CN108388246A - A kind of accurate sensing-controlling device of test specimen intelligent transport - Google Patents
A kind of accurate sensing-controlling device of test specimen intelligent transport Download PDFInfo
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- CN108388246A CN108388246A CN201810086177.6A CN201810086177A CN108388246A CN 108388246 A CN108388246 A CN 108388246A CN 201810086177 A CN201810086177 A CN 201810086177A CN 108388246 A CN108388246 A CN 108388246A
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- 238000012360 testing method Methods 0.000 title claims abstract description 12
- 239000000523 sample Substances 0.000 claims description 79
- 230000032258 transport Effects 0.000 claims description 34
- 230000008447 perception Effects 0.000 claims description 13
- 230000006698 induction Effects 0.000 claims description 10
- 230000001133 acceleration Effects 0.000 claims description 5
- 230000007246 mechanism Effects 0.000 claims description 5
- 239000000203 mixture Substances 0.000 claims description 5
- 239000013068 control sample Substances 0.000 claims description 4
- 230000003993 interaction Effects 0.000 claims description 3
- 230000004888 barrier function Effects 0.000 claims description 2
- 230000008859 change Effects 0.000 claims description 2
- 239000000463 material Substances 0.000 claims description 2
- 238000009776 industrial production Methods 0.000 abstract 1
- 238000011160 research Methods 0.000 abstract 1
- 238000012827 research and development Methods 0.000 abstract 1
- 238000000034 method Methods 0.000 description 13
- 238000005516 engineering process Methods 0.000 description 10
- 230000008569 process Effects 0.000 description 7
- 238000013473 artificial intelligence Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 238000011161 development Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 230000002452 interceptive effect Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000001419 dependent effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000009533 lab test Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 230000002195 synergetic effect Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Control Of Conveyors (AREA)
Abstract
The present invention relates to a kind of accurate sensing-controlling devices of test specimen intelligent transport, including：Sample Intelligent transportation device, wireless sensing, multi-functional collaboration sensing control system.Its major advantage is to realize sample intelligent transport and accurate sensing control have very extensive actual application value in industrial production transport and research equipment research and development field.
Description
Technical field
Application field of the present invention is extensive, more particularly to a kind of accurate sensing-controlling device of test specimen intelligent transport, the device energy
Sample transport intelligence and accurate sensing control are realized to indoor sample transport, be applicable to test specimen carry out intelligence transmission with
The indoor transporting field of accurate sensing control can provide intelligent shipping platform for it and be supported with theoretical method.
Background technology
The development of laboratory test sample transport is transitioned into the present situation automated using appropriateness as main feature from manual work
Real test specimen transport needs have been cannot be satisfied, have been the Transportation Model for changing current test specimen comprehensively, significant increase efficiency
And manpower consumption is reduced, for the state information acquisition in test specimen transportational process is inaccurate, transportational process is easy to wear, can not
Positioning sample position information and the frangible risk of valuables are big, of high cost in real time, and bottle transport is inconvenient, efficiency is low, uneasy
Congruent problem, with the development of artificial intelligence and various novel automatic precision Control Technologies, we explore always and compel to be essential
Will such issues that solve to provide instrument platform support, in related field and production application making a breakthrough property into
Exhibition cracks existing transporting equipment to problems such as the location information uncertainty of sample transport, insecurity, reduces operating personnel's
Work difficulty and workload are realized that sample transport automation, data perception precision and algorithm guidance are intelligent, are fundamentally carried
Intelligent transport and accurate sensing control technical merit, propulsion trial sample intelligent transport and accurate sensing control development process are risen, and it is traditional
Transportation Model is compared, and a new step is stepped up in conevying efficiency, flexibility, intelligence etc..Therefore, which is designed with
Sample Intelligent transportation device, wireless sensing, multi-functional collaboration sensing control system.
Invention content
The object of the present invention is to, the insecurity uncertain to the location information of sample transport for existing instrument and equipment
Etc. problems, provide it is a kind of can to test specimen carry out intelligent transport accurate sensing-controlling device.
The present invention relates to a kind of accurate sensing-controlling devices of test specimen intelligent transport, by sample Intelligent transportation device, wireless biography
Sense, multi-functional collaboration sensing control system composition.
1, sample Intelligent transportation device
Sample Intelligent transportation device is by expansible setting-out cushion cap, scalable universal intelligent induction wheel, sample sensing control module, road
Diameter accurately controls module, data perception module composition；Wherein sample sensing control module be responsible for be used for sensing control sample pick and place with quantity, greatly
Small information, and information is sent to multi-functional collaboration sensing control system by wireless sensing；Expansible setting-out cushion cap can be according to experiment
Sample size and size auto zoom cushion cap area, the cushion cap surrounding and bottom interior surface have flexible support material, for preventing
Shield sample is toppled over and is collided；Scalable universal intelligent induction wheel is used for receiving the transport that multi-functional collaboration sensing control system sends over
Instruction, and then realize the direction of sample transport and the change of speed and as needed automatic telescopic induction wheel；Path accurately controls
Module is to accurately control path and the speed of sample transport based on the abundant timely core algorithm of data and artificial intelligence；Number
It identifies according to sensing module view-based access control model and is formed by vision technique and infrared distance measurement set, installed for sample Intelligent transportation device
" eyes ", realize active interaction and the real time position positioning of transport device and environment, and have converted the information of acquisition to
Data are imitated, these valid data are the entire Intelligent transportation device links state of multi-functional collaboration sensing control system senses and generation
The foundation of decision instruction, and then sample Intelligent transportation device is instructed to carry out transport.
2, wireless sensing
Wireless sensing is mainly responsible for sample Intelligent transportation device and transmits and feed back with the multi-functional information for cooperateing with sensing control system.
3, multi-functional collaboration sensing control system
Multi-functional collaboration sensing control system is mainly by real-time collaborative feedback control module, intelligent algorithm decision-making module, more
Function synergic control module forms；The system is had and is opened using pipeline program recognition methods and visible process custom technology
It is dynamic, accelerate, pause, the overall basic process sensing control program such as slow down, wherein real-time collaborative feedback control module is used for receiving and instead
Present the signal that is sended over from sample Intelligent transportation device and by signal and meanwhile be communicated to intelligent algorithm decision-making module and
Multi-functional Collaborative Control module go forward side by side row information instruction Real-time Feedback；Intelligent algorithm decision-making module is accurate based on magnanimity
Data transmission and abundant data perception foundation have intelligent transport algorithm solution bank, in startup stage, algorithm will be according to sample
Display case and physical attribute, recommend most suitable acceleration automatically to evade toppling and colliding for sample, ensure that sample is steady
It is fixed；Transit link, transportation algorithm can be automatically selected optimal path based on data perception module and reach mesh by sample with the shortest time
Ground；Suspend link, location algorithm advance during encounter emergency case and barrier when will determine it is most suitable slow down away from
From and deceleration, dispatching algorithm most suitable sample will be driven to be carried and matched most suitable work station and be processed place
Reason；On this basis, it establishes and the multi-functional collaboration sensing control module such as starts, suspends, accelerates and slow down, wherein it is to be based on to start sensing control
Sample is delivered to predetermined work station by Computer Vision Detection System by start and stop and synchronous control and accurate conveying technology；Temporarily
It is to accurately control principle with work station position time of delivery based on feedback control principle to stop sensing control, establishes sample Intelligent transportation device
Suspend sensing control mechanism；Accelerate and deceleration sensing control is using feedback and Intelligent position determination technology and sample tracking control of full process skill
Art establishes the acceleration of sample Intelligent transportation device and deceleration sensing control recognition mechanism；By inspection to above-mentioned technology overall performance and
Above-mentioned technology and hardware integration are established system totally collaboration sensing control mechanism by the identification and coordination of design conflicts；In conjunction with expansible
Flow custom technology, pass through the docking of the integrated and different hardware system of software systems, integrate real-time collaborative sensing control system
Hardware and software.
The present invention has the following advantages：
1, the device can realize the speed of sample transport overall process and the intelligent sensing control in path.
2, the device can be according to sample size and quantity auto zoom setting-out cushion cap size.
3, the device can realize that machine is interacted with the active of environment, have path intelligent recognition function.
4, the apparatus structure is simple and convenient to operate, and does not have very strong technology requirement to experimental test personnel.
Description of the drawings
Fig. 1 is sample Intelligent transportation device structural schematic diagram；
Fig. 2 is single unit system specific implementation flow chart.
Wherein：A- sample Intelligent transportation devices, the expansible setting-out cushion caps of A1-, the scalable universal intelligent induction wheels of A2-, A3-
Sample sensing control module, the paths A4- accurately control module, A5- data perception modules, B- wireless sensings, the multi-functional collaboration sensing controls of C-
System, C1- real-time collaborative feedback control modules, C2- intelligent algorithm decision-making modules, the multi-functional Collaborative Control modules of C3-, D-
Target operation station.
Specific implementation mode
Technical scheme of the present invention is further illustrated below in conjunction with attached drawing：
The Instrument Design has sample Intelligent transportation device A, wireless sensing B, multi-functional collaboration sensing control system C；Wherein sample
Intelligent transportation device A cooperates with sensing control system C to be connected by wireless sensing B with multi-functional；Wherein sample Intelligent transportation device A is main
By expansible setting-out cushion cap A1, scalable universal intelligent induction wheel A2, sample sensing control modules A 3, path accurately control modules A 4,
Data perception modules A 5 forms；Multi-functional collaboration sensing control system C is mainly calculated by real-time collaborative feedback control module C1, artificial intelligence
Method decision-making module C2, multi-functional Collaborative Control module C3 are formed；The device can provide a kind of path and speed for sample transport
Accurate sensing-controlling device can simultaneously be realized and the interactive function of environment.
Experimental rig detailed work steps：
Automatic identification sample quantities after 3 sensing control to sample of sample sensing control modules A when work in sample Intelligent transportation device A
Multi-functional collaboration sensing control system C is transmitted a signal to size and then by wireless sensing B, in multi-functional collaboration sensing control system C
Real-time collaborative feedback control module C1 receive expanding in sample Intelligent transportation device A instructed by wireless sensing B after signal
Unfold the suitable size of sample cushion cap A1 auto zooms, this moment multi-functional Collaborative Control module C3 director data sensing module A5 by with
The active interactive programming optimal route of environment, at the same time path accurately control modules A 4 and calculated according to optimal route and artificial intelligence
The most suitable Acceleration Control sample Intelligent transportation device A that method decision-making module C1 recommends automatically starts scalable universal intelligent induction
A2 is taken turns by sample transport to target operation station D, 5 view-based access control model of data perception modules A identification in sample Intelligent transportation device A and
Infrared distance measurement technology to multi-functional by wireless sensing B real-time Transmissions by location information with the interaction of environment by cooperateing with sensing control system
Unite C, and the intelligent algorithm decision-making module C2 in multi-functional collaboration sensing control system C can calculate sample Intelligent transportation device in real time
A distance objectives work station D positional distances simultaneously instruct sample intelligently to transport by real-time collaborative feedback control module C1 and wireless sensing B
Path in defeated device A accurately controls modules A 4 and controls the travelling speed of scalable universal intelligent induction wheel A2 to ensure sample not
It can topple over and collide, until by sample transport to target location；Data perception modules A 5 in sample Intelligent transportation device A passes through
Meeting real-time perception sample is interacted with the active of environment in the processing procedure of target operation station D and time and translates into valid data
Perception information multi-functional collaboration sensing control system C, after waiting for sample pretreating, multi-functional collaboration are transferred to by wireless sensing B
Enabled instruction is just transferred to sample by wireless sensing B and intelligently transported by the real-time collaborative feedback control module C1 in sensing control system C
Defeated device A, sample Intelligent transportation device A return initial startup state and according to the dependent instructions of multi-functional collaboration sensing control system C
Start to transport sample to next target operation station and handle, so on circulate until work terminates.
Claims (1)
1. a kind of accurate sensing-controlling device of test specimen intelligent transport, which is characterized in that by sample Intelligent transportation device, wireless biography
Sense, multi-functional collaboration sensing control system composition；Wherein sample Intelligent transportation device is connected by wireless sensing with sensing control system is cooperateed with；
The instrument can realize sample intelligent transport and accurate sensing control；
The sample Intelligent transportation device is by expansible setting-out cushion cap, scalable universal intelligent induction wheel, sample sensing control module, road
Diameter accurately controls module, data perception module composition；Wherein, expansible setting-out cushion cap is being mounted on sample Intelligent transportation device just
Top, surrounding and bottom interior surface have flexible support material, for protecting sample；The scalable universal intelligent induction wheel peace
Mounted in the bottom of sample Intelligent transportation device, for receiving the transport instruction that multi-functional collaboration sensing control system sends over, in turn
Realize the direction of sample transport and the change of speed and as needed automatic telescopic induction wheel；The sample sensing control module is mounted on
Expansible setting-out cushion cap side, for sensing control sample pick and place with quantity, size information, and information is sent to by wireless sensing
Multi-functional collaboration sensing control system；The path accurately controls the underface surrounding that module is mounted on expansible setting-out cushion cap, is used for
Accurately control path and the speed of sample transport；The data perception module is mounted on the underface one that path accurately controls module
Side, active interaction and real time position for realizing transport device and environment, which position and translate the information into valid data, to be passed to
Multi-functional collaboration sensing control system；
The multi-functional collaboration sensing control system is by real-time collaborative feedback control module, intelligent algorithm decision-making module, multi-functional
Collaborative Control module forms；Wherein, real-time collaborative feedback control module, which is used for receiving and feeding back, comes from sample Intelligent transportation device
The signal that sends over simultaneously by signal while being communicated to intelligent algorithm decision-making module and multi-functional Collaborative Control module is gone forward side by side
The Real-time Feedback of row information instruction；The intelligent algorithm decision-making module is used for ensureing that sample Intelligent transportation device transports full mistake
The intelligent decision of journey is starting link, and algorithm recommends most suitable acceleration automatically according to the display case and physical attribute of sample
Degree ensures that sample is stablized to evade toppling and colliding for sample；Transit link, it is automatic that transportation algorithm can be based on data perception module
Selection optimal path is arrived at by sample with the shortest time；Suspend link, location algorithm encounters burst during advancing
It will determine that most suitable deceleration distance and deceleration, dispatching algorithm will drive most suitable sample to remove when situation and barrier
Most suitable work station is transported and matches to be processed；The multi-functional collaboration sensing control module is felt by startup sensing control, pause
Three control, acceleration and deceleration sensing control submodules compositions, are used to sample being precisely delivered to predetermined work station wherein starting sensing control；Temporarily
Stop sensing control and suspends sensing control mechanism for establishing sample Intelligent transportation device；Accelerate and deceleration sensing control is for establishing sample intelligent transport
Device accelerates and deceleration sensing control recognition mechanism.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810086177.6A CN108388246A (en) | 2018-01-19 | 2018-01-19 | A kind of accurate sensing-controlling device of test specimen intelligent transport |
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| CN201810086177.6A CN108388246A (en) | 2018-01-19 | 2018-01-19 | A kind of accurate sensing-controlling device of test specimen intelligent transport |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4036381A (en) * | 1975-09-05 | 1977-07-19 | International Business Machines Corporation | Apparatus for transferring sample holders relative to a movable magazine |
| JP2000201667A (en) * | 1999-01-13 | 2000-07-25 | Kyowa Hakko Kogyo Co Ltd | Device and method for transporting liquid sample |
| JP3183081B2 (en) * | 1995-01-11 | 2001-07-03 | 神鋼電機株式会社 | Transport system |
| CN104884929A (en) * | 2012-11-07 | 2015-09-02 | 贝克曼考尔特公司 | Automated sample processing system |
| CN105845010A (en) * | 2016-05-19 | 2016-08-10 | 中国地质大学（武汉） | Underground rock forming simulation device |
| CN205920406U (en) * | 2016-06-14 | 2017-02-01 | 深圳力子机器人有限公司 | Mix laser navigation fork truck formula AGV |
| CN107132334A (en) * | 2017-04-28 | 2017-09-05 | 中国科学院地质与地球物理研究所 | Rock physical and mechanic parameter intelligent integral test system and its method of testing |
-
2018
- 2018-01-19 CN CN201810086177.6A patent/CN108388246A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4036381A (en) * | 1975-09-05 | 1977-07-19 | International Business Machines Corporation | Apparatus for transferring sample holders relative to a movable magazine |
| JP3183081B2 (en) * | 1995-01-11 | 2001-07-03 | 神鋼電機株式会社 | Transport system |
| JP2000201667A (en) * | 1999-01-13 | 2000-07-25 | Kyowa Hakko Kogyo Co Ltd | Device and method for transporting liquid sample |
| CN104884929A (en) * | 2012-11-07 | 2015-09-02 | 贝克曼考尔特公司 | Automated sample processing system |
| CN105845010A (en) * | 2016-05-19 | 2016-08-10 | 中国地质大学（武汉） | Underground rock forming simulation device |
| CN205920406U (en) * | 2016-06-14 | 2017-02-01 | 深圳力子机器人有限公司 | Mix laser navigation fork truck formula AGV |
| CN107132334A (en) * | 2017-04-28 | 2017-09-05 | 中国科学院地质与地球物理研究所 | Rock physical and mechanic parameter intelligent integral test system and its method of testing |
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Application publication date: 20180810 |