CN106737561A - A kind of automatic driving car and method with intelligent communication - Google Patents

Abstract

The invention discloses a kind of automatic driving car with intelligent communication, including tote cart, front vehicle wheel is equipped with motor, there are control cabinet and supply unit inside underbody, the leading flank and trailing flank of car body have 2 avoidance inductors, preposition camera head and 2 illuminating lamps, and respectively there are 2 avoidance inductors left and right side, top surface has epicyclical mechanism assembly, goods accumulating platform and LED signal lamp.The present invention receives the optical signal that backstage center is sent by four photosensitive cameras, possesses remote control and the function of positioning oneself, by top surface LED signal lamp, video can be transmitted to backstage center, possess monitoring function, by LED light group, tote cart can be communicated mutually, and avoidance sensor, preposition camera head and rearmounted camera head are installed by surrounding, realize Intelligent unattended turnover, top surface installs epicyclical mechanism assembly, and all switching stations uneasiness machine arms reduce cost.

Description

A kind of automatic driving car and method with intelligent communication

Technical field

The present invention relates to logistics equipment field, specially a kind of automatic driving car with intelligent communication.

Background technology

Tote cart is essential instrument in logistics transportation, and supermarket in life, airport, public place tote cart everywhere may be used See, even more essential in production, parts, circuit, plastic shell, the dispatching of various semi-finished product, products storage transfer are required for Tote cart, existing tote cart is divided into traditional and intelligent, traditional tote cart needs artificial loading and unloading, it is necessary to artificial turnover Promote, waste of manpower, have enough to meet the need inefficiency；Intelligent tote cart, can be had enough to meet the need along specified route, and above unloading goods can be with Completed by robotic arm, this intelligent tote cart can also be set by wireless telecommunications and is connected with backstage, carry out remote control, but It is the trunking for needing input extra, each week switching stations must fixedly mount the robotic arm of loading and unloading, and input is big, cost It is high.

The content of the invention

It is an object of the invention to provide a kind of automatic driving car with intelligent communication, solve existing tote cart each Station must install fixed robotic arm, put into big problem, it is not necessary to which installing wireless telecommunications system carries out information transmission, uses LED light group transmits signal, fast with speed, the advantage at cost bottom.

To achieve the above object, the present invention provides following technical scheme：A kind of automatic driving car with intelligent communication, bag Tote cart is included, the car body of the tote cart is cuboid, and head has oblique angle, and underbody has four wheels, two, front wheel Equipped with motor, the motor includes left motor, and right motor and motor fix cover, and the motor fixes cover and is fixed on car Inside bottom, motor fixes cover inside and is disposed with left motor and right motor, and left motor output shaft is connected with front left wheel, right motor Output shaft is connected with the right wheel in front, and there be control cabinet and supply unit in the underbody inside of the tote cart, in the control cabinet Equipped with control board, including processor and printed circuit board (PCB), leading flank top each cloth of the right and left of the tote cart car body An avoidance inductor is equipped with, intermediate arrangement has preposition camera head, and leading flank lower section the right and left is respectively disposed with an illumination Lamp, right flank top the right and left of tote cart car body is respectively disposed with an avoidance inductor, on the trailing flank of tote cart car body Square the right and left is respectively disposed with an avoidance inductor, and intermediate arrangement has rearmounted camera head, and trailing flank lower section the right and left is each An illuminating lamp is disposed with, left surface top the right and left of tote cart car body is respectively disposed with an avoidance inductor, tote cart The front of car body top surface is equipped with epicyclical mechanism assembly, and the epicyclical mechanism assembly includes worm speed-down motor, two worm screw supports Frame, worm screw, worm gear, rotating disk, the first motor, the first support arm, the second motor, the second support arm, the 3rd motor, swivel mount, two Individual swivel mount camera and electric sucking disc, are equipped with goods accumulating platform, after the goods accumulating platform behind epicyclical mechanism assembly Face is disposed with LED signal lamp, and it includes support base and LED, and the support base is the cylinder of two-stage step, and bottom is great circle Disk, top is cylindrical bar, and four corners of the tote cart car body top surface are respectively provided with a photosensitive camera, described photosensitive to take the photograph As head is connected with processor, optical signal, the preposition camera head, rearmounted camera head, swivel mount shooting are transmitted to processor Head is connected with processor, and vision signal is transmitted to processor, and the avoidance inductor is connected with processor, and week is transmitted to processor Side situation, the processor and worm speed-down motor, the first motor, the second motor, the 3rd motor, electric sucking disc, motor It is connected, passes on action command, processor to be also connected with LED signal lamp to them, optical signal switch frequency is transmitted to it.

Preferably, two worm screw support frames of the epicyclical mechanism assembly are fixed on the tote cart underbody inside left and right sides, It has bearing hole above, and taper roll bearing is housed on bearing hole, and worm screw two ends are gone here and there on taper roll bearing, the worm screw Left end is connected with the output shaft of worm speed-down motor, and the worm speed-down motor is fixed on inside underbody, the worm and wheel It is meshed, the worm gear is fixed on rotating disk, pivoting support is housed on the rotating disk, fork-shaped journal stirrup, described time is arranged at its top Turn supporting and fixing on car body, the first support arm is connected with the fork-shaped journal stirrup of the rotating disk, their connecting shaft is electric with first Machine is connected, and there is fork-shaped journal stirrup the upper end of first support arm, the second support arm is connected with fork-shaped journal stirrup, their connecting shaft It is connected with the second motor, the other end of second support arm is connected with swivel mount, and the swivel mount top is fork-shaped journal stirrup, It is connected with the connecting shaft of the second support arm with the 3rd motor, and its bottom is equipped with electric sucking disc, on the lateral surface of swivel mount Left and right is respectively equipped with a swivel mount camera.

Preferably, the tote cart is to use indoors, indoor location LED light group, and each LED light group has unique volume Code, it includes LED and receiver, and buffer module is also installed in interior, and signal can be changed into switch by the buffer module Frequency signal, buffer module is connected with each LED light group, and the switch for receiving optical signal from the receiver of each LED light group is frequently Rate, the switching frequency of conversion is transferred to LED, and buffer module is also connected with backstage center, and backstage center receives intermediate conversion The signal of device, also to buffer module sending signal.

Preferably, four photosensitive cameras of the tote cart top surface are ISO CMOS camera module, definition 600 lines, illumination 0.0001LUX, valid pixel 768（H）X580 (V), operating voltage 3.3-5.0V, it receives the light letter of LED Number.

Preferably, receiver sending signal from the LED signal lamp of the tote cart top surface to indoor LED lamp group.

Preferably, the avoidance inductor is diffusing reflection formula infrared photoelectric sensor, and the response time is less than 2ms, effectively away from From 3cm-80cm.

Preferably, the goods accumulating platform is equipped with cargo size sensor and weight sensor, and the size sensor can To detect the length, width and height physical dimension of piling cargo, size sensor and weight sensor are connected with processor, and to processor Feedback signal.

Compared with prior art, beneficial effects of the present invention are as follows：

1st, the present invention installs four photosensitive cameras by tote cart top surface, can receive backstage and be sent out centrally through LED light group The optical signal for coming, optical signal can control tote cart loading and unloading after processor is changed, and travel, and tote cart is possessed remotely The ability of control, encoded signal of the optical signal that tote cart is received comprising LED light group, can make tote cart know present position, Possesses the function of positioning oneself.

2nd, the present invention installs LED signal lamp by tote cart top surface, can be rearmounted by preposition camera head on tote cart The video that swivel mount camera is shot with video-corder on camera head and epicyclical mechanism assembly, issues backstage center, makes the backstage center can be with The real time status of remote monitoring tote cart, for the centralized dispatching of backstage center provides foundation, also make tote cart possess monitoring function.

3rd, the present invention transmits signal by LED light group between tote cart, tote cart is mutually communicated, it is not necessary to after Platform control can also in Intellisense room other tote carts situation, it is to avoid same station tote cart flocks together the situation of aggregation, Compared with conventional wireless is communicated, the communication speed of LED visible light is fast, and interference is few, and strong security is not in signal delay, is lost The situation of mistake, makes the information more precise and high efficiency that backstage center obtains, and makes optimal judgement.

4th, the present invention installs avoidance sensor, preposition camera head and rearmounted camera head by tote cart surrounding, and Signal is passed into processor in real time, processor by analysis, can automated to respond to peripheral situation, processor presses pre-booking process can be with Unload goods and travel on control tote cart, realize Intelligent unattended turnover, reduce artificial.

5th, the present invention installs epicyclical mechanism assembly in tote cart top surface, by the control of processor, can intelligence it is upper and lower Goods, makes tote cart possess the ability above unloaded goods, it is not necessary to installs stationary machines arm in each week switching stations, is adjusted by optimizing Degree, can arbitrarily have enough to meet the need and unload goods, and reduce the use of robotic arm, reduce cost.

Brief description of the drawings

Fig. 1 is schematic structural view of the invention；

Fig. 2 is front view of the present invention；

Fig. 3 is present invention axial direction schematic diagram；

Fig. 4 is epicyclical mechanism assembly schematic diagram of the present invention；

Fig. 5 is control principle drawing of the present invention；

In figure：1 tote cart, 2 avoidance inductors, 3 epicyclical mechanism assemblies, 4 goods accumulating platforms, 5LED signal lamps, 6 supply units, 7 Control cabinet, 8 motors, 9 illuminating lamps, 10 preposition camera heads, 11 rearmounted camera heads, 12 photosensitive cameras, 301 electronic suctions Disk, 302 the 3rd motors, 303 second support arms, 304 second motors, 305 first support arms, 306 first motors, 307 rotating disks, 308 worm speed-down motors, 309 worm screws, 310 worm gears, 311 worm screw support frames, 312 swivel mounts, 313 swivel mount cameras.

Specific embodiment

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 Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made Embodiment, belongs to the scope of protection of the invention.

Fig. 1-5 are referred to, a kind of automatic driving car with intelligent communication is a kind of with the unmanned of intelligent communication Car, including tote cart 1, its car body are cuboid, and head has oblique angle, and underbody has four wheels, and two, front wheel is equipped with drive Dynamic motor 8, it includes left motor, and right motor and motor fix cover, and motor is fixed cover and is fixed on inside underbody, and it is internal equipped with a left side Motor and right motor, left motor output shaft are connected with front left wheel, and right motor output shaft is connected with the right wheel in front, left motor Straight-line travelling when identical with right motor speed, can turn when having speed discrepancy, and there be the He of control cabinet 7 the underbody inside of tote cart 1 Supply unit 6, control cabinet 7 is carried built with control board, including processor and printed circuit board (PCB), supply unit 6 for tote cart 1 Power supply energy, leading flank top the right and left of the car body of tote cart 1 is respectively disposed with an avoidance inductor 2, and intermediate arrangement has preposition Camera head 10, lower section the right and left is respectively disposed with an illuminating lamp 9, and right flank top the right and left of the car body of tote cart 1 is each An avoidance inductor 2 is disposed with, trailing flank top the right and left of the car body of tote cart 1 is respectively disposed with an avoidance inductor 2, Intermediate arrangement has rearmounted camera head 11, and lower section the right and left is respectively disposed with an illuminating lamp 9, the left surface of the car body of tote cart 1 Top the right and left is respectively disposed with an avoidance inductor 2, and avoidance inductor 2 is diffusing reflection formula infrared photoelectric sensor, response Time is less than 2ms, coverage 3cm-80cm, can perceive ambient conditions, it is to avoid tote cart 1 collides, preposition shooting dress Put 10 and rearmounted camera head 1 can shoot with video-corder live video information, when rather dark, illuminating lamp 9 be used for illuminate periphery, it is ensured that Camera head shooting quality, the front of the car body top surface of tote cart 1 is equipped with epicyclical mechanism assembly 3, and it includes worm speed-down motor 308, two worm screw support frames 311, worm screw 309, worm gear 310, rotating disk 307, the first motor 306, the first support arm 305, second Motor 304, the second support arm 303, the 3rd motor 302, swivel mount 312, two swivel mount cameras 313 and electric sucking disc 301, Wherein, two worm screw support frames 311 are fixed on the underbody of the tote cart 1 inside left and right sides, and it has bearing hole above, is filled on bearing hole There is taper roll bearing, the two ends of worm screw 309 are gone here and there on taper roll bearing, make worm screw 309 smooth when rotating, it is ensured that axiality, The left end of worm screw 309 is connected with the output shaft of worm speed-down motor 308, and worm speed-down motor 308 is fixed on inside underbody, drives Worm screw 309 is rotated, and worm screw 309 is meshed with worm gear 310, and worm gear 310 is fixed on rotating disk 307, equipped with revolution branch on rotating disk 307 Hold, pivoting support is fixed on car body, rotating disk 307 rotated by the rotation of worm gear 310, fork-shaped journal stirrup is arranged at the top of rotating disk 307, The first support arm 305 is connected with its fork-shaped journal stirrup, their connecting shaft is connected with the first motor 306, and the first motor 306 is opened Dynamic, the first support arm 305 is rotated, and has fork-shaped journal stirrup in the upper end of the first support arm 305, and the second support is connected with fork-shaped journal stirrup Arm 303, their connecting shaft is connected with the second motor 304, and the second motor 304 starts, and the second support arm 303 is rotated, second The other end of support arm 303 is connected with swivel mount 312, and the top of swivel mount 312 is fork-shaped journal stirrup, and it is with the second support arm 303 Connecting shaft be connected with the 3rd motor 302, the 3rd motor 302 starts, and rotates swivel mount 312, the bottom of swivel mount 312 equipped with electricity Dynamic sucker 301, forms vacuum after startup, capture goods, and left and right is respectively taken the photograph equipped with a swivel mount on the lateral surface of swivel mount 312 As first 313, goods accumulating platform can be equipped with behind epicyclical mechanism assembly 3 with the process of real time record crawl, and obstacle avoidance 4, for loading goods, goods accumulating platform 4 is equipped with cargo size sensor and weight sensor, and size sensor can detect heap The physical dimension of code goods length, width and height, size sensor and weight sensor are connected with processor, and to processor feedback signal, Automatic arranging is prevented size and the weight from transfiniting by processor, and LED signal lamp 5 is disposed with behind goods accumulating platform 4, and it includes branch Support seat and LED, support base is the cylinder of two-stage step, and bottom is big disk, and top is cylindrical bar, the car body top of tote cart 1 Four corners in face are respectively provided with a photosensitive camera 12, and it is ISO CMOS camera module, the line of definition 600, Illumination 0.0001LUX, valid pixel 768（H）X580 (V), operating voltage 3.3-5.0V, it receives the optical signal of LED, with place Reason device be connected, and to processor transmit optical signal, preposition camera head 10, rearmounted camera head 11, swivel mount camera 313 with Processor is connected, and vision signal is transmitted to processor, and avoidance inductor 2 is connected with processor, and periphery situation is transmitted to processor, Processor and worm speed-down motor 308, the first motor 306, the second motor 304, the 3rd motor 302, electric sucking disc 301 drive Motor 8 is connected, and passes on action command, processor to be also connected with LED signal lamp 5 to them, and optical signal switch frequency is transmitted to it, Receiver sending signal from LED signal lamp 5 to indoor LED lamp group, the LED light group of indoor location, each LED light group has uniquely Coding, it includes LED and receiver, and buffer module is also installed in interior, and signal can be changed into switch frequency signal by it, in Between converter be connected with each LED light group, the switching frequency of optical signal is received from the receiver of each LED light group, turn to LED Send the switching frequency of conversion, buffer module to be also connected with backstage center, backstage center receive buffer module signal, also to Buffer module sending signal, makes the backstage center can be with remote control tote cart 1, it is also possible to receive the video that tote cart 1 is transmitted Information, grasps field condition in real time.

When using, receiver is installed to each indoor LED lamp, and distributes unique coding, also turn in the middle of installation indoors Parallel operation, it is connected with each LED light group, is also connected with backstage center；Tote cart 1 is transported automatically according to the program for being preset in processor OK, the avoidance inductor 2 on car body, preposition camera head 10 and rearmounted camera head 11 obtain peripheral information in real time, when there is barrier Hinder and evade automatically when occurring, stop in place automatically when reaching and subscribing all switching stations, processor receives feedback signal Afterwards, start the drive device on epicyclical mechanism assembly 3, the electric sucking disc 301 in mechanism is smoothly drawn goods, and be transported to On goods accumulating platform 4, when goods is drawn, 2 real-time captures of swivel mount camera 313 on swivel mount 312 draw engineering, when When will appear from collision or emergency case, processor responds in real time, makes epicyclical mechanism assembly 3 adjustment attitude, goods in time When being transported to goods accumulating platform 4, the size and weight of the meeting Real-time Feedback goods pile of goods accumulating platform 4, processor receive feedback Goods stacking form can be optimized and revised after signal, after the goods stacking limit is reached, processor control epicyclical mechanism assembly 3 stops Turnover, the support arm on epicyclical mechanism assembly 3 returns to reset condition, and processor controls the automatic running of tote cart 1 to next week Switching stations；In turnover, photosensitive camera 12 understands the LED optical signal of the top of real-time capture tote cart 1, this light to tote cart 1 Signal contains the coding of each LED, and processor can automatically analyze out coding, calculates oneself real-time position, and by place This positional information is converted into switching frequency by reason device, LED signal lamp is sent this light to the receiver of indoor LED lamp and is believed Number, after receiver receives optical signal, by buffer module the LED in this signal transmission to other LEDs, making interior The optical signal of correspondence switching frequency is sent, after being caught by the photosensitive camera 12 of other tote carts 1, can mutually know that position is believed Breath, while this positional information can also be obtained by middle converter by backstage center；Backstage center can be turned by centre Remote control command is converted into switching frequency by parallel operation, after LED sends optical signal, the photosensitive camera on tote cart 1 After 12 receive this optical signal, changed by processor, tote cart 1 can be controlled to act；The video information that tote cart 1 is shot with video-corder Can also be sent by LED signal lamp 5 after processor is converted into switching frequency, the receiver on indoor LED lamp receives this After optical signal, buffer module is transmitted to, buffer module monitors every tote cart 1 being given to backstage center, backstage center remote Situation.

In sum：This has the tote cart that LED visible light is communicated, and photosensitive is taken the photograph by installing four in the top surface of tote cart 1 As first 12, the optical signal that backstage is sent centrally through LED light group can be received, optical signal can be controlled after processor is changed The loading and unloading of tote cart 1, traveling, the ability for making tote cart 1 possess remote control, the optical signal that tote cart 1 is received includes LED The encoded signal of group, can make tote cart 1 know present position, possess the function of positioning oneself, by the top surface of tote cart 1 LED signal lamp 5 is installed, can be by preposition camera head 10 on tote cart 1, on rearmounted camera head 11 and epicyclical mechanism assembly 3 The video that swivel mount camera 313 is shot with video-corder, issues backstage center, makes the backstage center can be with the real-time of remote monitoring tote cart 1 Situation, for the centralized dispatching of backstage center provides foundation, also makes tote cart 1 possess monitoring function, by LED light group in tote cart Signal is transmitted between 1, tote cart 1 is mutually communicated, it is not necessary to which Background control can also other turnovers in Intellisense room The situation of car 1, it is to avoid same station tote cart 1 flocks together the situation of aggregation, compared with conventional wireless is communicated, LED visible light Communication speed is fast, and interference is few, and strong security is not in signal delay, and the situation of loss makes the information that backstage center obtains more Plus precise and high efficiency, optimal judgement is made, avoidance sensor 2 is installed by the surrounding of tote cart 1, preposition camera head 10 is with after Camera head 11 is put, and signal is passed into processor in real time, processor by analysis, can automated to respond to peripheral situation, processed Device can be controlled to unload goods and travel on tote cart 1 by pre-booking process, realize Intelligent unattended turnover, be reduced manually, in turnover The top surface of car 1 installs epicyclical mechanism assembly 3, by the control of processor, can intelligence on unload goods, tote cart is possessed up and down The ability of goods, it is not necessary to install stationary machines arm in each week switching stations, by Optimized Operation, can arbitrarily have enough to meet the need and unload goods, The use of robotic arm is reduced, cost is reduced.

Although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with Understanding can carry out various changes, modification, replacement to these embodiments without departing from the principles and spirit of the present invention And modification, the scope of the present invention be defined by the appended.

Claims (9)

1. a kind of automatic driving car with intelligent communication, including tote cart（1）, it is characterised in that：The tote cart（1）Car Body is cuboid, and head has oblique angle, and underbody has four wheels, and two, front wheel is equipped with motor（8）, the driving Motor（8）Including left motor, right motor and motor fix cover, and the motor is fixed cover and is fixed on inside underbody, and motor fixes cover Inside is disposed with left motor and right motor, and left motor output shaft is connected with front left wheel, right motor output shaft and the right car in front Wheel is connected, the tote cart（1）Underbody inside also have control cabinet（7）And supply unit（6）, the control cabinet（7）Built with Control board, including processor and printed circuit board (PCB), the tote cart（1）Leading flank top the right and left of car body is respectively arranged There is an avoidance inductor（2）, intermediate arrangement has preposition camera head（10）, the right and left is respectively disposed with one below leading flank Illuminating lamp（9）, tote cart（1）Right flank top the right and left of car body is respectively disposed with an avoidance inductor（2）, tote cart （1）Trailing flank top the right and left of car body is respectively disposed with an avoidance inductor（2）, intermediate arrangement has rearmounted camera head （11）, the right and left is respectively disposed with an illuminating lamp below trailing flank（9）, tote cart（1）The left surface top left and right two of car body Side is respectively disposed with an avoidance inductor（2）, tote cart（1）The front of car body top surface is equipped with epicyclical mechanism assembly（3）, the week Rotation mechanism assembly（3）Including worm speed-down motor（308）, two worm screw support frames（311）, worm screw（309）, worm gear（310）, turn Disk（307）, the first motor（306）, the first support arm（305）, the second motor（304）, the second support arm（303）, the 3rd motor （302）, swivel mount（312）, two swivel mount cameras（313）And electric sucking disc（301）, in epicyclical mechanism assembly（3）After Face is equipped with goods accumulating platform（4）, the goods accumulating platform（4）LED signal lamp is disposed with below（5）, it includes support base and LED Lamp, the support base is the cylinder of two-stage step, and bottom is big disk, and top is cylindrical bar, the tote cart（1）Car body top Four corners in face are respectively provided with a photosensitive camera（12）, the photosensitive camera（12）It is connected with processor, to treatment Device transmits optical signal, the preposition camera head（10）, rearmounted camera head（11）, swivel mount camera（313）With processor It is connected, vision signal, the avoidance inductor is transmitted to processor（2）It is connected with processor, periphery situation is transmitted to processor, The processor and worm speed-down motor（308）, the first motor（306）, the second motor（304）, the 3rd motor（302）, it is electronic Sucker（301）, motor（8）Be connected, to they pass on action command, processor also with LED signal lamp（5）It is connected, to it Transmission optical signal switch frequency.

2. a kind of automatic driving car with intelligent communication according to claim 1, it is characterised in that：The epicyclical mechanism Assembly（3）Two worm screw support frames（311）It is fixed on tote cart（1）The underbody inside left and right sides, it has bearing hole, axle above Taper roll bearing, worm screw are housed in bearing bore（309）Two ends are gone here and there on taper roll bearing, the worm screw（309）Left end with Worm speed-down motor（308）Output shaft be connected, the worm speed-down motor（308）It is fixed on inside underbody, the worm screw （309）With worm gear（310）It is meshed, the worm gear（310）It is fixed on rotating disk（307）On, the rotating disk（307）It is upper that revolution is housed Fork-shaped journal stirrup is arranged at supporting, its top, and the pivoting support is fixed on car body, the rotating disk（307）Fork-shaped journal stirrup on connect It is connected to the first support arm（305）, their connecting shaft and the first motor（306）It is connected, first support arm（305）Upper end There is fork-shaped journal stirrup, the second support arm is connected with fork-shaped journal stirrup（303）, their connecting shaft and the second motor（304）It is connected, institute State the second support arm（303）Other end be connected with swivel mount（312）, the swivel mount（312）Top is fork-shaped journal stirrup, it With the second support arm（303）Connecting shaft and the 3rd motor（302）It is connected, its bottom is equipped with electric sucking disc（301）, in rotation Frame（312）Lateral surface on left and right respectively be equipped with a swivel mount camera（313）.

3. a kind of automatic driving car with intelligent communication according to claim 1, it is characterised in that：The tote cart （1）It is to use indoors, indoor location LED light group, each LED light group has unique coding, it includes LED and receiver, Buffer module is also installed in interior, and signal can be changed into switch frequency signal by the buffer module, buffer module with it is every Individual LED light group is connected, and the switching frequency of optical signal is received from the receiver of each LED light group, and the switch of conversion is transferred to LED Frequency, buffer module is also connected with backstage center, and backstage center receives the signal of buffer module, is also sent out to buffer module The number of delivering letters.

4. a kind of automatic driving car with intelligent communication according to claim 1-3, it is characterised in that：The tote cart （1）Four photosensitive cameras of top surface（12）It is ISO CMOS camera module, the line of definition 600, illumination 0.0001LUX, valid pixel 768（H）X580 (V), operating voltage 3.3-5.0V, it receives the optical signal of LED.

5. a kind of automatic driving car with intelligent communication according to claim 1-4, it is characterised in that：The tote cart （1）Receiver sending signal from the LED signal lamp of top surface to indoor LED lamp group.

6. a kind of automatic driving car with intelligent communication according to claim 1-5, it is characterised in that：The avoidance sense Answer device（2）It is diffusing reflection formula infrared photoelectric sensor, the response time is less than 2ms, coverage 3cm-80cm.

7. a kind of automatic driving car with intelligent communication according to claim 1-6, it is characterised in that：The goods storage Fortune platform（4）Equipped with cargo size sensor and weight sensor, the size sensor can detect piling cargo length, width and height Physical dimension, size sensor and weight sensor are connected with processor, and to processor feedback signal.

8. the method for the visible optical communication of a kind of intelligence, it is characterised in that：Four photosensitive cameras are installed by the top surface of tote cart 1 12, the optical signal that backstage is sent centrally through LED light group can be received, optical signal can control turnover after processor is changed The loading and unloading of car 1, traveling, the ability for making tote cart 1 possess remote control, the optical signal that tote cart 1 is received includes LED light group Encoded signal, can make tote cart 1 know present position, possess the function of positioning oneself, and be installed by the top surface of tote cart 1 LED signal lamp 5, can rotate preposition camera head 10 on tote cart 1 on rearmounted camera head 11 and epicyclical mechanism assembly 3 The video that frame camera 313 is shot with video-corder, issues backstage center, make backstage center can with the real time status of remote monitoring tote cart 1, For the centralized dispatching of backstage center provides foundation, tote cart 1 is also set to possess monitoring function, by LED light group between tote cart 1 Transmission signal, allows tote cart 1 mutually to communicate, it is not necessary to which Background control can also other tote carts 1 in Intellisense room Situation, it is to avoid same station tote cart 1 flocks together the situation of aggregation.

9. the method for the visible optical communication of a kind of intelligence, it is characterised in that：Avoidance sensor 2 is installed by the surrounding of tote cart 1, it is preceding Camera head 10 and rearmounted camera head 11 are put, and signal is passed into processor in real time, processor by analysis, can be from the sound of something astir Answering peripheral situation, processor can be controlled to unload goods and travel on tote cart 1 by pre-booking process, realize Intelligent unattended turnover, be subtracted Lacked artificial, epicyclical mechanism assembly 3 be installed in the top surface of tote cart 1, by the control of processor, can intelligence on unload goods, make Tote cart possesses the ability above unloaded goods, it is not necessary to install stationary machines arm in each week switching stations, by Optimized Operation, can be with Unloaded goods in any turnover, reduce the use of robotic arm, reduce cost.