse component comprises: the seat body is used for supporting the storage at the upper part of the seat body, the seat body comprises four supporting legs, the four supporting legs form an encircling space, and the encircling space is used for accommodating the moving part; the roller conveyor is arranged on the seat body and used for conveying the material units; the clamping jaw mechanism is used for clamping the material unit; the storage part also comprises a shell which is coated outside the frame body, and the shell is provided with a bin gate for the entry of the material unit and a discharge hole for the output of the material unit; the mobile component is an intelligent trolley and comprises a power supply system, a vehicle speed control module, a photoelectric detection module, a wireless communication module and a visual ranging module; the power supply system comprises a battery pack, a battery detection module, a conversion module and a charging station, wherein the battery pack is used for storing electric quantity; the battery detection module and the conversion module are used for monitoring the state of the battery pack in real time and converting the output parameters of the battery; the charging station can charge the battery pack according to the set voltage, current and time parameters; the battery detection module comprises an auxiliary power supply, a battery detection module sends a charge inhibition signal to the battery pack when the battery is detected, the auxiliary power supply provides auxiliary electric quantity for the intelligent trolley, a voltage detector of the battery detection module detects the voltage of the battery pack, and when the detected power supply voltage is smaller than a threshold voltage, the battery detection module judges that the battery pack fails, the battery detection module further comprises a capacitor and a current control circuit, and the current control circuit comprises a current based on a system power line, a part of the power supply supplied to the system power line and a circuit for preventing the current from being supplied from the charging circuit to the system power line; the conversion module comprises a plurality of power converters, signals output by the power converters have different phases, and a positive output end and a negative output end of the output are respectively connected with a positive input end and a negative input end of the differential amplifier; the charging station comprises a charger and a charging unit, wherein the charger is used for transmitting the energy of a power supply to a battery pack of the intelligent trolley according to a set charging mode and comprises a three-phase alternating current input unit, a rectifier and an alternating current-direct current converter; the vehicle speed control module comprises a controller, a power converter and a motor, wherein the controller outputs PWM waves to a driving circuit, and the driving circuit outputs current to the motor to control the motor to rotate; the speed control of the trolley is realized by the following method: step one: presetting a travelling path of an intelligent trolley, marking a straight road and a curve, and setting speed thresholds of the intelligent trolley on the straight road and the curve; step two: acquiring position information of the trolley through a plurality of groups of infrared sensors arranged at the front end of the intelligent trolley, and acquiring speed information through speed sensors arranged on driving wheels of the trolley;
Step three: detecting the running speed of the trolley by a detector to generate a feedback signal; a controller electrically connected to the detector for converting the feedback signal to a digital signal for comparison to a predetermined value of the design speed to generate a control signal, wherein the controller further comprises: a register for storing the digital signal and a predetermined value; an operator for comparing said digital signal with said predetermined value to determine an output state of said control signal; and a driving device for adjusting the output power of the motor and driving the motor to operate according to the control signal; the photoelectric detection module is used for detecting a shading object in the environment and at least comprises a photoelectric transmitter and a plurality of photoelectric receivers, wherein the photoelectric receivers are divided into a main path optical signal receiver and a plurality of auxiliary photoelectric receivers; the main path optical signal receiver and the photoelectric transmitter are positioned at the same position, and the auxiliary photoelectric receiver and the photoelectric transmitter are separated by a certain distance, wherein the maximum limit of the distance is that the reflected light of the light rays emitted by the photoelectric transmitter can be received to the limit; the main path optical signal receiver acquires a main optical path signal transmitted by the photoelectric transmitter, the auxiliary photoelectric receiver receives the reflected ambient light signal, and the photoelectric detection module filters the ambient light signal in the main optical path signal in a self-adaptive manner based on the ambient light signal of at least one auxiliary optical path; calculating an output signal of each of the sub-path optical signals passing through the respective transmission path filters in one adaptive filtering period; calculating the updating quantity of the transmission path filter coefficient of each auxiliary path optical signal according to the correlation function of the main path optical signal, and filtering the auxiliary path optical signal in the self-adaptive filtering period; correspondingly increasing the update amount for the transmission path filter coefficient of each auxiliary path optical signal; after updating the transmission path filter of each of the auxiliary optical signals, further comprising: judging whether the updated transmission path filter meets the filter constraint condition, if so, taking the updated transmission path filter as the transmission path filter of auxiliary equipment in the next self-adaptive filtering period, if not, carrying out normalization processing on the updated transmission path filter, and filtering the normalized ambient light signal in a main light path signal; the visual ranging module comprises: the CCD camera is used for capturing the front image of the intelligent trolley, and the CCD camera is used for shooting the image of the measured object; a distance measuring unit that performs two-dimensional scanning of a predetermined range in synchronization with image acquisition and measures the two-dimensional scanning; an arithmetic control unit; a posture detecting unit for detecting an inclination angle of the image capturing unit with respect to a horizontal state; wherein the arithmetic control unit associates a measurement result and a detection result of the posture detection unit with each pixel on a scanning trajectory corresponding to the acquired image; the CCD camera is configured to acquire continuous images, the distance measuring unit is configured to scan a predetermined range two-dimensionally in synchronization with frame images constituting the continuous images, and the arithmetic control unit is configured to combine the frame images in time series, the arithmetic control unit is configured to detect the position of the CCD camera based on scanning information of pixels at respective intersections of the scanning tracks, the posture detecting unit includes a tilt sensor and an acceleration sensor, and an output from the posture detecting unit is a detection result of the acceleration sensor corrected based on comparison data of the tilt sensor.
2. The mobile intelligent warehouse of claim 1, wherein the support legs are provided with universal wheels.
3. A mobile intelligent warehouse as claimed in claim 1, wherein the housing is openable on four sides in the circumferential direction and is capable of transporting materials.
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| CN111069090B (en) * | 2019-12-02 | 2022-01-14 | 庄颖桐 | Automatic sorting tracking method based on color identification and trolley |
| CN113739835A (en) * | 2021-08-25 | 2021-12-03 | 南通微云物联有限公司 | Sensor with fault detection function |
| CN114313570A (en) * | 2022-02-15 | 2022-04-12 | 上海钛米机器人股份有限公司 | Transport robot and control method thereof |
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