CN101497420B - Automatic carrier system for industry and operation method thereof - Google Patents
Automatic carrier system for industry and operation method thereof Download PDFInfo
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- CN101497420B CN101497420B CN2008100058153A CN200810005815A CN101497420B CN 101497420 B CN101497420 B CN 101497420B CN 2008100058153 A CN2008100058153 A CN 2008100058153A CN 200810005815 A CN200810005815 A CN 200810005815A CN 101497420 B CN101497420 B CN 101497420B
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Abstract
The invention relates to a method for operating an industrial automatic carrier system, which comprises the following steps that: firstly, an automatic carrier in the starting state judges the current position and the current direction according to a positioning system and a digital electronic compass; secondly, the automatic carrier moves towards a truck unloading area according to a storage area map; thirdly, the automatic carrier scans the position of a cargo so as to lift the cargo after arriving at the unloading area; fourthly, the automatic carrier moves towards a storage area according to the storage area map; and fifthly, the automatic carrier arrives at the storage area and determines the position of placement according to the code of the cargo so as to lay down the cargo.
Description
Technical field
The present invention relates to a kind of robot, and be particularly related to a kind of automatic carrier system for industry and method of operation thereof of automated handling goods.
Background technology
For the mode of transport of goods, traditional mode mostly needs to cooperate the carrying mode of Forklift, with the goods that truck, lorry unload, move to the warehouse, or work-site, to obtain to stack the effect of storage.
Only, cooperate Forklift to transport goods,, no doubt can alleviate physical load and human cost compared to pure manpower transport, but existing Forklift still must be relied on technical personnel and control, just can finish carrying work, so, have the problem of human cost equally.And the manual control Forklift transports goods, cause easily if any careless mistake and remove wrong goods, or misplace the position, or bad because of controlling, other staff that cause wounding etc. are sorry.
Though, the mode that other has producer to use the track conveying is finished and is removed goods, control many disappearances that Forklift is derived to lower the people, but this practice not only must be installed the high rail system of cost earlier, and, a kind of goods can only be carried by the single track system, at the miscellaneous enterprise of kinds of goods, and inapplicable.
Summary of the invention
Therefore purpose of the present invention is providing a kind of automatic carrier system for industry and method of operation thereof exactly, and use full-automation and transport goods, with the saving human cost, and, can preestablish the coordinate position of environment according to difference indoor, outdoor environment.
Method of operation according to a kind of automatic carrier system for industry proposed by the invention comprises following steps: A, at starting state, automatic carrier is judged current position and direction according to position fixing system and digital compass.B, advance towards the lorry loading dock according to the warehouse district map.After C, the arrival loading dock, scan cargo location, to rise goods.D, advance towards the stock district according to the warehouse district map again.E, arrive after the stock district, decide placement location according to the coding of goods, to put down goods.
According to the method for operation of the above-mentioned a kind of automatic carrier system for industry of the present invention, in steps A, position fixing system comprises set environment, sets the reference location point coordinate, sets wall locations, sets the position, loading dock and sets the stock zone position.
According to the method for operation of the above-mentioned a kind of automatic carrier system for industry of the present invention, after step B, as running into obstacle, must move on again by avoiding obstacles in advancing, as clear, judge whether to reach the loading dock, then move on as no show.
According to the method for operation of the above-mentioned a kind of automatic carrier system for industry of the present invention, after step D, as running into obstacle, must move on again by avoiding obstacles in advancing, as clear, judge whether to reach the stock district, then move on as no show.
According to the method for operation of the above-mentioned a kind of automatic carrier system for industry of the present invention, in steps A, updatable data is to carry next goods.And, after step D, return steps A again, so go round and begin again in week, up to having removed goods.
According to a kind of automatic carrier system for industry proposed by the invention, comprise a carrier, a control circuit, a sensor unit, a digital compass and a motor control circuit.This carrier comprises a carrier main body, a plurality of front-wheel, a plurality of trailing wheel and a lifting fork.This control circuit is installed in this carrier body interior, carries out the required operation workflow of this carrier main body with sequencing.This sensor unit is installed in the outside of this carrier main body respectively, in order to obstruction detection and searching goods.This digital compass provides comprehensive measurement angle, and by coffret to be built in the angle-data in this control circuit in reading.This motor control circuit is the angle-data that reads according to this digital compass, and control trailing wheel rotation direction is advanced to drive carrier.
According to the above-mentioned a kind of automatic carrier system for industry of the present invention, wherein, this sensor unit comprises a plurality of sensor groups and a radio read-write device.Those sensor groups comprise a projector and a receptor.This radio read-write device is a radio frequency identification system (RFID).This coffret is a tandem interface, and this serial device interface is the radio switch of a communications protocol RS232.This motor control circuit comprises one first motor controller, one second motor controller and a servomotor, and this first motor controller is in order to drive the front-wheel of this carrier.This second motor controller is in order to drive lifting fork.This servomotor is in order to drive rear-axle steering.
According to the above-mentioned a kind of automatic carrier system for industry of the present invention, further more comprise a camera, this camera is used vision technique and is judged whether to be goods.
Comprehensively above-mentioned, the present invention uses control circuit all operation procedures with the programming operations carrier, does not need manpower can reach the effect that full automaticity transports goods, and can avoid all obstacles, goods is looked in correct judgement, to obtain the application target of full-automatic carrying.
Description of drawings
For above-mentioned and other purposes of the present invention, feature, advantage and embodiment can be become apparent, being described in detail as follows of accompanying drawing:
Fig. 1 is the flow chart of steps of the method for operation of automatic carrier system for industry of the present invention.
Fig. 2 is a planar view, shows the course diagram that the method for operation of automatic carrier system for industry of the present invention is transported goods.
Fig. 3 is the circuit block diagram of automatic carrier system for industry of the present invention.
Fig. 4 is the stereoscopic figure of automatic carrier system for industry of the present invention.
Fig. 5 is the birds-eye view of Fig. 4.
The main element nomenclature
101: flow process 102: flow process
103: flow process 104: flow process
105: flow process 106: flow process
107: flow process 108: flow process
109: flow process 110: flow process
111: flow process 112: flow process
113: flow process 114: flow process
115: flow process 120: warehouse district
121: metope 122: loading dock
123: stock district 124: obstacle
125: goods 100: carrier
130: carrier main body 140: front-wheel
150: trailing wheel 160: lifting fork
200: control circuit 300: coffret
400: sensor unit 410: the sensor group
411: projector 412: receptor
420: radio read-write device 500: digital compass
600: motor control circuit 700: camera
800: the contact sensing switch
The specific embodiment
With reference to Fig. 1 and Fig. 2, the method for operation of automatic carrier system for industry of the present invention comprises following steps:
A, as flow process 101, flow process 102, at starting state, automatic carrier is opened position fixing system and inductor, and automatic carrier is according to position fixing system and digital compass judgement current position and direction.At this, position fixing system comprises set environment (warehouse district 120), sets the reference location point coordinate, sets metope 121 positions, sets 122 positions, loading dock and sets 123 positions, stock district.
B, as flow process 103, advance towards lorry loading dock 122 according to warehouse district 120 maps.As flow process 104, flow process 105, as running into obstacle 124, must move on again by avoiding obstacles 124 in advancing.As clear 124, judge whether to reach loading dock 122, then move on as no show.
C, as flow process 107, arrive after the loading dock 122, (Radio FrequencyIdentification RFID) scans cargo location, as flow process 108, and rises goods to utilize the radio read-write device.
D, as flow process 109, advance towards stock district 123 according to warehouse district 120 maps again.As flow process 110, flow process 111, as running into obstacle 124, must move on again by avoiding obstacles 124 in advancing.As clear 124, judge whether to reach stock district 123, then move on as no show.
E, as flow process 112, arrive after the stock district 122, as flow process 113, decide placement location according to the coding of goods, as flow process 113, to put down goods 125.Then return steps A again,, carry same consignment continuously, so go round and begin again in week, up to having removed goods 125 to repeat above-mentioned steps.
In addition, in steps A,, can upgrade position and direction that data positioning system and digital compass are judged, in order to next (criticizing) goods of carrying as flow process 115.
With reference to Fig. 3, Fig. 4 and Fig. 5, automatic carrier system for industry of the present invention comprises a carrier 100, a control circuit 200, a coffret 300, a sensor unit 400, a digital compass 500, a motor control circuit 600, a camera 700 and a contact sensing switch 800.
This carrier 100 comprises a carrier main body 130, a plurality of front-wheel 140, a plurality of trailing wheel 150 and a lifting fork 160.
This control circuit 200 is installed in this carrier main body 130 inside, and this control circuit 200 is a single-chip (single chip), carries out the required operation workflow of this carrier main body 130 with sequencing.
Continuous with reference to Fig. 2, this sensor unit 400 comprises a plurality of sensor groups 410 (sensor) and a radio read-write device 420.Those sensor groups 410 are installed in front side, rear side, left side, right side and four corners of this carrier main body 130 respectively, and include a projector 411 and a receptor 412 respectively.Respectively this sensor group 410 possesses 20m the is arranged detection-sensitive distance of (meter), in order to obstruction detection 124 with seek goods 125.This radio read-write device 420 (RFID, radio frequency identification system) is for the numbering that reads on the goods, with the carrying situation of management and control goods 125.
This digital compass 500 provides comprehensive measurement angle, and by coffret 300 to be built in the angle-data in this control circuit 200 in reading.This coffret 300 is a tandem interface (serial interface), and this serial device interface is the radio switch of a kind of communications protocol RS232.
This motor control circuit 600 comprises one first motor controller 610, one second motor controller 620 and a servomotor 630.This first motor controller 610 advances in order to the front-wheel 150 that drives this carrier 100.This second motor controller 620 is in order to drive lifting fork 160.According to the angle-data that this digital compass 500 is read, the rotation direction of this this trailing wheel 150 of servomotor 630 drive controlling of mat makes the carrier avoiding obstacles again, and then finishes the carrying action.
This camera 700 is used vision technique and is judged it is that the place ahead object is obstacle or goods 125, is goods 125 as judgement, again by lifting fork 160, in order to carrying action.
In addition, as shown in Figure 3, this contact sensing switch 800 (Touch Sensor) is mounted on the lifting fork 160, in order to sensing lifting fork 160 to not reached desired location (lifting fork 160 is fallen or lifting fork 160 rises), whether arrive ad-hoc location in order to detecting, as arriving ad-hoc location, contact sensing switch 800 can be touched, to inform control circuit 200, for carrying out next action.
Via as can be known above-mentioned, automatic carrier 100 of the present invention is judged the position and the direction of goods in the environment according to position fixing system and digital compass 500, go to loading dock 122 to get goods, unmanned formula ground automated handling goods 125 is to stock district 123, and this carrier 100 is in moving, run into obstacle, metope etc., to turn to by servomotor 630 control trailing wheels 150, and mat second motor controller 620 drives lifting forks 160 and rises/fall goods 125, and mat first motor controller 610 drives front-wheels 140 and advances again.In addition, by sensor group 410 sensing effect from all directions, can avoid metope or obstacle fully, correctly to find goods, and but whether the goods 125 that mat camera 700 is sought with the identification of vision identification technique is the goods 125 of desire carrying really, then the numbering that reads goods 125 by this radio read-write device 400 (RFID) again (for example: bar code), correctly carry the kinds of goods of presetting in the environment with full-automation, reaching the saving human cost, and can lower the work problem that careless mistake caused of artificial carrying.
Though the present invention discloses as above with an embodiment; right its is not in order to limiting the present invention, anyly has the knack of this skill person, without departing from the spirit and scope of the present invention; when can being used for a variety of modifications and variations, so protection scope of the present invention is as the criterion when looking the accompanying Claim book person of defining.
Claims (12)
1. the method for operation of an automatic carrier system for industry comprises following steps:
A, at starting state, automatic carrier is judged current position and direction according to position fixing system and digital compass;
B, advance towards the lorry loading dock according to the warehouse district map;
After C, the arrival loading dock, scan cargo location, rise goods;
D, advance towards the stock district according to the warehouse district map again; And
E, arrive after the stock district, decide placement location according to the coding of goods, to put down goods.
2. the method for operation of automatic carrier system for industry as claimed in claim 1 is characterized in that, in steps A, position fixing system comprises set environment, sets the reference location point coordinate, sets wall locations, sets the position, loading dock and sets the stock zone position.
3. the method for operation of automatic carrier system for industry as claimed in claim 1 is characterized in that, after step B, as running into obstacle, then avoiding obstacles moves on again, as clear in advancing, judge whether to reach the loading dock, then move on as no show.
4. the method for operation of automatic carrier system for industry as claimed in claim 1 is characterized in that, after step D, as running into obstacle, then avoiding obstacles moves on again, as clear in advancing, judge whether to reach the stock district, then move on as no show.
5. the method for operation of automatic carrier system for industry as claimed in claim 1 is characterized in that, in steps A, the data in the position fixing system of renewable automatic carrier are to carry next goods.
6. the method for operation of automatic carrier system for industry as claimed in claim 1 is characterized in that, after step D, returns steps A again, so goes round and begins again, up to having removed goods.
7. automatic carrier system for industry comprises:
One carrier comprises a carrier main body, a plurality of front-wheel, a plurality of trailing wheel and a lifting fork;
One sensor unit, be installed in the outside of this carrier main body respectively, in order to obstruction detection and searching goods, and this sensor unit comprises a plurality of sensor groups and a radio read-write device, those sensor groups are installed in this carrier main body respectively all around, in order to obstruction detection;
One control circuit is installed in this carrier body interior, is a single-chip, and this single-chip is carried out the required operation workflow of this carrier main body with sequencing;
One digital compass provides comprehensive measurement angle, and by a coffret to be built in the angle-data in this control circuit in reading; And
One motor control circuit, according to the angle-data that this digital compass read, control trailing wheel rotation direction is advanced to drive carrier.
8. automatic carrier system for industry as claimed in claim 7 is characterized in that, each group of those sensor groups all comprises a projector and a receptor.
9. automatic carrier system for industry as claimed in claim 7 is characterized in that, this radio read-write device is a radio frequency identification system (RFID).
10. automatic carrier system for industry as claimed in claim 7 is characterized in that, this motor control circuit comprises one first motor controller, one second motor controller and a servomotor, and this first motor controller is in order to drive the front-wheel of this carrier; This second motor controller is in order to drive lifting fork; This servomotor is in order to drive rear-axle steering.
11. automatic carrier system for industry as claimed in claim 7 is characterized in that, described automatic carrier system for industry more comprises a camera, and this camera is used vision technique and judged whether Loaded goods is goods.
12. automatic carrier system for industry as claimed in claim 7 is characterized in that, this coffret is a tandem interface, and this serial device interface is the radio switch of a communications protocol RS232.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008100058153A CN101497420B (en) | 2008-02-03 | 2008-02-03 | Automatic carrier system for industry and operation method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008100058153A CN101497420B (en) | 2008-02-03 | 2008-02-03 | Automatic carrier system for industry and operation method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101497420A CN101497420A (en) | 2009-08-05 |
| CN101497420B true CN101497420B (en) | 2011-09-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2008100058153A Expired - Fee Related CN101497420B (en) | 2008-02-03 | 2008-02-03 | Automatic carrier system for industry and operation method thereof |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102621984A (en) * | 2012-04-11 | 2012-08-01 | 廖海龙 | Manner for positioning and navigating automatic walking robot by utilizing radio frequency identification tags |
| CN104932496B (en) * | 2015-05-13 | 2017-11-17 | 浙江德马科技股份有限公司 | Automatic navigation method of carrier |
| CN109426246A (en) * | 2017-08-21 | 2019-03-05 | 铨宝工业股份有限公司 | Automatic tracking device |
| CN108445876B (en) * | 2018-02-02 | 2021-05-18 | 深圳市恒堉鑫机械科技有限公司 | Control method and system of wireless remote control car |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4657471A (en) * | 1978-08-17 | 1987-04-14 | Kabushiki Kaisha Toyoda Jidoshokki Seisakusho | Load lifting unit for a lift truck |
| DE102004001198A1 (en) * | 2004-01-07 | 2005-08-04 | Daimlerchrysler Ag | Operation of an autonomous transportation vehicle in a warehouse or storage location, whereby processed image information is additionally used to access the stock levels with the information being transmitted to a central location |
| CN1659090A (en) * | 2002-04-09 | 2005-08-24 | 佩斯科公司 | Method and apparatus for quay container crane-based automated optical container code recognition with positional identification |
| CN2861118Y (en) * | 2005-12-30 | 2007-01-24 | 武汉理工大学 | Conveying vehicle capable of automatic recognition cargo |
| CN1980843A (en) * | 2004-06-04 | 2007-06-13 | 凯特运输有限公司 | Method for transporting goods, and installation for carrying out said method |
-
2008
- 2008-02-03 CN CN2008100058153A patent/CN101497420B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4657471A (en) * | 1978-08-17 | 1987-04-14 | Kabushiki Kaisha Toyoda Jidoshokki Seisakusho | Load lifting unit for a lift truck |
| CN1659090A (en) * | 2002-04-09 | 2005-08-24 | 佩斯科公司 | Method and apparatus for quay container crane-based automated optical container code recognition with positional identification |
| DE102004001198A1 (en) * | 2004-01-07 | 2005-08-04 | Daimlerchrysler Ag | Operation of an autonomous transportation vehicle in a warehouse or storage location, whereby processed image information is additionally used to access the stock levels with the information being transmitted to a central location |
| CN1980843A (en) * | 2004-06-04 | 2007-06-13 | 凯特运输有限公司 | Method for transporting goods, and installation for carrying out said method |
| CN2861118Y (en) * | 2005-12-30 | 2007-01-24 | 武汉理工大学 | Conveying vehicle capable of automatic recognition cargo |
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| CN101497420A (en) | 2009-08-05 |
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