CN106081647A - A kind of multi power source goods carrying system based on indoor navigation - Google Patents
A kind of multi power source goods carrying system based on indoor navigation Download PDFInfo
- Publication number
- CN106081647A CN106081647A CN201610422179.9A CN201610422179A CN106081647A CN 106081647 A CN106081647 A CN 106081647A CN 201610422179 A CN201610422179 A CN 201610422179A CN 106081647 A CN106081647 A CN 106081647A
- Authority
- CN
- China
- Prior art keywords
- unloading
- decrater
- running fix
- indoor navigation
- power source
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G63/00—Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Current-Collector Devices For Electrically Propelled Vehicles (AREA)
Abstract
The invention discloses a kind of multi power source goods carrying system based on indoor navigation, it includes unloading apron, indoor navigation device, at least one decrater；Described unloading apron, it is arranged at indoor；Described indoor navigation device, it includes at least three fixed locator, at least one mobile locator；Described decrater, it include unload travel mechanism, unload motion, unload drive mechanism, unload energy mechanism, decrater controller, mobile locator installation portion, described decrater be used for transfer kinds of goods.
Description
Technical field
The present invention relates to carrying system technical field, particularly to a kind of multi power source goods transfer based on indoor navigation
System.
Background technology
Existing goods carrying system typically uses extensive management mode, and wholly or largely goods transfer process is all by phase
Answering personnel to be managed and controlling, administrative staff cannot know goods transfer equipment and the current state of institute's freight thereof,
Corresponding positioning and navigator is not had to indicate goods transfer process yet.
Content of the invention
In order to solve above-mentioned technical problem, the invention provides a kind of multi power source goods transfer system based on indoor navigation
System, it includes unloading apron, indoor navigation device, at least one decrater；
Described unloading apron, it is arranged at indoor；
Described indoor navigation device, it includes at least three fixed locator, at least one mobile locator；
Described decrater, it include unload travel mechanism, unload motion, unload drive mechanism, unload energy mechanism,
Decrater controller, mobile locator installation portion, described decrater is used for transfer kinds of goods；
Described unloading energy mechanism, it includes that Chu electricity Ti, generating body, described unloading energy mechanism is used for providing by electricity body
Described decrater runs required electric energy；
Described by electricity body include power side coil, power side energy converter；Described come from confession by electricity body for acquisition
The electric energy that electricity body sends, and it is provided to Chu electricity Ti；
Described power supply body is used for being provided out radio energy；Described power supply body and described being subject to use resonance to power between electricity body
Form carries out energy transmission；
Described storage electricity body is used for storing electric energy, and it is real with the combination of electric capacity that described storage electricity body passes through battery, electric capacity, or battery
Existing；
Described generating body is fuel generator, and described fuel is gasoline, diesel oil, ethanol, liquified hydrogen, liquified natural gas；Or
Described generating body is compressed air generator, and described compressed air generator produces based on the compressed air that compressed air cylinder is provided
Raw electric energy；
Described mobile locator installation portion, it is used for fixing described mobile locator.
Specifically, described unloading apron includes multiple function field, and the kinds of goods of different qualities are placed in described function field for distinguishing.
Specifically, described fixed locator, it is arranged in described unloading apron, is used for sending out the first framing signal.
Specifically, described mobile locator, it includes running fix receiver, and running fix memory, at running fix
Reason device；Described mobile locator is arranged on described decrater；
Described running fix receiver is used for receiving described first framing signal；
Described running fix memory is used for storing described unloading apron numerical map, and described unloading apron numerical map comprises institute
State the coordinate of multiple function field；
Described running fix processor and described running fix receiver, running fix memory is connected；
Described running fix processor receives described first framing signal that described running fix receiver receives, and root
According to the described unloading apron numerical map of described running fix memory storage, determine described decrater present position.
Specifically, the described decrater present position of described determination is based on running fix algorithm.
Specifically, described unloading travel mechanism, it includes driving wheel, or crawler belt, is used for driving described decrater to move position
Put；
Described unloading motion, it includes motion main body of unloading, unloading motion connector；Described unload shipping
Motivation structure is for kinds of goods described in transfer；
Described unloading motion main body connects described unloading motion connector, and described unloading motion main body is used
In the transfer equipment that driving is connected with described unloading motion connector；
The transfer equipment that described and described unloading motion connector is connected is arm, gripper, or pallet fork；
Described unloading drive mechanism, it includes that unloading drives motor, unloading driving energy converter, described unloading driving
Mechanism is used for driving described unloading travel mechanism, motion of unloading；
Described decrater controller, it is for controlling the operation of described decrater.
Specifically, described decrater also includes appraisal organization of unloading, and described unloading appraisal organization is used for identifying current delivery
The characteristic of kinds of goods；
The described characteristic identifying current delivery kinds of goods realizes based on image authentication, or the current spy delivering kinds of goods of described qualification
Property is based on being manually entered realization.
Specifically, described power supply body includes supply side coil, supply side coil actuator, supply side energy converter, supplies
Electricity Ce electric energy mechanism；
Described supply side electric energy mechanism is used for obtaining external electric energy, and is provided to described supply side energy converter,
Electric energy after described supply side energy converter will be changed provides to described supply side coil, and described supply side coil actuator is used
It is provided out radio energy in driving described supply side coil.
Specifically, described running fix algorithm is N angle location algorithm, and described N is the positive integer more than or equal to 3；
Described indoor navigation carries out indoor positioning and navigation based on WIFI hot spot.
Specifically, described running fix receiver is used for receiving described first framing signal based on Information Authentication realization, institute
State Information Authentication to be sent in order to the third party that the information that ensures received by described running fix receiver is not unrelated, institute
Stating Information Authentication is that information sender adds predictive encoding before the message command of transmission, and receiving party is after receiving information
First described predictive encoding is verified, receive, after checking, the message command that information sender is sent again.
The invention provides goods carrying system, it is so that administrative staff know goods transfer equipment and institute thereof in real time
The current state of freight, and it is provided with corresponding positioning and navigator instruction goods transfer process, facilitate goods transfer
The management of process and scientific commander.
Brief description
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art and advantage, below will be to enforcement
In example or description of the prior art, the accompanying drawing of required use is briefly described, it should be apparent that, the accompanying drawing in describing below is only
It is only some embodiments of the present invention, for those of ordinary skill in the art, on the premise of not paying creative work,
Other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is the structure chart of the goods carrying system that the embodiment of the present invention provides.
Symbol description in figure: 1-unloading apron, 2-fixed locator, 3-decrater, 4-mobile locator.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Describe, it is clear that described embodiment is only a part of embodiment of the present invention, rather than whole embodiments wholely.Based on
Embodiment in the present invention, those of ordinary skill in the art obtained on the premise of not making creative work all its
His embodiment, broadly falls into the scope of protection of the invention.
Referring to Fig. 1, the invention provides a kind of multi power source goods carrying system based on indoor navigation, it includes unloading
Goods yard, indoor navigation device, at least one decrater；
Described unloading apron, it is arranged at indoor；
Described indoor navigation device, it includes at least three fixed locator, at least one mobile locator；
Described decrater, it include unload travel mechanism, unload motion, unload drive mechanism, unload energy mechanism,
Decrater controller, mobile locator installation portion, described decrater is used for transfer kinds of goods；
Described unloading energy mechanism, it includes that Chu electricity Ti, generating body, described unloading energy mechanism is used for providing by electricity body
Described decrater runs required electric energy；
Described by electricity body include power side coil, power side energy converter；Described come from confession by electricity body for acquisition
The electric energy that electricity body sends, and it is provided to Chu electricity Ti；
Described power supply body is used for being provided out radio energy；Described power supply body and described being subject to use resonance to power between electricity body
Form carries out energy transmission；
Described storage electricity body is used for storing electric energy, and it is real with the combination of electric capacity that described storage electricity body passes through battery, electric capacity, or battery
Existing；
Described generating body is fuel generator, and described fuel is gasoline, diesel oil, ethanol, liquified hydrogen, liquified natural gas；Or
Described generating body is compressed air generator, and described compressed air generator produces based on the compressed air that compressed air cylinder is provided
Raw electric energy；
Described mobile locator installation portion, it is used for fixing described mobile locator.
Specifically, described unloading apron includes multiple function field, and the kinds of goods of different qualities are placed in described function field for distinguishing.
Specifically, described fixed locator, it is arranged in described unloading apron, is used for sending out the first framing signal.
Specifically, described mobile locator, it includes running fix receiver, and running fix memory, at running fix
Reason device；Described mobile locator is arranged on described decrater；
Described running fix receiver is used for receiving described first framing signal；
Described running fix memory is used for storing described unloading apron numerical map, and described unloading apron numerical map comprises institute
State the coordinate of multiple function field；
Described running fix processor and described running fix receiver, running fix memory is connected；
Described running fix processor receives described first framing signal that described running fix receiver receives, and root
According to the described unloading apron numerical map of described running fix memory storage, determine described decrater present position.
Specifically, the described decrater present position of described determination is based on running fix algorithm.
Specifically, described unloading travel mechanism, it includes driving wheel, or crawler belt, is used for driving described decrater to move position
Put；
Described unloading motion, it includes motion main body of unloading, unloading motion connector；Described unload shipping
Motivation structure is for kinds of goods described in transfer；Described unloading motion main body connects described unloading motion connector, described unloads
Goods motion main body is for driving the transfer equipment being connected with described unloading motion connector；
The transfer equipment that described and described unloading motion connector is connected is arm, gripper, or pallet fork；
Described unloading drive mechanism, it includes that unloading drives motor, unloading driving energy converter, described unloading driving
Mechanism is used for driving described unloading travel mechanism, motion of unloading；
Described decrater controller, it is for controlling the operation of described decrater.
Specifically, described decrater also includes appraisal organization of unloading, and described unloading appraisal organization is used for identifying current delivery
The characteristic of kinds of goods；
The described characteristic identifying current delivery kinds of goods realizes based on image authentication, or the current spy delivering kinds of goods of described qualification
Property is based on being manually entered realization.
Specifically, described power supply body includes supply side coil, supply side coil actuator, supply side energy converter, supplies
Electricity Ce electric energy mechanism；
Described supply side electric energy mechanism is used for obtaining external electric energy, and is provided to described supply side energy converter,
Electric energy after described supply side energy converter will be changed provides to described supply side coil, and described supply side coil actuator is used
It is provided out radio energy in driving described supply side coil.
Specifically, described running fix algorithm is N angle location algorithm, and described N is the positive integer more than or equal to 3；
Described indoor navigation carries out indoor positioning and navigation based on WIFI hot spot.
Specifically, described running fix receiver is used for receiving described first framing signal based on Information Authentication realization, institute
State Information Authentication to be sent in order to the third party that the information that ensures received by described running fix receiver is not unrelated, institute
Stating Information Authentication is that information sender adds predictive encoding before the message command of transmission, and receiving party is after receiving information
First described predictive encoding is verified, receive, after checking, the message command that information sender is sent again.
The above is the preferred embodiment of the present invention, it is noted that for those skilled in the art
For, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications are also considered as
Protection scope of the present invention.
Claims (10)
1. the multi power source goods carrying system based on indoor navigation, it is characterised in that it includes unloading apron, indoor navigation
Device, at least one decrater；
Described unloading apron, it is arranged at indoor；
Described indoor navigation device, it includes at least three fixed locator, at least one mobile locator；
Described decrater, it includes travel mechanism of unloading, unloading motion, drive mechanism of unloading, energy mechanism of unloading, unloading
Machine controller, mobile locator installation portion, described decrater is used for transfer kinds of goods；
Described unloading energy mechanism, it includes that described unloading energy mechanism is used for providing described by electricity body, Chu electricity Ti, generating body
Decrater runs required electric energy；
Described by electricity body include power side coil, power side energy converter；Described come from power supply body by electricity body for acquisition
The electric energy sending, and it is provided to Chu electricity Ti；Described power supply body is used for being provided out radio energy；Described power supply body with described
Resonance power-supplying forms is used to carry out energy transmission by between electricity body；
Described storage electricity body is used for storing electric energy, and described storage electricity body passes through battery, electric capacity, or battery and realizes with the combination of electric capacity；
Described generating body is fuel generator, and described fuel is gasoline, diesel oil, ethanol, liquified hydrogen, liquified natural gas；Or it is described
Generating body is compressed air generator, and described compressed air generator produces electricity based on the compressed air that compressed air cylinder is provided
Energy；
Described mobile locator installation portion, it is used for fixing described mobile locator.
2. the multi power source goods carrying system based on indoor navigation according to claim 1, it is characterised in that
Described unloading apron includes multiple function field, and the kinds of goods of different qualities are placed in described function field for distinguishing.
3. the multi power source goods carrying system based on indoor navigation according to claim 2, it is characterised in that
Described fixed locator, it is arranged in described unloading apron, is used for sending out the first framing signal.
4. the multi power source goods carrying system based on indoor navigation according to claim 3, it is characterised in that
Described mobile locator, it includes running fix receiver, running fix memory, running fix processor；Described shifting
Dynamic locator is arranged on described decrater；
Described running fix receiver is used for receiving described first framing signal；
Described running fix memory is used for storing described unloading apron numerical map, and described unloading apron numerical map comprises described many
The coordinate of individual function field；
Described running fix processor and described running fix receiver, running fix memory is connected；
Described running fix processor receives described first framing signal that described running fix receiver receives, and according to institute
State the described unloading apron numerical map of running fix memory storage, determine described decrater present position.
5. the multi power source goods carrying system based on indoor navigation according to claim 4, it is characterised in that
The described decrater present position of described determination is based on running fix algorithm.
6. the multi power source goods carrying system based on indoor navigation according to claim 5, it is characterised in that
Described unloading travel mechanism, it includes driving wheel, or crawler belt, is used for driving described decrater shift position；
Described unloading motion, it includes motion main body of unloading, unloading motion connector；Described unloading fitness machine
Structure is for kinds of goods described in transfer；Described unloading motion main body connects described unloading motion connector, described unloads shipping
Dynamic mechanism body is for driving the transfer equipment being connected with described unloading motion connector；
The transfer equipment that described and described unloading motion connector is connected is arm, gripper, or pallet fork；
Described unloading drive mechanism, it includes that unloading drives motor, unloading driving energy converter, described unloading drive mechanism
For driving described unloading travel mechanism, motion of unloading；
Described decrater controller, it is for controlling the operation of described decrater.
7. the multi power source goods carrying system based on indoor navigation according to claim 6, it is characterised in that
Described decrater also includes appraisal organization of unloading, and described unloading appraisal organization is for identifying the current characteristic delivering kinds of goods；
The described characteristic identifying current delivery kinds of goods realizes based on image authentication, or the current characteristic base delivering kinds of goods of described qualification
In being manually entered realization.
8. the multi power source goods carrying system based on indoor navigation according to claim 7, it is characterised in that
Described power supply body includes supply side coil, supply side coil actuator, supply side energy converter, supply side electric energy machine
Structure；
Described supply side electric energy mechanism is used for obtaining external electric energy, and is provided to described supply side energy converter, described
Electric energy after supply side energy converter will be changed provides to described supply side coil, and described supply side coil actuator is used for driving
Move described supply side coil and be provided out radio energy.
9. the multi power source goods carrying system based on indoor navigation according to claim 8, it is characterised in that
Described running fix algorithm is N angle location algorithm, and described N is the positive integer more than or equal to 3；
Described indoor navigation carries out indoor positioning and navigation based on WIFI hot spot.
10. the multi power source goods carrying system based on indoor navigation according to claim 9, it is characterised in that
Described running fix receiver is used for receiving described first framing signal and realizes based on Information Authentication, and described Information Authentication is used
Being sent with the third party that the information ensureing received by described running fix receiver is not unrelated, described Information Authentication is
Information sender adds predictive encoding before the message command of transmission, and receiving party first makes a reservation for described after receiving information
Coding verifies, and receives, after checking, the message command that information sender is sent again.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610422179.9A CN106081647B (en) | 2016-06-14 | 2016-06-14 | A kind of multi power source cargo carrying system based on indoor navigation |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610422179.9A CN106081647B (en) | 2016-06-14 | 2016-06-14 | A kind of multi power source cargo carrying system based on indoor navigation |
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| CN106081647A true CN106081647A (en) | 2016-11-09 |
| CN106081647B CN106081647B (en) | 2018-06-01 |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4432736A1 (en) * | 1993-12-20 | 1995-06-22 | Esg Elektroniksystem Und Logis | Goods loading position determining system using satellite navigation system |
| CN1570796A (en) * | 2004-05-14 | 2005-01-26 | 李俊 | Rubber-tired crane autopilot and box location management system based on differential GPS technology |
| US20090082962A1 (en) * | 2007-09-20 | 2009-03-26 | Qualcomm Incorporated | Routing Drivers to Trailers Effectively |
| CN101924398A (en) * | 2009-06-11 | 2010-12-22 | 陈重佑 | Non-contact type charging device of electronic lock |
| CN203529470U (en) * | 2013-10-14 | 2014-04-09 | 华电重工股份有限公司 | Efficient container transfer storage yard |
-
2016
- 2016-06-14 CN CN201610422179.9A patent/CN106081647B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4432736A1 (en) * | 1993-12-20 | 1995-06-22 | Esg Elektroniksystem Und Logis | Goods loading position determining system using satellite navigation system |
| CN1570796A (en) * | 2004-05-14 | 2005-01-26 | 李俊 | Rubber-tired crane autopilot and box location management system based on differential GPS technology |
| US20090082962A1 (en) * | 2007-09-20 | 2009-03-26 | Qualcomm Incorporated | Routing Drivers to Trailers Effectively |
| CN101924398A (en) * | 2009-06-11 | 2010-12-22 | 陈重佑 | Non-contact type charging device of electronic lock |
| CN203529470U (en) * | 2013-10-14 | 2014-04-09 | 华电重工股份有限公司 | Efficient container transfer storage yard |
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| Publication number | Publication date |
|---|---|
| CN106081647B (en) | 2018-06-01 |
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Effective date of registration: 20180510 Address after: 310000 1, 3 building, No. 316 Jianghong Road, Changhe street, Binjiang District, Hangzhou, Zhejiang. Applicant after: Zhejiang lightness Intelligent Control Technology Co., Ltd. Address before: No. 2258, Huzhou City, Zhejiang, Zhejiang Applicant before: Huzhou Huaxin Metal Materials Co., Ltd. |
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Address after: 310056 room 1701, 17th floor, building 3, No. 316, Jianghong South Road, Changhe street, Binjiang District, Hangzhou, Zhejiang Patentee after: Mingdu Zhiyun (Zhejiang) Technology Co.,Ltd. Address before: 1f, building 3, No. 316, Jianghong South Road, Changhe street, Binjiang District Patentee before: ZHEJIANG MINGDU INTELLIGENT CONTROL TECHNOLOGY Co.,Ltd. |
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