CN102854879A - Wireless intelligent inspection method of warehouse and special robot - Google Patents

Wireless intelligent inspection method of warehouse and special robot Download PDF

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Publication number
CN102854879A
CN102854879A CN2012103484055A CN201210348405A CN102854879A CN 102854879 A CN102854879 A CN 102854879A CN 2012103484055 A CN2012103484055 A CN 2012103484055A CN 201210348405 A CN201210348405 A CN 201210348405A CN 102854879 A CN102854879 A CN 102854879A
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CN
China
Prior art keywords
robot
module
special
warehouse
wireless
Prior art date
Application number
CN2012103484055A
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Chinese (zh)
Inventor
王伟
武卫革
刘玉龙
张晓光
翟志强
韩贵胜
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保定天威集团有限公司
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Application filed by 保定天威集团有限公司 filed Critical 保定天威集团有限公司
Priority to CN2012103484055A priority Critical patent/CN102854879A/en
Publication of CN102854879A publication Critical patent/CN102854879A/en

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Abstract

The invention relates to a wireless intelligent inspection method of a warehouse and a special robot and belongs to the technical field of electronic technology application. According to the technical scheme, fixed-point non-contact charging is achieved by the wireless energy transmission technology, a photoelectric sensor is used to identify path information, tracking moving detection in the warehouse is achieved by driving a motor and a steering engine, a temperature and humidity sensor and an ionization smoke sensor are integrated to detect temperature and humidity in the warehouse and fire smoke in real time, the information are sent to an upper computer in a wireless communication manner, and real-time data information is provided for temperature and humidity control in the warehouse and fire alarm. The wireless intelligent inspection method and the special robot have the advantages that the information is sent to the upper computer through a wireless communication module, and wireless and intelligent management of the warehouse is achieved; and measurement precision is high, real-time effect is high, mounting is simple, and maintenance cost is low.

Description

A kind of warehouse intelligent wireless method for inspecting and special purpose robot
Technical field
The present invention relates to a kind of warehouse intelligent wireless method for inspecting and special purpose robot, belong to the application of electronic technology technical field.
Background technology
Protection against the tide, mildew-resistant, anticorrosion, explosion-proof be the important content of warehouse routine work, be the important indicator of weighing the storehouse management quality, it directly has influence on serviceable life and the functional reliability of stockpile; Be to guarantee carrying out smoothly of routine work, matter of utmost importance is to strengthen the monitoring of temperature and humidity and fire in the warehouse.The method of background technology adopts test equipment, detects by artificial reading, and this manual testing's method wastes time and energy, efficient is low, and measuring error is large, and real-time is poor.Present monitoring system is based on basically that wired mode finishes, and is comprised of sensor, transmitter, processor and display device, with reference to accompanying drawing 1.This wired mode has limited the dirigibility that sensing station is placed, and needs to arrange a large amount of electric wires, has brought inconvenience to practical application.In addition, the observing and controlling wireless penetration in warehouse, intelligentize and informatization management have become the development trend of warehouse redundancy technique.
Summary of the invention
The purpose of this invention is to provide a kind of warehouse intelligent wireless method for inspecting and special purpose robot, by wireless communication module information is sent to host computer, wireless penetration, the intellectuality of Implementation repository management; Measuring accuracy is high, and real-time is good, and the simple installation maintenance cost is low, solves the problems referred to above that background technology exists.
Technical scheme of the present invention is: a kind of warehouse intelligent wireless is patrolled and examined the special purpose robot, comprise the control core module, power management module, the humiture detection module, the ionic smoke sensor detection module, photoelectric sensing tracking module, the radio energy receiver module, wireless communication module, motor and driving thereof, steering wheel and driving thereof and accumulator, power management module, the humiture detection module, the ionic smoke sensor detection module is connected the control core module with photoelectric sensing tracking module, the output of control core module connects the radio energy receiver module, wireless communication module, motor and driving thereof, steering wheel and driving thereof, the output of radio energy receiver module connects accumulator, and accumulator connects power management module.
Described control core module, select the ATmega128 single-chip microcomputer, arithmetic speed reached 16MIPS when it was operated in 16MHZ, Embedded the Flash program storage of 128KB, the EEPROM of 4KB, the on-chip SRAM of 4KB, and have Timer/Counter, the PWM passage that frequency plot is adjustable, 10 A/D, WTI interface, the peripheral hardware that SPI, USART, house dog etc. are abundant can well be finished the control to the robot various piece.
Described humiture detection module is selected STH71, and chip internal comprises relative humidity sensor, temperature sensor, amplifier, A/D converter, CRC check, and has the two-wire serial interface, can accurately measure the temperature humidity in the warehouse.The ionic smoke sensor detection module adopts the MC14470 of MOTOROLA company, and it is converted to analog quantity to smokescope, carries out the A/D conversion by single-chip microcomputer, realizes detection.
Described wireless communication module, adopt the nRF905 that integrates transmitting-receiving, it is comprised of frequency synthesizer, receiving demodulation device, power amplifier, crystal oscillator and modulator, automatically process prefix and CRC check code, use SPI and micro-controller communications, configure very conveniently, built-in idle pulley and shutdown mode are easy to realize energy-conservation.
Described photoelectric sensing tracking module is comprised of 6 reflective photoelectric sensors and sampling resistor, patrols and examines track by Chip Microcomputer A/D conversion identification, and guided robot moves.
The special purpose robot is provided with four wheels, and two wheels in front turn to by servo driving, and two wheels in back are walked by motor-driven; According to the road information that photoelectric sensing tracking module provides, the control core module turns to by driving two wheels in steering wheel control front, thereby realizes that tracking moves detection by two wheel turns in back of control motor-driven robot; Control core module poll battery electric quantity when accumulator electric-quantity is low, moves to the wireless charging point and carries out contactless charging.
A kind of warehouse intelligent wireless method for inspecting, use above-mentioned special purpose robot to patrol and examine, the wireless charging point is set in the warehouse, and concrete steps are as follows: at first to the each several part self check, have fault then to report to the police after the special purpose robot powers on, otherwise photoelectric sensing tracking module reads road information, control core module drive motor is rotated by driven by motor special purpose robot trailing wheel, drives steering wheel according to routing information, control special purpose robot front-wheel steer realizes that the special purpose robot follows polling path and moves detection; When the special purpose robot arrives wireless charging point, inquire about self battery electric quantity, if need charging then stop to charge, continue to patrol and examine after to be charged the finishing; Described wireless charging point and special purpose robot's radio energy receiver module coupling charge to special purpose robot's accumulator wirelessly; The special purpose robot is in mobile humiture, the fire hazard aerosol fog information that detects in real time in the process in the warehouse of patrolling and examining, and with the mode of these information with radio communication, send to host computer by wireless communication module, for Temperature and Humidity Control in the warehouse and fire alarm provide the data message foundation.
The Route guiding line is set in the warehouse, and the color of Route guiding line is different from the ground color, and the photoelectric sensing tracking module that is beneficial to the special purpose robot is carried out the road information detection.
Good effect of the present invention: by wireless communication module information is sent to host computer, wireless penetration, the intellectuality of Implementation repository management; Measuring accuracy is high, and real-time is good, and the simple installation maintenance cost is low.
Description of drawings
Fig. 1 is that background technology has the line monitoring system pie graph;
Fig. 2 is special robot system's pie graph of the present invention;
Fig. 3 is control flow chart of the present invention;
Fig. 4 is embodiment of the invention schematic diagram.
Embodiment
Below in conjunction with accompanying drawing, the present invention will be further described by embodiment.
With reference to accompanying drawing 2, a kind of warehouse intelligent wireless is patrolled and examined the special purpose robot, comprise the control core module, power management module, the humiture detection module, the ionic smoke sensor detection module, photoelectric sensing tracking module, the radio energy receiver module, wireless communication module, motor and driving thereof, steering wheel and driving thereof and accumulator, power management module, the humiture detection module, the ionic smoke sensor detection module is connected the control core module with photoelectric sensing tracking module, the output of control core module connects the radio energy receiver module, wireless communication module, motor and driving thereof, steering wheel and driving thereof, the output of radio energy receiver module connects accumulator, and accumulator connects power management module.
With reference to accompanying drawing 3, a kind of warehouse intelligent wireless method for inspecting, use above-mentioned special purpose robot to patrol and examine, the wireless charging point is set in the warehouse, concrete steps are as follows: after the special purpose robot powers at first to the each several part self check, there is fault then to report to the police, otherwise photoelectric sensing tracking module reads road information, control core module drive motor, rotated by driven by motor special purpose robot trailing wheel, drive steering wheel according to routing information, control special purpose robot front-wheel steer realizes that the special purpose robot follows polling path and moves detection; When the special purpose robot arrives wireless charging point, inquire about self battery electric quantity, if need charging then stop to charge, continue to patrol and examine after to be charged the finishing; Described wireless charging point and special purpose robot's radio energy receiver module coupling charge to special purpose robot's accumulator wirelessly; The special purpose robot is in mobile humiture, the fire hazard aerosol fog information that detects in real time in the process in the warehouse of patrolling and examining, and with the mode of these information with radio communication, send to host computer by wireless communication module, for Temperature and Humidity Control in the warehouse and fire alarm provide the data message foundation.
With reference to accompanying drawing 4, be one embodiment of the present of invention schematic diagram.Black line is the polling path of crusing robot in the warehouse, can be according to the situation flexible arrangement in the warehouse when concrete the application, and the color of Route guiding line need to be different from the ground color, and the photoelectric sensing tracking module that is beneficial to the special purpose robot is carried out the road information detection.Symbol " " locate to be the wireless charging point, need to install the wireless energy dispensing device herein, when special purpose robot's battery electric quantity is low, recharge here.The special purpose robot patrols and examines humiture, the fire hazard aerosol fog information that detects in real time in the process in the warehouse mobile, and by wireless communication module these information is sent to host computer, wireless penetration, the intellectuality of Implementation repository management.

Claims (8)

1. a warehouse intelligent wireless is patrolled and examined the special purpose robot, it is characterized in that: comprise the control core module, power management module, the humiture detection module, the ionic smoke sensor detection module, photoelectric sensing tracking module, the radio energy receiver module, wireless communication module, motor and driving thereof, steering wheel and driving thereof and accumulator, power management module, the humiture detection module, the ionic smoke sensor detection module is connected the control core module with photoelectric sensing tracking module, the output of control core module connects the radio energy receiver module, wireless communication module, motor and driving thereof, steering wheel and driving thereof, the output of radio energy receiver module connects accumulator, and accumulator connects power management module.
2. described a kind of warehouse intelligent wireless is patrolled and examined the special purpose robot according to claim 1, it is characterized in that the special purpose robot is provided with four wheels, and two wheels in front turn to by servo driving, and two wheels in back are walked by motor-driven; According to the road information that photoelectric sensing tracking module provides, the control core module turns to by driving two wheels in steering wheel control front, thereby realizes that tracking moves detection by two wheel turns in back of control motor-driven robot; Control core module poll battery electric quantity when accumulator electric-quantity is low, moves to the wireless charging point and carries out contactless charging.
3. described a kind of warehouse intelligent wireless is patrolled and examined the special purpose robot according to claim 1 and 2, it is characterized in that described control core module, select the ATmega128 single-chip microcomputer, Embedded the Flash program storage of 128KB, the EEPROM of 4KB, the on-chip SRAM of 4KB, and have Timer/Counter, the PWM passage that frequency plot is adjustable, 10 A/D, WTI interface, SPI, USART, house dog peripheral hardware.
4. described a kind of warehouse intelligent wireless is patrolled and examined the special purpose robot according to claim 1 and 2, it is characterized in that described humiture detection module, select STH71, chip internal comprises relative humidity sensor, temperature sensor, amplifier, A/D converter, CRC check, and have the two-wire serial interface, the temperature humidity in the warehouse is accurately measured; The ionic smoke sensor detection module adopts the MC14470 of MOTOROLA company, and smokescope is converted to analog quantity, carries out the A/D conversion by single-chip microcomputer, realizes detection.
5. described a kind of warehouse intelligent wireless is patrolled and examined the special purpose robot according to claim 1 and 2, it is characterized in that described wireless communication module, adopt the nRF905 that integrates transmitting-receiving, it is comprised of frequency synthesizer, receiving demodulation device, power amplifier, crystal oscillator and modulator, automatically process prefix and CRC check code, use SPI and micro-controller communications, built-in idle pulley and shutdown mode are realized energy-conservation.
6. described a kind of warehouse intelligent wireless is patrolled and examined the special purpose robot according to claim 1 and 2, it is characterized in that described photoelectric sensing tracking module, be comprised of 6 reflective photoelectric sensors and sampling resistor, patrol and examine track by Chip Microcomputer A/D conversion identification, guided robot moves.
7. warehouse intelligent wireless method for inspecting, it is characterized in that right to use requires 1 special purpose robot who limits to patrol and examine, the wireless charging point is set in the warehouse, concrete steps are as follows: after the special purpose robot powers at first to the each several part self check, there is fault then to report to the police, otherwise photoelectric sensing tracking module reads road information, control core module drive motor, rotated by driven by motor special purpose robot trailing wheel, drive steering wheel according to routing information, control special purpose robot front-wheel steer realizes that the special purpose robot follows polling path and moves detection; When the special purpose robot arrives wireless charging point, inquire about self battery electric quantity, if need charging then stop to charge, continue to patrol and examine after to be charged the finishing; Described wireless charging point and special purpose robot's radio energy receiver module coupling charge to special purpose robot's accumulator wirelessly; The special purpose robot is in mobile humiture, the fire hazard aerosol fog information that detects in real time in the process in the warehouse of patrolling and examining, and with the mode of these information with radio communication, send to host computer by wireless communication module, for Temperature and Humidity Control in the warehouse and fire alarm provide the data message foundation.
8. described a kind of warehouse intelligent wireless method for inspecting according to claim 7, it is characterized in that in the warehouse, arranging the Route guiding line, the color of Route guiding line is different from the ground color, and the photoelectric sensing tracking module that is beneficial to the special purpose robot is carried out the road information detection.
CN2012103484055A 2012-09-19 2012-09-19 Wireless intelligent inspection method of warehouse and special robot CN102854879A (en)

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Cited By (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103712654A (en) * 2014-01-07 2014-04-09 北京联合大学 Intelligent monitoring system for warehouse environment
CN103760903A (en) * 2014-01-20 2014-04-30 昆山鑫盛盟创科技有限公司 Intelligent tracking conveying management system for warehouses
CN103941732A (en) * 2014-04-18 2014-07-23 江苏物联网研究发展中心 Bionic two-leg robot control system
CN104217519A (en) * 2014-08-15 2014-12-17 国家电网公司 Fire alarm robot for transformer substations and inflammable places
CN104298162A (en) * 2014-09-29 2015-01-21 北华大学 Robot control system for fire early warning of warehouse
CN104714550A (en) * 2015-03-11 2015-06-17 武汉汉迪机器人科技有限公司 Mecanum wheel omni-directional mobile inspection robot
CN105137996A (en) * 2015-09-21 2015-12-09 国家电网公司 Method for cleaning inspection of movable machine room cleaning inspection apparatus
CN105607633A (en) * 2015-12-18 2016-05-25 中国印钞造币总公司 Autonomous path searching method and system for mobile scanning vehicle in piling region environment
CN105891454A (en) * 2016-05-23 2016-08-24 桂仲成 Hub-type robot and detecting method for system for autonomously detecting road surfaces
CN108280611A (en) * 2018-02-05 2018-07-13 金东纸业(江苏)股份有限公司 A kind of intelligent warehouse management system
WO2018157354A1 (en) * 2017-03-02 2018-09-07 深圳市前海中康汇融信息技术有限公司 Smoke alarming robot and operation method therefor
CN108829114A (en) * 2018-09-11 2018-11-16 天津农学院 A kind of SCM Based intelligent developed vehicle
CN109164497A (en) * 2018-07-18 2019-01-08 华南理工大学 Gas pipeline crusing robot system and its control method based on wireless charging
CN109494599A (en) * 2018-07-20 2019-03-19 国网安徽省电力有限公司淮南供电公司 The miniature guide rail system and method for inspecting of intelligent patrol detection for a variety of controller switching equipments
CN110848872A (en) * 2019-11-14 2020-02-28 徐州普瑞赛思物联网科技有限公司 Workshop management intelligent robot monitored control system based on thing networking
CN111556293A (en) * 2020-04-26 2020-08-18 上海明略人工智能(集团)有限公司 Method and device for monitoring refrigeration house and readable storage medium

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Cited By (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103712654A (en) * 2014-01-07 2014-04-09 北京联合大学 Intelligent monitoring system for warehouse environment
CN103760903A (en) * 2014-01-20 2014-04-30 昆山鑫盛盟创科技有限公司 Intelligent tracking conveying management system for warehouses
CN103941732A (en) * 2014-04-18 2014-07-23 江苏物联网研究发展中心 Bionic two-leg robot control system
CN104217519A (en) * 2014-08-15 2014-12-17 国家电网公司 Fire alarm robot for transformer substations and inflammable places
CN104298162A (en) * 2014-09-29 2015-01-21 北华大学 Robot control system for fire early warning of warehouse
CN104714550A (en) * 2015-03-11 2015-06-17 武汉汉迪机器人科技有限公司 Mecanum wheel omni-directional mobile inspection robot
CN105137996A (en) * 2015-09-21 2015-12-09 国家电网公司 Method for cleaning inspection of movable machine room cleaning inspection apparatus
CN105607633A (en) * 2015-12-18 2016-05-25 中国印钞造币总公司 Autonomous path searching method and system for mobile scanning vehicle in piling region environment
CN105891454A (en) * 2016-05-23 2016-08-24 桂仲成 Hub-type robot and detecting method for system for autonomously detecting road surfaces
WO2018157354A1 (en) * 2017-03-02 2018-09-07 深圳市前海中康汇融信息技术有限公司 Smoke alarming robot and operation method therefor
CN108280611A (en) * 2018-02-05 2018-07-13 金东纸业(江苏)股份有限公司 A kind of intelligent warehouse management system
CN109164497A (en) * 2018-07-18 2019-01-08 华南理工大学 Gas pipeline crusing robot system and its control method based on wireless charging
CN109494599A (en) * 2018-07-20 2019-03-19 国网安徽省电力有限公司淮南供电公司 The miniature guide rail system and method for inspecting of intelligent patrol detection for a variety of controller switching equipments
CN108829114A (en) * 2018-09-11 2018-11-16 天津农学院 A kind of SCM Based intelligent developed vehicle
CN110848872A (en) * 2019-11-14 2020-02-28 徐州普瑞赛思物联网科技有限公司 Workshop management intelligent robot monitored control system based on thing networking
CN111556293A (en) * 2020-04-26 2020-08-18 上海明略人工智能(集团)有限公司 Method and device for monitoring refrigeration house and readable storage medium

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Application publication date: 20130102