CN103558855A - Intelligent logistics tracking trolley and control system thereof - Google Patents
Intelligent logistics tracking trolley and control system thereof Download PDFInfo
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- CN103558855A CN103558855A CN201310556350.1A CN201310556350A CN103558855A CN 103558855 A CN103558855 A CN 103558855A CN 201310556350 A CN201310556350 A CN 201310556350A CN 103558855 A CN103558855 A CN 103558855A
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Abstract
The invention discloses an intelligent logistics tracking trolley and a control system thereof. The intelligent tracking trolley and an upper computer used for controlling the intelligent tracking trolley are included, and the upper computer comprises an operating system. The intelligent logistics tracking trolley and the control system thereof are characterized in that the intelligent tracking trolley is provided with the intelligent tracking trolley control system used for controlling the intelligent tracking trolley to move, an intelligent controller is further included, the upper computer transmits signals to the intelligent controller, and after the signals are analyzed by the intelligent controller, the signals are transmitted to the intelligent tracking trolley control system so that the intelligent tracking trolley can be controlled to move. According to the intelligent logistics tracking trolley and the control system thereof, adoptive materials are simple, implementation can be achieved in a programming or designing mode according to the content of the intelligent logistics tracking trolley and the control system thereof, and popularization and application are convenient.
Description
Technical field
The present invention relates to a kind of physical-distribution intelligent opertaing device and system, specifically, relate to a kind of physical-distribution intelligent tracking cart and control system thereof.
Background technology
Along with industrialized Development Process, modern logistics industry is faced with huge challenge and pressure, existing in industrial processes, and the dispensing of material is all to be completed by people conventionally, this is virtually when a link material is not enough, and what needs were artificial delivers to station by material.So both wasted resource, and also easily occurred mistake, and also can increase cost, and therefore adopted unmanned distribution technology can reduce the probability of makeing mistakes, saving resource, improves the production efficiency of factory simultaneously.Yet in current unmanned dispensing device, exist cost of manufacture low, the accurate shortcoming such as rate variance, we are by retrieving following pertinent literature, but all have certain shortcoming, for example:
1. Chinese patent, a kind of Intelligent tracking trolley, application number: CN201110009424.0, summary: this invention relates to a kind of Intelligent tracking trolley, described intelligent carriage is comprised of hull bottom plate, master control board, universal wheel, motor, driving wheel and tracking module, described hull bottom plate adopts Ya Geli material to make, hull bottom plate front end is installed road tracking module, middle installation master control board, two sides of tail is all provided with motor, motor outside is provided with driving wheel, and the described hull bottom plate back side is also provided with universal wheel, and whole mechanism adopts fastened by screw.This can be used for the experimental courses of undergraduate course, junior college, can include in single chip computer teaching course; The cost performance of product is high, is applicable to numerous students; But as logistics transportation, exist efficiency poor, the shortcoming that accuracy is poor.
2. Chinese patent, the point-stabilized control method of intelligent carriage, application number: CN201010119549.4, summary: this disclosure of the invention a kind of point-stabilized control method of intelligent carriage, on plane of movement, adopt kinematics model and the kinetic model of intelligent carriage under Euler-Lagrange establishing equation global coordinate system; The method of analyzing by kinematic geometry is set up the position and attitude error model of dolly under polar coordinate system; Then for polar coordinates position and attitude error equation, utilize Backstepping technology, making respectively constructed Lyapunov equation derivative negates to design kinematics and Dynamics Controller; Finally neurodynamics model is fused in control law, design has practical globally asymptotically stable novel point stability controller.But the cost of manufacture of this invention is higher, be difficult for using in batches.
This just needs a kind of dependable performance, and to reduce the probability of makeing mistakes, saving resource, the more important thing is that conveying arrangement that cost of manufacture is low is to address the above problem.
Summary of the invention
The present invention is directed to existing logistics operating cost high, existing equipment promotion effect is poor, and the shortcoming that cost of manufacture is high provides a kind of physical-distribution intelligent tracking cart and control system thereof, to address the above problem.
The solution of the present invention is by such realization: construct a kind of physical-distribution intelligent tracking cart and control system thereof, comprise Intelligent tracking trolley, with the host computer of controlling Intelligent tracking trolley, described host computer comprises operating system, and Intelligent tracking trolley is provided with the Intelligent tracking trolley control system of controlling Intelligent tracking trolley motion; Also comprise intelligent controller, described host computer transmits signals to intelligent controller, thereby intelligent controller will be sent to the motion of Intelligent tracking trolley control system control Intelligent tracking trolley after signal resolution.
The present invention program's know-why is: by intelligent controller as the medium with host computer signal transmission, host computer signal is sent to the Intelligent tracking trolley control system of Intelligent tracking trolley, thereby makes Intelligent tracking trolley control system can drive Intelligent tracking trolley to carry out the various commands such as operation, pause.
In the present invention, described intelligent controller comprise accept host computer data host computer transport module and with the wireless communication module of Intelligent tracking trolley communication, described host computer transport module carries out data transmission by RS-232 serial ports and USB double nip mode and host computer, pass through double nip, reception host computer information that can be very fast, feedback transport vehicle transport condition.
In the present invention, as scheme further, described intelligent controller also comprises state indicating module, described state indicating module comprises for representing the LED light emitting diode of controller state, its comprise the indication that powers on, normally flicker and abnormal alarm pilot lamp, the duty of reflection equipment that can be correct by LED light emitting diode.
In the present invention, the above is controlled, and Intelligent tracking trolley control system comprises coordinations, controls the key control unit module of each functional module work, the bidirectional wireless communication module of being responsible for receiving wireless command and send data message, drive and control of electric machine module that control Intelligent tracking trolley is controlled, for detection of path Intelligent tracking module.Key control unit module is brain and the heart of Intelligent tracking trolley, is the core component of coordinating, control each functional module work.Key control unit module adopts the MCU of technical grade, can adapt to the various working environments of factory.Bidirectional wireless communication module is ear and the face of Intelligent tracking trolley, is responsible for receiving wireless command and sending data message.Drive and control of electric machine module is the power part of Intelligent tracking trolley, and it receives the order of key control unit module, the operations such as startup, the urgency of controlling Intelligent tracking trolley is stopped, turning.Intelligent tracking module is the eyes of Intelligent tracking trolley, and the path of detection is sent to Intelligent tracking trolley.
In the present invention, as further improvement, the crossing of Intelligent tracking trolley driving path and stop are provided with a magnet, are also provided with the electromagnetic detection module for detection of the magnetic field in road on described Intelligent tracking trolley.Electromagnetic detection module is responsible for detecting the magnetic field in road.In whole industrial logistics system, the crossing of Intelligent tracking trolley driving path and stop have a magnet, with the correctness that guarantees that Intelligent tracking trolley travels.
The technology that the present invention mainly uses has: the exploitation of bidirectional wireless communication system and concrete utilization; Intelligent tracking trolley Path Recognition and crossing turn to; The research of Intelligent tracking trolley Electric Machine Control algorithm; Research and the design of intelligent controller data transmission algorithm.
(1) native system adopts semiduplex communication modes, realizes point-to-point data transmission.All data are all carried out sending and receiving with a Frame, and each Frame has effect position to guarantee the accuracy of data transmission; Take over party also can extract valid data after receiving data, resends to transmit leg, and transmit leg compares the data that receive and original data, guarantees that mistake does not appear in data transmission.Bidirectional wireless communication system adopt that Norway NORDIC company produces lower than 1GHz wireless data sending chip Nrf905, it operates mainly in the ISM band of 433MHz.The functional modules such as built-in chip type frequency synthesizer, power amplifier, crystal oscillator and modulator, output power and communication channel can be configured by program.Chip energy consumption is very low, and during with the power emission of 10dBm, working current only has 30mA, and during reception, working current only has 12.5mA, multiple low-power working mode, and under standby mode, electric current is only 12.5 μ A, energy-saving design is more convenient.
(2) Intelligent tracking trolley adopts photoelectric sensor path detection mode and Hall element electromagnetism crossing detection mode, guarantees correctness and reliability that tracking cart travels.Photoelectric sensor is used for detecting the position of black and white line in path, guarantees that tracking cart travels along specified path; Hall element is used for detecting the magnet in path, guarantees that Intelligent tracking trolley turns to assigned address and stops at appointment crossing.
(3) Intelligent tracking trolley adopts pid algorithm to control motor.Adopt pid algorithm, guaranteed the stability that Intelligent tracking trolley travels, the damage to motor when minimizing dolly turns to.
(4) intelligent controller and host computer carry out data transmission, employing be USB and two kinds of data transmission of RS-232.Common MCU only has RS-232 interface, yet along with the development in epoch, by USB interface, carries out the main flow that data transmission has become the epoch.Controller, by additional USB interface chip, is connected conversion by parallel port with this chip by data, finally completes the data transmission with host computer.
The course of work of the present invention is as follows: Intelligent tracking trolley is after receiving dispensing task, and driving path is as requested pointed out logistics shipping to appointment station the buzzing of stopping.After station extracts required material, click startup, scram button, Intelligent tracking trolley will continue logistics transportation according to predefined route, until put in storage and logistics task is completed to information, be uploaded to host computer, so just complete at last the work of a logistics distribution.
The invention has the beneficial effects as follows:
The present invention have that automaticity is high, applying flexible, safe and reliable, unattended, the plurality of advantages such as simple and easy to maintenance of constructing, thereby be widely used in the Material Transportation places such as auto manufacturing, tobacco business, construction machinery industry, airport.A Intelligent tracking trolley is the key equipment of modern logistics systems, is one of focus of material flows automation research, for improving production automation degree and the important in inhibiting of enhancing productivity.
2. material of the present invention is simple, can programme or design and can realize according to content of the present invention, is easy to be extended and applied.
Accompanying drawing explanation
Fig. 1 is theory structure schematic diagram of the present invention
Fig. 2 is the work schematic diagram of intelligent controller in the present invention;
Fig. 3 is the work schematic diagram of Intelligent tracking trolley control system in the present invention;
Embodiment
Below in conjunction with drawings and Examples, describe the present invention, following examples explain with invention optimal effectiveness.
As Figure 1-3, physical-distribution intelligent tracking cart of the present invention and control system thereof, comprise Intelligent tracking trolley, and control the host computer of Intelligent tracking trolley, and host computer comprises operating system, and it can be an applied host machine.Between host computer and Intelligent tracking trolley, by intelligent controller, exchange signal, thereby realize PC control Intelligent tracking trolley.As shown in Figure 2, intelligent controller comprise accept host computer data host computer transport module and with the wireless communication module of Intelligent tracking trolley communication, host computer transport module carries out data transmission by RS-232 serial ports and USB double nip mode and host computer, in intelligent controller, be provided with MCU nucleus module to realize the function of coordinating each functional module, intelligent controller also comprises state indicating module, described state indicating module comprises for representing the LED light emitting diode of controller state, it comprises the indication that powers on, normal flicker and abnormal alarm pilot lamp, the duty of reflection equipment that can be correct by LED light emitting diode.And Intelligent tracking trolley is mainly controlled its walking by Intelligent tracking trolley control system, stop waiting action, as shown in Figure 3, Intelligent tracking trolley control system comprises coordination, control the key control unit module of each functional module work, the bidirectional wireless communication module of being responsible for receiving wireless command and sending data message, control the drive and control of electric machine module that Intelligent tracking trolley is controlled, for detection of path Intelligent tracking module, and be provided with a magnet at crossing and the stop of Intelligent tracking trolley driving path, on described Intelligent tracking trolley, be also provided with the electromagnetic detection module for detection of the magnetic field in road.In addition, in Intelligent tracking trolley, can also select to install light emitting diode state indicating module additional, thereby make can also indicate its working condition by light emitting diode in Intelligent tracking trolley.
Embodiment 1:
The auto parts logistics of take is carried as example and is given an example, first, the Intelligent tracking trolley being arranged in fixation locus is loaded with full to auto parts, subsequently, on host computer, start the operation of Intelligent tracking trolley, host computer is transported to intelligent controller by signal by conveyer, MCU module in intelligent controller is carried out information analysis, by signal by unlimited data transmission in Intelligent tracking trolley control system, simultaneously, also transfer signals in state indicating module, state indicating module is by the demonstration working condition of LED light emitting diode, if light is stable on LED light emitting diode, represent that signal is normal.Intelligent tracking trolley, from gatehead, is provided with magnet at gatehead, the crossing of travelling, destination county subsequently, the electromagnetic detection module on Intelligent tracking trolley, the accuracy of the size judgement course by magnetic patch magnetic field.Intelligent tracking trolley, by adopting photoelectric sensor path detection mode and Hall element electromagnetism crossing detection mode, guarantees correctness and reliability that tracking cart travels.Photoelectric sensor is used for detecting the position of black and white line in conduct path, guarantees that tracking cart travels along specified path; Hall element is used for detecting the magnet in path, guarantees that Intelligent tracking trolley turns to assigned address and stops at appointment crossing.Subsequently, dolly is after the position of appointment stops, and the electronic component carrying by it is sounded a buzzer, and LED light emitting diode secretly lacks, and intelligent carriage, after unloaded of cargo, is calculated and once transported.
In the present embodiment, the operating system that host computer adopts can directly be applied mechanically existing function software and be implemented.
Embodiment 2:
The present embodiment difference from Example 1 is, while breaking down in Intelligent tracking trolley driving process, LED light emitting diode sends blinking light and goes wrong representing.All the other principle of work are identical with embodiment 1.
Finally it should be noted that: obviously, above-described embodiment is only used to clearly illustrate example of the present invention, and not to the restriction of implementing.For the those of ordinary skill in described field, can also make other changes in different forms on the basis of the above description.Here without also cannot be to all embodiment with exhaustive.And the apparent variation of being amplified out thus or change are still among protection scope of the present invention.
Claims (5)
1. a physical-distribution intelligent tracking cart and control system thereof, comprise Intelligent tracking trolley, with the host computer of controlling Intelligent tracking trolley, described host computer comprises operating system, it is characterized in that: Intelligent tracking trolley is provided with the Intelligent tracking trolley control system of controlling Intelligent tracking trolley motion; Also comprise intelligent controller, described host computer transmits signals to intelligent controller, thereby intelligent controller will be sent to the motion of Intelligent tracking trolley control system control Intelligent tracking trolley after signal resolution.
2. physical-distribution intelligent tracking cart according to claim 1 and control system thereof, it is characterized in that: described intelligent controller comprise accept host computer data host computer transport module and with the wireless communication module of Intelligent tracking trolley communication, described host computer transport module carries out data transmission by RS-232 serial ports and USB double nip mode and host computer.
3. physical-distribution intelligent tracking cart according to claim 2 and control system thereof, is characterized in that: described intelligent controller also comprises state indicating module, and described state indicating module comprises for representing the LED light emitting diode of controller state.
4. physical-distribution intelligent tracking cart according to claim 1 and control system thereof, is characterized in that: the bidirectional wireless communication module that described control Intelligent tracking trolley control system comprises coordination, control the key control unit module of each functional module work, be responsible for receiving wireless command and send data message, control drive and control of electric machine module that Intelligent tracking trolley controls, for detection of path Intelligent tracking module.
5. physical-distribution intelligent tracking cart according to claim 4 and control system thereof, it is characterized in that: the crossing of Intelligent tracking trolley driving path and stop are provided with a magnet, on described Intelligent tracking trolley, be also provided with the electromagnetic detection module for detection of the magnetic field in road.
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| CN201310556350.1A CN103558855A (en) | 2013-11-10 | 2013-11-10 | Intelligent logistics tracking trolley and control system thereof |
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| CN201310556350.1A CN103558855A (en) | 2013-11-10 | 2013-11-10 | Intelligent logistics tracking trolley and control system thereof |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105759802A (en) * | 2014-11-21 | 2016-07-13 | 财团法人工业技术研究院 | Automated guided vehicle and control method thereof |
| CN107140351A (en) * | 2017-06-22 | 2017-09-08 | 张珺虞 | Multifunctional intelligent garbage bin |
| CN111487978A (en) * | 2020-05-13 | 2020-08-04 | 合肥卓科智能技术有限公司 | Control system of automatic guided vehicle |
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| JPS6017508A (en) * | 1983-07-11 | 1985-01-29 | Daifuku Co Ltd | Unmanned car |
| CN102411369A (en) * | 2011-09-28 | 2012-04-11 | 上海交通大学 | Automatic guided vehicle (AGV) setting device possessing wireless communication function |
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| CN202838021U (en) * | 2012-09-12 | 2013-03-27 | 上海交通大学 | Intelligent tracking remote-control trolley |
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Patent Citations (8)
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| JPS6017508A (en) * | 1983-07-11 | 1985-01-29 | Daifuku Co Ltd | Unmanned car |
| EP2500871A1 (en) * | 2011-03-18 | 2012-09-19 | The Raymond Corporation | Integration of an autonomous industrial vehicle into an asset management system |
| CN102411369A (en) * | 2011-09-28 | 2012-04-11 | 上海交通大学 | Automatic guided vehicle (AGV) setting device possessing wireless communication function |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105759802A (en) * | 2014-11-21 | 2016-07-13 | 财团法人工业技术研究院 | Automated guided vehicle and control method thereof |
| CN107140351A (en) * | 2017-06-22 | 2017-09-08 | 张珺虞 | Multifunctional intelligent garbage bin |
| CN111487978A (en) * | 2020-05-13 | 2020-08-04 | 合肥卓科智能技术有限公司 | Control system of automatic guided vehicle |
| CN111487978B (en) * | 2020-05-13 | 2023-08-29 | 合肥卓科智能技术有限公司 | Control system of automatic guiding trolley |
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Application publication date: 20140205 |