CN209327871U - Bootstrap formula Intelligent carrier - Google Patents

Abstract

The utility model discloses a kind of bootstrap formula Intelligent carriers, are related to floor truck technical field.The bootstrap formula Intelligent carrier includes car body, wheel and transfer module, the sensor-based system being electrically connected to each other is equipped in car body, single-chip microcontroller and drive system, sensor-based system includes the tracking guiding module with monolithic mechatronics respectively, ranging for preventing collision module, with color identification module, drive system includes the alarm modules with monolithic mechatronics, display module, motor drive module and manipulator, the floor truck collection material is differentiated, Path Recognition, ranging for preventing collision and data recording function are integrated, solves the problems, such as the automatic classification transportation problem of material and storage information record, reliability when system is run when improving in face of complicated storage environment.

Description

Bootstrap formula Intelligent carrier

Technical field

The utility model relates to floor truck technical fields, more particularly to a kind of bootstrap formula Intelligent carrier.

Background technique

Storage refer to goods and materials are stored by warehouse, keeping and the movable general name of warehouse associated reservoir.It with The generation of material storage and generate, and with the development of productivity.Storage is one of important link of commodity circulation, It is the mainstay of logistics activity.

In recent years, to solve working environment complicated in Classification Management work and reply warehouse heavy in warehouse logistics, The hot spot in the field is had become to the detection sensing technology application study of carrier.Floor truck is a kind of replacement people completion material The intelligence tool transported and put is suggested and is widely applied there are many relevant design scheme.

Floor truck, that is, transfer robot is the industrial robot that can carry out automated handling operation.Transport operation is Refer to and hold workpiece with a kind of equipment, refers to from a Working position and move on to another Working position.Transfer robot is mountable not Same end effector is worked with the workpiece handling for completing various different shapes and state, significantly reduces the heavy physical strength of the mankind Labour.

The transfer robot used in the world exceedes 100,000, is widely used in lathe loading and unloading, the automatic metaplasia of press machine The automatic transporting of producing line, automatic assembly line, Palletised carry, container etc..Systems in Certain Developed Countries has made manual handling To greatest extent, what is gone beyond the limit must be completed by transfer robot.

Transfer robot is the new and high technology that modern age automation field occurs, and has been related to mechanics, mechanics, electricity Device hydraulic-pneumatic technology, automatic control technology, sensor technology, the ambits such as singlechip technology and computer technology have become For an important component in modern mechanical manufacturing production system.Its advantages are can to complete various expections by programming Task, have the respective advantage of people and machine in self structure and performance, especially embodied artificial intelligence and adaptability.

Currently, the Chinese patent of Publication No. CN109205513A discloses a kind of lifting floor truck comprising vehicle frame, Track, elevating mechanism and driving walking mechanism；Elevating mechanism includes lifting drive unit, lifting pilot unit and pallet；It rises Drop power unit and lifting pilot unit are arranged in vehicle frame, and are connect with the pallet being located above vehicle frame；Drive vehicle with walking machine Structure includes driving unit, gear unit and traveling wheel；

Gear unit includes driving wheel and driven wheel；Traveling wheel setting is adapted on frame panel, and with track；Driving Unit is mounted on bottom of frame, and output is connect with driving wheel, and driving wheel drives driven wheel rotation；The walking of driven wheel and vehicle frame Wheel coaxial arrangement.

Although this lifting floor truck structure is simple and convenient to operate, landed cost is low, and operating efficiency is higher, Since its ranging for preventing collision performance is poor, operational reliability is lower when in face of complicated warehousing system.

Utility model content

In view of the above technical problems, the shortcomings that overcoming the prior art, provides a kind of bootstrap formula and intelligently removes the utility model Transport trolley.

In order to solve the above technical problems, the utility model provides a kind of bootstrap formula Intelligent carrier.

Technical effect: the floor truck integrates material resolution, Path Recognition, ranging for preventing collision and data recording function, Solves the problems, such as the automatic classification transportation problem of material and storage information record, system is transported when improving in face of complicated storage environment Reliability when row combines tracking subsystem, color recognition subsystem and ranging subsystem, carries material for automatic sorting Safe and reliable scheme is provided, the detection senses ability of traditional floor truck is improved, solves Classification of materials and message tube Reason problem improves the adaptive capacity to environment and working efficiency of handling system.

The technical solution that the utility model further limits is: including car body, wheel and transfer module, being equipped with phase in car body Mutually it is electrically connected

Single-chip microcontroller, for analyzing exogenous data and controlling trolley mass activity；

Sensor-based system for collecting storage environment and material characteristics data, and sends data to single-chip microcontroller；

Drive system, by single-chip microcontroller control activity, to drive trolley and driving transfer module work；

Sensor-based system include respectively with monolithic mechatronics

Tracking guiding module, the position or orientation for collecting the road condition data in storage environment, judging trolley, and adjust The detection range of trolley, including sensor interconnected, diode and triode are saved, is equipped with black guide ribs in storage environment Band；

Ranging for preventing collision module, for measuring the spacing between trolley and barrier to avoid the collision of trolley and barrier, Including bandpass filter, preamplifier and power amplifier and piezo chips, transmitters and receivers；

Color identification module, for detecting the color of article to be handled to distinguish different types of article, including several Photodiode formed array and three kinds respectively acquire primaries signal optical filter and based on recording impulse number Number device.

Further, drive system includes the alarm modules with monolithic mechatronics, display module,

Motor drive module, for driving wheel to rotate, additionally it is possible to make wheel differential speed rotation to realize and turn to；

Manipulator, the left arm and right arm engaged including fixed plate, in fixed plate by gear, and for controlling The movable steering engine of left arm and right arm processed further includes the motor and train of reduction gears for driving steering engine.

The preceding bootstrap formula Intelligent carrier, the motor in motor drive module is vertical bar single shaft gear motor, Its model 1A120-1812L includes logic control power supply and motor drive power supply on motor drive module.

The preceding bootstrap formula Intelligent carrier, steering engine are MG995 type steering engine, and alarm modules are by ISD1820 tape Loop line memorization COMS clip, electret-type microphone and low-power speaker composition, display module are LCD1602 liquid crystal display.

The preceding bootstrap formula Intelligent carrier, tracking guiding module are interior reflective equipped with TCRT5000 infrared electro Sensor, TCRT5000 infrared electro reflection sensor include infrared light-emitting diode and phototriode, tracking guided mode Voltage comparator is additionally provided in block.

The preceding bootstrap formula Intelligent carrier, ranging for preventing collision module is interior to be equipped with HC-SR04 ultrasonic sensor.

The preceding bootstrap formula Intelligent carrier, color identification module is interior to be equipped with TCS230 color sensor, monolithic Machine model IAP15F2K61S2 single-chip microcontroller.

The beneficial effects of the utility model are:

(1) in the utility model, integrate material resolution, Path Recognition, ranging for preventing collision and data recording function, solve The automatic classification transportation problem and storage information of material record problem, when system is run when improving in face of complicated storage environment Reliability；

(2) in the utility model, tracking subsystem has the advantages that achievable homing guidance, and color recognition subsystem has Subsidiary classification manages the advantages of material, and ranging subsystem has the advantages that lifting system safety, and IAP15F2K61S2 monolithic The advantages of machine, is to be internally integrated highly reliable reset circuit, PCA(programmable counter array) module and EEPROM(electric erasable Read-only memory) module, circuit can be simplified, convenient for control, power down saves significant data；

(3) in the utility model, creatively tracking subsystem, color recognition subsystem are mutually tied with ranging subsystem It closes, carries material for automatic sorting and provide safe and reliable scheme, improve the detection senses ability of traditional floor truck, solve It has determined Classification of materials and Information Management Problems, has improved the adaptive capacity to environment and working efficiency of handling system.

Detailed description of the invention

Fig. 1 is the system schema figure of embodiment 1；

Fig. 2 is the circuit diagram of sensor-based system in embodiment 1；

Fig. 3 is the circuit diagram of drive system in embodiment 1；

Fig. 4 is the working principle diagram of tracking guiding module in embodiment 1；

Fig. 5 is the working principle diagram of ranging for preventing collision module in embodiment 1；

Fig. 6 is color identification module working principle diagram in embodiment 1；

Fig. 7 is the structure chart of manipulator in embodiment 1；

Fig. 8 is the steering engine schematic diagram of manipulator in embodiment 1.

In figure, 1, left arm；2, right arm；3, fixed plate；4, steering engine.

Specific embodiment

A kind of bootstrap formula Intelligent carrier provided in this embodiment, as shown in Figure 1, including car body, wheel and carrying Module, is equipped with sensor-based system, single-chip microcontroller and the drive system being electrically connected to each other in car body, sensor-based system include respectively with single-chip microcontroller Tracking guiding module, ranging for preventing collision module and the color identification module of electrical connection, drive system include and monolithic mechatronics Alarm modules, display module, motor drive module and manipulator.Such as Fig. 2 and Fig. 3 of circuit used by system entirety institute Show.

As shown in figure 4, tracking guiding module uses TCRT5000 infrared electro reflection sensor, infrared signal is through infrared Light emitting diode is sent out, and receives reflected light by phototriode, utilizes the difference of black guide ribs band and light ground return light intensity It is different to perceive road conditions, it is suitable for 1cm~10cm short distance road conditions and identifies, TCRT5000 mainly consists of two parts, and is high respectively The infrared light-emitting diode of transmission power and highly sensitive phototriode.

Its working principle is as shown in figure 4, infrared light-emitting diode continues to emit infrared light to road surface, if Infrared irradiation exists On black guide ribs band, then infrared light is absorbed by band, phototriode cut-off, phototriode collector voltage and potentiometer After preset threshold voltage carries out sluggishness relatively by voltage comparator, high level is exported to single-chip microcontroller, while indication LED is put out It goes out；

If Infrared irradiation on light ground, is reflected, after phototriode receives reflected light, saturation conduction, After voltage comparator carries out sluggishness relatively, low level is exported to single-chip microcontroller, while indication LED is lighted, single-chip microcontroller is according to two-way The height of sensor output Transistor-Transistor Logic level signal, judges the position or orientation of trolley.In addition, can be changed by adjusting potentiometer The threshold voltage of voltage comparator, to adjust detection range.

As shown in figure 5, ranging for preventing collision module uses HC-SR04 ultrasonic sensor, the piezoelectric effect of piezoelectric chip is utilized And inverse piezoelectric effect is suitable for the ranging of 0.02m~4m short range to emit and receive ultrasonic wave.The ranging process of HC-SR04 is main The discrimination of generation, back wave including transmitted wave and the calculating of range data.

Concrete operating principle is as shown in Figure 5.Single-chip microcontroller modulation output 40kHz square-wave signal, send through power amplifier to hair Device is sent, due to inverse piezoelectric effect, high-frequency fluctuation voltage makes the piezoelectric chip in transmitter generate high-frequency vibration, formation The ultrasonic wave of 40kHz is issued from transmitter；

If ultrasonic wave encounters barrier in propagation on the way, reflected, the piezoelectric chip in back wave compressing receiver makes Stress, piezoelectric chip generates electric signal because of piezoelectric effect, amplification of the electric signal through preamplifier and bandpass filter Filtering, outputs level signals jump, representing back wave arrived, and be captured by single-chip microcontroller；It is recorded and is emitted using single-chip microcontroller timer By following formula distance value can be calculated in the interval time of wave and back wave:

In formula: △ d is sensor at a distance from barrier, (unit m)；Under conditions of C is 1 standard atmospheric pressure and 15 DEG C The velocity of sound, (unit m/s)；△ t is the interval time of transmitted wave and back wave, (unit s).

As shown in fig. 6, color identification module uses TCS230 color sensor, using the photovoltaic effect of photodiode, And CCO(current control oscillator) principle, the conversion of optical signal to pulse signal is completed, with the frequency values of output pulse signal Indicate the RGB(RGB of color to be measured) component value, the color category suitable for detection object reflection light.

TCS230 concrete operating principle is as shown in fig. 6, it is internally integrated 8 × 8 photodiode arrays, by 16 components It is 4 groups, wherein one group does not cover optical filter, is in addition covered with red, green and blue optical filter, this three groups of photoelectricity respectively for three groups Diode is responsible for acquiring the primaries signal of light source to be measured, and generates corresponding three kinds of photoelectric currents, and current signal is through internal electricity After stream/freq converting circuit processing, it is separately converted to frequency pulse signal corresponding with three primary colours component value, output is to single Piece machine；

Monolithic counter successively records pulse number of these three pulse signals in same duration (10ms), due to passing Sensor is different to trichromatic sensibility, causes certain error to the frequency values of output pulse, so need to be by three kinds of pulses Number is zoomed in or out according to white balance scale factor to be corrected, and obtains accurate rgb value.White balance scale factor passes through following Mode obtains: the actual measurement pulse number { a, b, c } of white is divided by with standard RGB values { 255,255,255 }, gained three ratios Being worth { a/255, b/255, c/255 } is scale factor.

Motor drive module in the present embodiment uses model 1A120-1812L vertical bar single shaft gear motor.Drive core Piece uses L298N, is internally integrated dual H-bridge high voltage and current full-bridge type driver, and control interface is believed using standard TTL logic level Number, adapt to IAP15 series monolithic.Power end is divided into logic control power supply and motor drive power supply, respectively 5V and 7.4V.

L298N has 6 tunnel input channels and 4 tunnel output channels, and IN1, IN2, IN3, IN4 are direction input terminal, accesses monolithic I/O mouthfuls of machine, the direction of rotation of motor is controlled, ENA, ENB are enabled input terminal, the start and stop of two motors are controlled, by enabled input End is connected with PCA module in single-chip microcontroller, and PWM pulsewidth stepless speed control can be realized, so that trolley two wheel guide robot be made to rotate, realizes Turning function.

Manipulator grabs material using single-degree-of-freedom manipulator, by left arm, right arm, fixed plate and MG995 type steering engine Composition, structure are as shown in Figure 7.Manipulator is driven by MG995, and MG995 is a kind of angle servo-driver, is suitable for driving fortune In motivation structure, corner need to be accurately controlled and maintain the rotating member of torque.

MG995 is a typical closed loop control system, and working principle is as shown in figure 8, PCA module generates fixed frequency modulated PWM arteries and veins Signal (frequency 50Hz, pulsewidth are 0.5ms~0.9ms) is rushed, is input to helm control circuit, steering engine internal direct current motor starts Rotation reduces revolving speed through train of reduction gears and amplifies torque, exported torque to manipulator by steering wheel.

Meanwhile gear shaft and a linear scale potentiometer link, which is converted to ratio electricity for steering wheel corner Pressure feeds back to control circuit, and control circuit compares whether the feedback voltage is consistent with control wave, generates and corrects pulse, makes The output angle of gear set reaches desired value, in the correction control process, corrects pulse and gradually goes to zero, being finally reached makes rudder Machine output shaft is rotated to the purpose of specified angle.

Alarm modules are made of ISD1820 magnetic hysteresis loop memorization COMS clip, electret-type microphone and low-power speaker. The more level Directly multilevel storage technologies of DAST(are utilized in ISD1820) record voice signal, it is suitable for 8~12 seconds voice messagings Record and broadcasting.

When REC key is persistently pressed, ISD1820 is in recording working condition, and electret-type microphone is with different frequency The voltage signal of corresponding dynamic change is generated with the acoustic signals of amplitude, signal is through ISD1820 chip interior automatic growth control After the conditioning of device, anti-aliasing filter, smoothing filter optimizes, using DAST technology, by the sampled value of signal frequency and amplitude It is stored in in-chip FLASH RAM(rapid random access memory) in array；

When PLAYL key is persistently pressed, ISD1820 is in playback working condition, the analog quantity quilt of FLASH RAM storage It is sent to audio-frequency amplifier, by the sound wave after loudspeaker output reduction, when PLAYE presses key pressing, ISD1820 receives rising Along signal, it is similar that playback process with PLAYL presses process.

Display module uses LCD1602 liquid crystal display, and the cardinal principle of LCD is: stimulating liquid crystal molecule to turn round by electric current Turn round light direction, to control the display of each pixel, it is suitable for showing ASCII(ASCII) character or Simple graph.

In the liquid-crystal controller HD44780 of LCD1602, by D0~D7 parallel communication interface, by character ASCII(beauty State's standard code for information interchange) memory space in DDRAM is written；In CGROM, 5 × 8 dot matrix of each character are preserved Character pattern data library；

In addition, memory, which has reserved a part of CGRAM(character, occurs random access memory), it can will be customized by software Dot array data is written wherein, and the display of character outside the library can be realized.When needs are when certain position shows certain character, by numerical time The ASCII that character to be shown is written into DDRAM finds matching dot matrix font array from CGROM, is exported by CGROM Dot array data, the liquid crystal molecule both ends of dot matrix corresponding position generate voltage, and liquid crystal occurs to turn round luminous effect, make LED backlight can not Pass through from the position, which forms black shade, whether display by controlling multiple pixels, forms various characters.

In addition to the implementation, the utility model can also have other embodiments.It is all to use equivalent replacement or equivalent change The technical solution to be formed is changed, the protection scope of the requires of the utility model is all fallen within.

Claims (7)

1. a kind of bootstrap formula Intelligent carrier, including car body, wheel and transfer module, which is characterized in that in the car body Equipped with the single-chip microcontroller, sensor-based system and drive system being electrically connected to each other, in which:

Single-chip microcontroller is for analyzing exogenous data and controlling trolley mass activity；Sensor-based system is special for collecting storage environment and material Data are levied, and send data to single-chip microcontroller；Drive system is by single-chip microcontroller control activity, to drive trolley and driving to carry mould Block work；Sensor-based system includes identifying mould with the tracking guiding module of monolithic mechatronics, ranging for preventing collision module and color respectively Block, in which: position or orientation of the tracking guiding module for collecting the road condition data in storage environment, judging trolley, and adjust The detection range of trolley, including sensor interconnected, diode and triode are saved, is equipped with black guide ribs in storage environment Band；Ranging for preventing collision module, for measuring the spacing between trolley and barrier to avoid the collision of trolley and barrier, including band Bandpass filter, preamplifier and power amplifier and piezo chips, transmitters and receivers；Color identification module, is used for The color of article to be handled is detected to distinguish different types of article, including the array that several photodiodes are formed, and Three kinds acquire the optical filter of primaries signal and the counter for recording impulse number respectively.

2. bootstrap formula Intelligent carrier according to claim 1, it is characterised in that: the drive system includes and list The alarm modules of piece mechatronics, display module, motor drive module, for driving wheel to rotate, additionally it is possible to make wheel differential Rotation is turned to realizing；Manipulator, the left arm and right arm engaged including fixed plate, in fixed plate by gear, with It and further include motor and train of reduction gears for driving steering engine for controlling left arm and the movable steering engine of right arm.

3. bootstrap formula Intelligent carrier according to claim 2, it is characterised in that: in the motor drive module Motor is vertical bar single shaft gear motor, and model 1A120-1812L includes logic control power supply and electricity on motor drive module Machine driving power.

4. bootstrap formula Intelligent carrier according to claim 3, it is characterised in that: the steering engine is MG995 type rudder Machine, alarm modules are made of ISD1820 magnetic hysteresis loop memorization COMS clip, electret-type microphone and low-power speaker, display module For LCD1602 liquid crystal display.

5. bootstrap formula Intelligent carrier according to claim 1, it is characterised in that: set in the tracking guiding module There is TCRT5000 infrared electro reflection sensor, TCRT5000 infrared electro reflection sensor includes infrared light-emitting diode And phototriode, voltage comparator is additionally provided in tracking guiding module.

6. bootstrap formula Intelligent carrier according to claim 1, it is characterised in that: set in the ranging for preventing collision module There is HC-SR04 ultrasonic sensor.

7. bootstrap formula Intelligent carrier according to claim 1, it is characterised in that: set in the color identification module There are TCS230 color sensor, single-chip microcontroller model IAP15F2K61S2 single-chip microcontroller.