CN107344670B - A kind of cargo automatic transporting method - Google Patents
A kind of cargo automatic transporting method Download PDFInfo
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- CN107344670B CN107344670B CN201710588485.4A CN201710588485A CN107344670B CN 107344670 B CN107344670 B CN 107344670B CN 201710588485 A CN201710588485 A CN 201710588485A CN 107344670 B CN107344670 B CN 107344670B
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- 238000000034 method Methods 0.000 title claims abstract description 21
- 238000003860 storage Methods 0.000 claims abstract description 41
- 239000003990 capacitor Substances 0.000 claims description 17
- 239000013078 crystal Substances 0.000 claims description 14
- 230000004888 barrier function Effects 0.000 claims description 6
- 230000005611 electricity Effects 0.000 claims description 4
- 239000000969 carrier Substances 0.000 claims description 3
- 230000007246 mechanism Effects 0.000 claims description 3
- 238000003825 pressing Methods 0.000 claims description 3
- 239000000126 substance Substances 0.000 claims 1
- 239000000463 material Substances 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 7
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000005286 illumination Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
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- 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
- B65G35/00—Mechanical conveyors not otherwise provided for
-
- 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
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
-
- 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
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/042—Sensors
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention discloses a kind of cargo automatic transporting methods.During logistics transportation, time consumed by indoor short distance transportation, manpower and material resources are all very big.The cargo automatic handing system that the present invention uses includes traveling track and the carrier that tracks.The carrier that tracks includes bearing block, cushion block, loading wheel, bottom plate, load-carrying box, driving wheel, dress lamp stand, the first tracing sensor, the second tracing sensor, distance measuring sensor, steering motor, headlamp, the first traveling motor, the second traveling motor, deflecting roller, steering wheel fork and control module.Control module includes processing module, driving chip, start button and battery.Traveling track includes main orbit, arc orbit, branch's track, turning identification label, storage point identification label and break bulk point identification label.Cargo can be transported each cargo storage point into warehouse from logistics break bulk point according to demand by the present invention, eliminate the cost of labor carried in cargo room.
Description
Technical field
The invention belongs to cargo transport technical fields, and in particular to a kind of cargo automatic transporting method.
Background technique
During the entire process of most products production and sales, only 5% time is remained for processing and manufacturing
Remaining 95% time for storing, loading and unloading, etc. to be processed and logistics transportation etc..In the U.S., direct labor cost proportion is not
The 10% of sufficient production cost, and this ratio is also constantly declining, and the expense shared by storing, transporting accounts for production cost
40%.Currently, each industrial powers in the world generally prevail over competition transformation logistics structure, reduction logistics cost as enterprise
Important measures.And during logistics transportation, time consumed by indoor short distance transportation, manpower and material resources are all very big, therefore
It is particularly significant to design a kind of method suitable for indoor short distance transportation.
Summary of the invention
The purpose of the present invention is to provide a kind of methods applied to indoor short distance cargo transport.
The cargo automatic handing system that the present invention uses includes traveling track and the carrier that tracks.The carrier that tracks
It tracks sensing including bearing block, cushion block, loading wheel, bottom plate, load-carrying box, driving wheel, dress lamp stand, the first tracing sensor, second
Device, distance measuring sensor, steering motor, headlamp, the first traveling motor, the second traveling motor, deflecting roller, steering wheel fork and control
Module.
The plate top surface is fixedly arranged at the front end with distance measuring sensor and cushion block；Cushion block is arranged in the distance measuring sensor
Front.Steering motor is fixed on the cushion block；The output shaft of steering motor is fixed with steering wheel fork.It is supported on steering wheel fork
There is deflecting roller.The two sides of plate top surface rear end are respectively and fixedly provided with a bearing block.Drive is supported with by bearing on two bearing blocks
Driving wheel.The first traveling motor and the second traveling motor is each attached to the rear end of plate top surface；First traveling motor, second
The output shaft of traveling motor is fixed respectively with two driving wheels.The bottom end of dress lamp stand is fixed with bottom plate, and top is fixed with headlamp.
It is fixed on bottom plate in first tracing sensor and the second tracing sensor pair.First tracing sensor tracks with second
The spacing of sensor is d, 30mm≤d≤100mm.First tracing sensor and the first traveling motor are located at the same side.The load
The front end of container bottom and the rear end of bottom plate are fixed.The rear end of load-carrying box bottom and loading wheel fork constitute revolute pair.Loading wheel branch
It holds on loading wheel fork.Control module is arranged on bottom plate.
The control module includes processing module, driving chip, start button and battery.The cathode of the battery connects
Ground.The start button is connected with processing module；The processing module is connected by wireless module with host computer.
The processing module includes controller and crystal oscillator Y1；First crystal oscillator pin of the controller meets first capacitor C1
And one end of crystal oscillator Y1, the second crystal oscillator pin connect the other end of crystal oscillator Y1 and one end of the second capacitor C2；First capacitor C1 and
The other end of two capacitor C2 is grounded；The reseting pin of controller connects first resistor R1, reset button K1 and third capacitor C3's
One end；The other end of first resistor R1 is grounded；The other end of third capacitor C3 and reset button K1 connect the anode of battery；Control
The memory base pin selection of device connects the anode of battery；The first I/O mouthfuls of base stages for meeting triode Q1 of controller；The hair of triode Q1
Emitter-base bandgap grading connects the anode of battery, and collector connects the anode of headlamp；The cathode of headlamp is grounded；Controller the 2nd I/O mouthfuls connect
The signal output pin of two tracing sensors, the 3rd I/O mouthfuls of signal output pins for connecing the first tracing sensor；First tracks biography
The power cathode pin of sensor and the second tracing sensor is grounded, and positive pole pin connects the anode of battery；Controller
4th I/O mouthfuls of the first signal output pins for connecing distance measuring sensor, the 5th I/O mouthfuls of second signal efferent ducts for connecing distance measuring sensor
Foot；The power cathode pin of distance measuring sensor is grounded, and positive pole pin connects anode；Controller the 6th I/O mouthfuls connect
One end of one traveling motor, the 7th I/O mouthfuls of one end for connecing the second traveling motor；First traveling motor and the second traveling motor it is another
One end is grounded；
First input pin of the driving chip connects the 8th I/O mouthfuls of controller, and the second input pin connects controller
9th I/O mouthfuls, third input pin connects the tenth I/O mouthfuls of controller, and the 4th input pin connects the 11st I/O mouthfuls of controller,
Power cathode pin ground connection, positive pole pin connect the anode of battery and the power input of steering motor, the first output pin
The first signal input part of steering motor is connect, the second output pin connects the second signal input terminal of steering motor, third efferent duct
Foot connects the third signal input part of steering motor, and the 4th output pin connects the fourth signal input terminal of steering motor.
The traveling track includes main orbit, arc orbit, branch's track, turning identification label, storage point identification mark
Note and break bulk point identification label.The main orbit, branch's track, arc orbit, turning identification label, storage point identification label
Width with break bulk point identification label is e, 10mm≤e≤25mm.Turning identification label, storage point identification label and break bulk point
The length of identification label is f, f > 2d-e.Main orbit is in a ring；Main orbit is provided with unloading at the logistics break bulk point in warehouse
Point identification label.The length direction of break bulk point identification label is vertical with main orbit, and the friendship of break bulk point identification label and main orbit
Point is the center position of break bulk point identification label.The starting point of s branch's track passes through arc orbit and connect with main orbit, terminal
It is separately positioned at the s cargo storage point in warehouse, 1≤s≤40.The terminal point of s branch's track is provided with storage point identification
Label.The length direction of storage point identification label is vertical with place branch track, and stores point identification label and place branch rail
The intersection point in road is the center position of storage point identification label.S branch's track is non-intersecting.The company of main orbit and s arc orbit
The place of connecing is provided with turning identification label.Turning identification label length direction it is vertical with main orbit, and turn identification label and
The intersection point of main orbit is the center position of turning identification label.K tracking carrier, 1≤k≤100 are provided on traveling track.
The s cargo storage point in warehouse is ranked up, the branch's track connecting with x-th of cargo storage point is xTiao branch track,
X=1,2,3 ... s.The arc orbit connecting with xTiao branch track is xth arc orbit.Xth arc orbit and master
The turning identification of rail connection is labeled as x-th of turning identification label.Tracking carrier successively passes through x along direction of travel and turns
Curved identification label.
The cargo automatic transporting method is specific as follows:
Step 1: first tracking carrier is located at break bulk point identification mark, and marked towards first turning identification.
Remaining tracking carrier is sequentially arranged in the rear of first tracking carrier.First tracking carrier is as the first train number
Tracking carrier.I=1,2,3 ..., successively execute step 2 and three.
Step 2: cargo to be transported is loaded onto the tracking carrier of the i-th train number by staff, and cargo is needed to transport
To the sequence number value of x-th of cargo storage point be assigned to ai；By aiInput host computer.Host computer passes through wireless module for aiTransmission
To the tracking carrier of the i-th train number.
Step 3: pressing the start button of the tracking carrier of the i-th train number.The tracking carrier of i-th train number starts to go to
AiA cargo storage point.The tracking carrier of i+1 train number proceeds to break bulk point identification mark.
The method that tracking carrier goes to itself corresponding cargo storage point is as follows:
Step 1: the first traveling motor and the second traveling motor rotate forward, the first tracing sensor and second track sensing
Device is located at the two sides of main orbit；If the first tracing sensor and the second tracing sensor can't detect main orbit, the
One traveling motor and the second traveling motor constant velocity rotation.If the first tracing sensor detects main orbit, the first traveling motor
Revolving speed reduces, if the second tracing sensor detects that traveling track, the second traveling motor speed reduce.If distance measuring sensor is examined
Measuring front has object, then it is assumed that occurs other tracking carrier, barrier or pedestrians in front of tracking carrier, which carries
Vehicle halts, and waits other tracking carriers, pedestrian or barrier to disappear, moves on.
Step 2: two tracing sensors are detected simultaneously by turning identification when tracking carrier reaches turning identification label
Label.When two tracing sensors detect itself corresponding turning identification label, walking mechanism is turned along arc orbit, to right
The branch's track answered is advanced.
Step 3: halting when tracking carrier reaches corresponding storage point identification label.
Step 4: staff unloads the cargo on tracking carrier.
Step 5: staff presses start button.First traveling motor and the second traveling motor invert.Tracking is carried
Vehicle is retreated to main orbit.
Step 6: the first traveling motor and the second traveling motor rotate forward, tracking carrier continues along main orbit to forward
Into until reaching break bulk point identification label.
The headlamp is LED light.
The controller uses the single-chip microcontroller of model AT89C51.
The driving chip uses the stepper motor driver chip of model ULN2003APG.
The output voltage of the battery is 5V.
The center arc radius of the arc orbit is greater than or equal to 200mm.
The invention has the advantages that:
1, cargo can be transported each cargo storage point into warehouse from logistics break bulk point according to demand by the present invention, be saved
The cost of labor carried in cargo room is gone.
2, the present invention is tracked using more carrier while being transported simultaneously, is greatly promoted in the case where not interfereing with each other
Handling efficiency.
3, the carrier that tracks used in the present invention is with illumination functions, convenient for worker in night handling goods.
Detailed description of the invention
Fig. 1 is the overall structure diagram of the carrier that tracks used in the present invention；
Fig. 2 is the circuit diagram of processing module in the carrier that tracks used in the present invention；
Fig. 3 is the wiring diagram of the first tracing sensor and the second tracing sensor in the carrier that tracks used in the present invention；
Fig. 4 is the wiring diagram of distance measuring sensor in the carrier that tracks used in the present invention；
Fig. 5 is the wiring diagram of the first traveling motor and the second traveling motor in the carrier that tracks used in the present invention；
Fig. 6 is driving chip and the wiring diagram of steering motor in the carrier that tracks used in the present invention；
Fig. 7 is the schematic diagram of traveling track used in the present invention.
Specific embodiment
Below in conjunction with attached drawing, the invention will be further described.
As shown in Figure 1, a kind of cargo automatic transporting method, the cargo automatic handing system of use includes being arranged in warehouse
Traveling track and track carrier.The carrier that tracks includes bearing block 1, cushion block 2, loading wheel 3, bottom plate 4, load-carrying box 5, driving
Wheel 6, dress lamp stand 7, the first tracing sensor U2, the second tracing sensor U3, distance measuring sensor U4, steering motor M3, headlamp
D1, the first traveling motor M1, the second traveling motor M2, deflecting roller, steering wheel fork and control module.Headlamp D1 is LED light.
4 top surface of bottom plate is fixedly arranged at the front end with distance measuring sensor U4 and cushion block 2；Before cushion block 2 is arranged in distance measuring sensor U4
Side.Steering motor M3 is fixed on cushion block 2；The output shaft of steering motor M3 is fixed with steering wheel fork.It is supported on steering wheel fork
Deflecting roller.The two sides of plate top surface rear end are respectively and fixedly provided with a bearing block 1.Drive is supported with by bearing on two bearing blocks 1
Driving wheel 6.First traveling motor M1 and the second traveling motor M2 is each attached to the rear end of plate top surface；First traveling motor M1,
The output shaft of two traveling motor M2 is fixed respectively with two driving wheels 6.The bottom end of dress lamp stand 7 is fixed with bottom plate, top and illumination
Lamp D1 is fixed.It is fixed on bottom plate 4 in U3 pairs of first tracing sensor U2 and the second tracing sensor.First tracing sensor U2
Spacing with the second tracing sensor U3 is d, and the value of d takes 40mm.First tracing sensor U2 is located at the first traveling motor M1
The same side.The front end of 5 bottom of load-carrying box and the rear end of bottom plate 4 are fixed.The rear end of 5 bottom of load-carrying box and loading wheel fork, which are constituted, to be rotated
It is secondary.Loading wheel 3 is supported on loading wheel fork.Control module is arranged on bottom plate 4.
Control module includes processing module, driving chip U5, start button and battery.The output voltage of battery is 5V；Electricity
The cathode in pond is grounded.Start button is connected with processing module；Start button enters in next step for controlling processing module.Handle mould
Block is connected by wireless module with host computer.
As shown in Fig. 2,3,4 and 5, processing module includes controller U1 and crystal oscillator Y1, and controller U1 uses model
The single-chip microcontroller of AT89C51.The first crystal oscillator pin (19 pin) of controller U1 connects one end of first capacitor C1 and crystal oscillator Y1, and second
Crystal oscillator pin (18 pin) connects the other end of crystal oscillator Y1 and one end of the second capacitor C2.First capacitor C1's and the second capacitor C2 is another
One end is grounded.The reseting pin (9 pin) of controller U1 connects the one of first resistor R1, reset button K1 and third capacitor C3
End.The other end of first resistor R1 is grounded.The other end of third capacitor C3 and reset button K1 connect the anode of battery.Controller
The memory base pin selection (31 pin) of U1 connects the anode of battery.Controller U1 the first I/O mouthfuls (8 pin) connect triode Q1's
Base stage；The emitter of triode Q1 connects the anode of battery, and collector connects the anode of headlamp D1；The cathode of headlamp D1 is grounded.
The 2nd I/O mouthfuls (1 pin) the signal output pins (out pin) for meeting the second tracing sensor U3 of controller U1, the 3rd I/O mouthfuls
(2 pin) connects the signal output pin (out pin) of the first tracing sensor U2.First tracing sensor U2 and second tracks biography
The power cathode pin (GND pin) of sensor U3 is grounded, and positive pole pin (VCC pin) connects the anode of battery.Control
The 4th I/O mouthfuls (3 pin) the first signal output pins (Echo pin) for meeting distance measuring sensor U4 of device U1, the 5th I/O mouthfuls (4
Pin) connect the second signal output pin (Trig pin) of distance measuring sensor U4.The power cathode pin of distance measuring sensor U4
(GND pin) ground connection, positive pole pin (VCC pin) connect anode.Controller U1 the 6th I/O mouthfuls (5 pin) connect
One end of one traveling motor M1, the 7th I/O mouthfuls (6 pin) one end for meeting the second traveling motor M2；First traveling motor M1 and
The other end of two traveling motor M2 is grounded.
As shown in fig. 6, driving chip U5 uses the stepper motor driver chip of model ULN2003APG.Driving chip U5
The first input pin (1 pin) connect the 8th I/O mouthfuls (10 pin) of controller U1, the second input pin (2 pin) connects control
The 9th I/O mouthfuls (11 pin) of device U1, third input pin (3 pin) connect the tenth I/O mouthfuls (12 pin) of controller U1, and the 4th
Input pin (4 pin) connects the 11st I/O mouthfuls (13 pin) of controller U1, and power cathode pin (5 pin) ground connection, power supply is just
Pole pipe foot (6 pin) connects the anode of battery and the power input of steering motor M3, and the first output pin (7 pin) switches through to electricity
The first signal input part of machine M3, the second output pin (8 pin) connect the second signal input terminal of steering motor M3, third output
Pin (9 pin) connects the third signal input part of steering motor M3, and the 4th output pin (10 pin) connects the of steering motor M3
Four signal input parts.
As shown in fig. 7, traveling track includes main orbit 8, arc orbit 9, branch's track 10, turning identification label 11, deposits
Put an identification label 12 and break bulk point identification label 13.Traveling track is used for the sensing that tracks for the first tracing sensor U2 and second
Device U3 identification.Main orbit 8, branch's track 10, arc orbit 9, turning identification label 11, storage point identification label 12 and break bulk point
The width for identifying label 13 is e, and the value of e takes 20mm.Turning identification label 11, storage point identification label 12 and break bulk point identification
The length of label 13 is f, f > 2d-e.Main orbit 8 is in a ring；Main orbit 8 is provided with unloading at the logistics break bulk point in warehouse
Point identification label 13.Break bulk point identifies that the length direction of label 13 is vertical with main orbit 8, and break bulk point identification label 13 and backbone
The intersection point in road 8 is the center position that break bulk point identifies label 13.The starting point of s branch's track 10 passes through arc orbit 9 and master
Track 8 connects, and terminal is separately positioned at the s cargo storage point in warehouse, and the value of s takes 13.The terminal point of s branch's track 10
It is provided with storage point identification label 12.The length direction of storage point identification label 12 is vertical with place branch track 10, and stores
The intersection point of point identification label 12 and place branch track 10 is the center position of storage point identification label 12.S branch's track 10
It is non-intersecting.The center arc radius of arc orbit 9 is 300mm.The junction of main orbit 8 and s arc orbit 9, which is provided with, to be turned
Curved identification label 11.The length direction of turning identification label 11 is vertical with main orbit 8, and turn identification label 11 and main orbit 8
Intersection point be turning identification label 11 center position.K tracking carrier is provided on traveling track, the value of k takes 10.To storehouse
The s cargo storage point in library is ranked up, and the branch's track 10 connecting with x-th of cargo storage point is xTiao branch track 10,
X=1,2,3 ... s.The arc orbit 9 connecting with xTiao branch track 10 is xth arc orbit 9.Xth arc orbit 9
Turning identification label 11 with 8 junction of main orbit is that x-th of turning identifies label 11.Tracking carrier along direction of travel successively
Label 11 is identified by x turning.
The cargo automatic transporting method is specific as follows:
Step 1: k tracking carrier is placed on traveling track, so that first tracking carrier is located at break bulk point
It identifies at label 13, and identifies label 11 towards first turning.Remaining tracking carrier is sequentially arranged in first tracking and removes
Transport the rear of vehicle.Tracking carrier of first tracking carrier as the first train number.I=1,2,3 ... successively executes step
Two and three.
Step 2: cargo to be transported is loaded onto the tracking carrier of the i-th train number by staff, and cargo is needed to transport
To the sequence number value of x-th of cargo storage point be assigned to ai；By aiInput host computer.Host computer passes through wireless module for aiTransmission
To the tracking carrier of the i-th train number.
Step 3: pressing the start button of the tracking carrier of the i-th train number.The tracking carrier of i-th train number starts to go to
AiA cargo storage point.The tracking carrier of i+1 train number proceeds at break bulk point identification label 13.
The method that tracking carrier goes to itself corresponding cargo storage point is as follows:
Step 1: the first traveling motor M1 and the second traveling motor M2 are rotated forward.First tracing sensor U2 and second is sought
Mark sensor U3 is located at the two sides of main orbit 8；If the first tracing sensor U2 and the second tracing sensor U3 are detected not
To main orbit 8, then the first traveling motor M1 and the second traveling motor M2 constant velocity rotation.If the first tracing sensor U2 detects master
Track 8, then the first traveling motor M1 revolving speed reduces, if the second tracing sensor U3 detects traveling track, the second traveling electricity
Machine M2 revolving speed reduces.If distance measuring sensor U4 detects that there is object in front, then it is assumed that other trackings occur in front of tracking carrier
Carrier, barrier or pedestrian, the tracking carrier halt, other tracking carriers, pedestrian or barrier is waited to disappear,
It moves on.
Step 2: two tracing sensors, which are detected simultaneously by turning, to be known when tracking carrier reaches turning identification label 11
Not label 11.When two tracing sensors detect itself corresponding turning identification label 11, walking mechanism is corresponding along itself
Arc orbit 9 is turned, and is advanced to itself corresponding branch's track 10.
Step 3: when tracking carrier reaches itself corresponding storage point identification label 12, before which stops
Into.
Step 4: staff unloads the cargo on tracking carrier.
Step 5: staff presses start button.First traveling motor M1 and the second traveling motor M2 are inverted.Tracking
Carrier is retreated to main orbit 8.
Step 6: the first traveling motor M1 and the second traveling motor M2 are rotated forward, tracking carrier along main orbit 8 continue to
It moves ahead into until reaching break bulk point identifies label 13.
Claims (6)
1. a kind of cargo automatic transporting method, it is characterised in that: the cargo automatic handing system of use includes traveling track and seeks
Mark carrier；The carrier that tracks includes bearing block, cushion block, loading wheel, bottom plate, load-carrying box, driving wheel, dress lamp stand, the
One tracing sensor, the second tracing sensor, distance measuring sensor, steering motor, headlamp, the first traveling motor, second are advanced
Motor, deflecting roller, steering wheel fork and control module；
The plate top surface is fixedly arranged at the front end with distance measuring sensor and cushion block；Before cushion block is arranged in the distance measuring sensor
Side；Steering motor is fixed on the cushion block；The output shaft of steering motor is fixed with steering wheel fork；It is supported on steering wheel fork
Deflecting roller；The two sides of plate top surface rear end are respectively and fixedly provided with a bearing block；Driving is supported with by bearing on two bearing blocks
Wheel；The first traveling motor and the second traveling motor is each attached to the rear end of plate top surface；First traveling motor, the second row
Output shaft into motor is fixed respectively with two driving wheels；The bottom end of dress lamp stand is fixed with bottom plate, and top is fixed with headlamp；Institute
It is fixed on bottom plate in the first tracing sensor and the second tracing sensor pair stated；First tracing sensor and second tracks biography
The spacing of sensor is d, 30mm≤d≤100mm；First tracing sensor and the first traveling motor are located at the same side；The loading
The front end in bottom portion and the rear end of bottom plate are fixed；The rear end of load-carrying box bottom and loading wheel fork constitute revolute pair；The bearing of loading wheel
On loading wheel fork；Control module is arranged on bottom plate；
The control module includes processing module, driving chip, start button and battery；The cathode of the battery is grounded；Institute
The start button stated is connected with processing module；The processing module is connected by wireless module with host computer；
The processing module includes controller and crystal oscillator Y1；First crystal oscillator pin of the controller connects first capacitor C1 and crystalline substance
One end of vibration Y1, the second crystal oscillator pin connect the other end of crystal oscillator Y1 and one end of the second capacitor C2；The electricity of first capacitor C1 and second
The other end for holding C2 is grounded；The reseting pin of controller connects one end of first resistor R1, reset button K1 and third capacitor C3；
The other end of first resistor R1 is grounded；The other end of third capacitor C3 and reset button K1 connect the anode of battery；Controller
Memory base pin selection connects the anode of battery；The first I/O mouthfuls of base stages for meeting triode Q1 of controller；The emitter of triode Q1
The anode of battery is connect, collector connects the anode of headlamp；The cathode of headlamp is grounded；Controller the 2nd I/O mouthfuls connect second and seek
The signal output pin of mark sensor, the 3rd I/O mouthfuls of signal output pins for connecing the first tracing sensor；First tracing sensor
And second the power cathode pin of tracing sensor be grounded, positive pole pin connects the anode of battery；The 4th of controller
I/O mouthfuls of the first signal output pins for connecing distance measuring sensor, the 5th I/O mouthfuls of second signal output pins for connecing distance measuring sensor；
The power cathode pin of distance measuring sensor is grounded, and positive pole pin connects anode；Controller the 6th I/O mouthfuls connect the first row
Into one end of motor, the 7th I/O mouthfuls of one end for connecing the second traveling motor；The other end of first traveling motor and the second traveling motor
It is grounded；
First input pin of the driving chip connects the 8th I/O mouthfuls of controller, and the second input pin meets the 9th of controller
I/O mouthfuls, third input pin connects the tenth I/O mouthfuls of controller, and the 4th input pin connects the 11st I/O mouthfuls of controller, power supply
Cathode pin ground connection, positive pole pin connect the anode of battery and the power input of steering motor, and the first output pin switches through
To the first signal input part of motor, the second output pin connects the second signal input terminal of steering motor, and third output pin connects
The third signal input part of steering motor, the 4th output pin connect the fourth signal input terminal of steering motor；
The traveling track include main orbit, arc orbit, branch's track, turning identification label, storage point identification label and
Break bulk point identification label；It the main orbit, branch's track, arc orbit, turning identification label, storage point identification label and unloads
The width of goods point identification label is e, 10mm≤e≤25mm；Turning identification label, storage point identification label and break bulk point identification
The length of label is f, f > 2d-e；Main orbit is in a ring；Main orbit is provided with break bulk point knowledge at the logistics break bulk point in warehouse
It does not mark；The length direction of break bulk point identification label is vertical with main orbit, and break bulk point identification label and the intersection point of main orbit are
The center position of break bulk point identification label；The starting point of s branch's track passes through arc orbit and connect with main orbit, terminal difference
It is arranged at the s cargo storage point in warehouse, 1≤s≤40；The terminal point of s branch's track is provided with storage point identification label；
The length direction of storage point identification label is vertical with place branch track, and stores the friendship of point identification label and place branch track
Point identifies the center position of label for storage point；S branch's track is non-intersecting；The junction of main orbit and s arc orbit is equal
It is provided with turning identification label；The length direction of turning identification label is vertical with main orbit, and turn identification label and main orbit
Intersection point be turning identification label center position；K tracking carrier, 1≤k≤100 are provided on traveling track；To warehouse
S cargo storage point be ranked up, the branch's track being connect with x-th of cargo storage point be xTiao branch track, x=1,
2,3……s；The arc orbit connecting with xTiao branch track is xth arc orbit；Xth arc orbit and main orbit connect
The turning identification at place is connect labeled as x-th of turning identification label；Tracking carrier successively passes through x turning identification along direction of travel
Label；
The cargo automatic transporting method is specific as follows:
Step 1: first tracking carrier is located at break bulk point identification mark, and marked towards first turning identification；Remaining
Tracking carrier is sequentially arranged in the rear of first tracking carrier；Tracking of first tracking carrier as the first train number
Carrier；I=1,2,3 ..., successively execute step 2 and three；
Step 2: cargo to be transported is loaded onto the tracking carrier of the i-th train number by staff, and cargo is needed to transport
The sequence number value of x-th of cargo storage point is assigned to ai；By aiInput host computer；Host computer passes through wireless module for aiIt is transferred to i-th
The tracking carrier of train number；
Step 3: pressing the start button of the tracking carrier of the i-th train number；The tracking carrier of i-th train number starts to go to aiIt is a
Cargo storage point；The tracking carrier of i+1 train number proceeds to break bulk point identification mark；
The method that tracking carrier goes to itself corresponding cargo storage point is as follows:
Step 1: the first traveling motor and the second traveling motor rotate forward, the first tracing sensor and the second tracing sensor point
Not Wei Yu main orbit two sides；If the first tracing sensor and the second tracing sensor can't detect main orbit, the first row
Into motor and the second traveling motor constant velocity rotation；If the first tracing sensor detects main orbit, the first traveling motor speed
It reduces, if the second tracing sensor detects that traveling track, the second traveling motor speed reduce；If distance measuring sensor detects
There is object in front, then it is assumed that other tracking carrier, barrier or pedestrians occurs in front of tracking carrier, which stops
Only advance, waits other tracking carriers, pedestrian or barrier to disappear, move on；
Step 2: two tracing sensors are detected simultaneously by turning identification label when tracking carrier reaches turning identification label；
When two tracing sensors detect itself corresponding turning identification label, walking mechanism is turned along arc orbit, to corresponding
Branch's track is advanced；
Step 3: halting when tracking carrier reaches corresponding storage point identification label；
Step 4: staff unloads the cargo on tracking carrier；
Step 5: staff presses start button；First traveling motor and the second traveling motor invert；After tracking carrier
It retreats at main orbit；
Step 6: the first traveling motor and the second traveling motor rotate forward, tracking carrier is advanced forward along main orbit continuation, directly
It is marked to break bulk point identification is reached.
2. a kind of cargo automatic transporting method according to claim 1, it is characterised in that: the headlamp is LED light.
3. a kind of cargo automatic transporting method according to claim 1, it is characterised in that: the controller uses model
For the single-chip microcontroller of AT89C51.
4. a kind of cargo automatic transporting method according to claim 1, it is characterised in that: the driving chip uses type
Number be ULN2003APG stepper motor driver chip.
5. a kind of cargo automatic transporting method according to claim 1, it is characterised in that: the output voltage of the battery is
5V。
6. a kind of cargo automatic transporting method according to claim 1, it is characterised in that: the center circle of the arc orbit
Arc radius is greater than or equal to 200mm.
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| CN107344670B true CN107344670B (en) | 2019-04-09 |
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| CN107344670A (en) | 2017-11-14 |
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