CN108891878B - Logistics rest station system based on wireless power transmission and operation method thereof - Google Patents
Logistics rest station system based on wireless power transmission and operation method thereof Download PDFInfo
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- CN108891878B CN108891878B CN201810927041.3A CN201810927041A CN108891878B CN 108891878 B CN108891878 B CN 108891878B CN 201810927041 A CN201810927041 A CN 201810927041A CN 108891878 B CN108891878 B CN 108891878B
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- 230000005484 gravity Effects 0.000 claims description 23
- 238000006243 chemical reaction Methods 0.000 claims description 17
- 230000000007 visual effect Effects 0.000 claims description 6
- 238000005516 engineering process Methods 0.000 claims description 4
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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
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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
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/90—Circuit arrangements or systems for wireless supply or distribution of electric power involving detection or optimisation of position, e.g. alignment
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- H02J7/025—
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
Abstract
The invention discloses a logistics rest station system based on wireless power transmission and an operation method thereof, wherein the logistics rest station system comprises an electric logistics robot, and is used for realizing automatic transportation of express delivery of a logistics rest station; the wireless charging platform is used for converting alternating current into sustainable wireless charging electric energy and transmitting the sustainable wireless charging electric energy to the electric power logistics robot; and the coordination guiding system is used for controlling the wireless charging process and guiding the management of the rest station equipment. According to the invention, the electric logistics transportation robot is centrally managed, so that the management efficiency of a logistics system is greatly improved, the built logistics rest station is provided with a wireless charging platform, fire hazards such as electric sparks and the like caused by traditional charging modes such as wired charging are avoided, the charging process is visualized, and the internal design of the rest station is concise and reliable. According to the invention, unmanned navigation transportation in the station is realized by using the guide mark, manpower and material resources are saved, the logistics rest station is highly autonomous, and a new thinking direction is provided for logistics system construction.
Description
Technical Field
The invention relates to the technical field of logistics transportation management, in particular to a logistics rest station system based on wireless power transmission and an operation method thereof.
Background
With the rapid development of modern industry, the flow of express delivery is rapidly increased, the logistics transportation industry is rapidly developed, the demand for delivery is increasingly huge, and the unmanned express delivery and transportation become new requirements in the era. With the development of the power logistics transportation robot in a specific scene, the gap of the last kilometer of express delivery in the market is filled. However, the problem of continuous running of power and the problem of equipment management become a big pain point restricting the transportation of power logistics.
In order to effectively improve unmanned management level of a logistics system and enhance transportation capacity of the logistics system, a logistics transportation rest station system is built through a wireless power transmission technology, wireless energy transmission and background management and monitoring of a logistics transportation robot are achieved, charging efficiency is improved, unmanned charging process is achieved, and meanwhile operation capacity of the logistics system is enhanced.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides a logistics rest station system based on wireless electric energy transmission and an operation method thereof.
In order to achieve the above purpose, the technical scheme provided by the invention is as follows:
a wireless power transfer based logistics rest station system comprising:
the electric power logistics robot is used for realizing automatic transportation of express delivery of a logistics rest station;
the wireless charging platform is used for converting alternating current into sustainable wireless charging electric energy and transmitting the sustainable wireless charging electric energy to the electric power logistics robot;
the coordination guiding system is used for controlling the wireless charging process and managing and guiding the rest station equipment;
the power logistics robot comprises a visual navigation module, a receiving wireless charging module, a large-opening logistics placement box and a GPRS module, wherein the large-opening logistics placement box is installed at the top of the robot and is used for providing a container for placing express, the GPRS module is connected with a battery management module of the receiving wireless charging module, is connected with a wireless charging platform and a coordination guiding system through a GPRS technology and is used for transmitting battery information data and wireless charging state information, the receiving wireless charging module comprises a wireless charging receiving coil and a battery management module, the wireless charging receiving coil is installed below the robot and is used for establishing an electromagnetic relationship with a wireless charging transmitting coil of the wireless charging platform, receiving electric energy to realize wireless electric energy transmission, the battery management module is connected with a battery pack of the robot and the GPRS module, and is used for reading battery electric parameters in real time to monitor battery electric quantity and reflect electric quantity information in real time, the visual navigation module comprises a mobile control module and a camera module, the camera module is installed at the center of the wireless charging receiving coil below the robot and is connected with the GPRS module through the mobile control module and is used for scanning ground information, and the mobile control module is used for executing a mobile control instruction of the robot;
the wireless charging platform is arranged below the ground and comprises an emission type wireless charging module and a gravity feedback module, the emission type wireless charging module comprises a wireless charging emission coil and a power supply conversion module, the wireless charging emission coil is connected with the power supply conversion module, receives electric energy from the power supply conversion module and builds an electromagnetic relation with a wireless charging receiving coil of the power logistics robot to complete wireless charging, the power supply conversion module is connected with the gravity feedback module and a power grid, electric energy obtained from the power grid is integrated into electric energy for wireless charging and is transmitted to the wireless charging emission coil, the gravity feedback module comprises a strain gauge pressure sensor and a communication control card, the strain gauge pressure sensor is adhered near the ground surface and is connected with the communication control card, the gravity condition on the ground surface is sensed and is transmitted to the communication control card, when the ground surface has stably displayed gravity, the wireless charging platform is considered to be in an occupied state, otherwise, the wireless charging platform is connected with the power logistics robot and the coordination guide system through the communication control card, and the control of the wireless charging platform is achieved;
the electric power logistics robot system comprises a logistics rest station, wherein a mark convenient for the identification of the electric power logistics robot is printed above the ground surface of the logistics rest station, the mark comprises a path line and a platform identification mark, black lines are drawn on the transportation path of the electric power logistics robot along the path line, unmanned navigation transportation of the electric power logistics robot in the station is realized, the platform identification mark is a crisscross mark, and a wireless charging transmitting coil circle center is arranged below the ground of the crisscross position, so that the electric power logistics robot can conveniently identify and stop at the position with highest electric energy transmission efficiency;
the coordination guiding system comprises a communication chip and a control computer, wherein the communication chip is connected with the control computer, so that the upper computer system of the control computer manages equipment in a station, and the communication chip is connected with all electric power logistics robots and wireless charging platforms in the station to complete the control of all equipment in a rest station.
The operation method of the logistics rest station system based on wireless power transmission comprises the following two parts:
A. transport section
S1, a coordination guiding system is assigned to an electric logistics robot with tasks, and a path is selected and transmitted to a GPRS module;
s2, the electric power logistics robot receives the instruction, and the camera module recognizes the ground black line and cooperates with the movement control module to enable the electric power logistics robot to move towards a destination;
s3, enabling the electric logistics robot to reach a designated position, enabling the coordination guiding system to stop moving, and placing the objects into a large-opening logistics placing box;
s4, circulating the S2 final power logistics robot to reach a final destination to finish transportation;
B. charging part
S1, a battery management module of an electric power logistics robot senses insufficient electric quantity, and a GPRS module requests a coordination guide system to charge;
s2, the coordination guiding system receives a charging request, starts to scan the wireless charging platform in an idle state, and sends the selected wireless charging platform position and the selected moving path to the power logistics robot;
s3, through the GPRS module, a movement control module of the electric power logistics robot receives a movement path, a camera module recognizes black lines on the ground surface, and the electric power logistics robot starts to move;
s4, enabling the electric power logistics robot to reach the vicinity of the destination, capturing the platform identification mark by the camera through movement, enabling the wireless charging receiving coil to be overlapped with the wireless charging transmitting coil, and stopping movement of the electric power logistics robot;
s5, the strain gauge pressure sensor senses a stable gravity value, the communication control card requests the coordination guide system to start charging, and an upper computer of the coordination guide system displays the relationship between the wireless charging platform and the electric power logistics robot and prepares to start charging;
s6, the communication control card drives the power supply conversion module, battery information is obtained through the GPRS module and the battery management module, and wireless charging is started;
s7, the electric quantity of the electric power logistics robot is full, and the communication control card stops wireless charging;
s8, the coordination guiding system distributes a transportation task to the electric power logistics robot, the electric power logistics robot drives away from the position of the wireless charging platform, the strain gauge pressure sensor finally fails to sense gravity change, occupation is relieved, and the wireless charging platform is in an idle state;
and S9, if no task is allocated, the power logistics robot resides in the wireless charging platform, and the occupation state of the wireless charging platform is not released.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. according to the invention, the electric logistics transportation robot is centrally managed, so that the management efficiency of a logistics system is greatly improved, the built logistics rest station is provided with a wireless charging platform, fire hazards such as electric sparks and the like caused by traditional charging modes such as wired charging are avoided, the charging process is visualized, and the internal design of the rest station is concise and reliable.
2. According to the invention, unmanned navigation transportation in the station is realized by using the guide mark, manpower and material resources are saved, the logistics rest station is highly autonomous, and a new thinking direction is provided for logistics system construction.
Drawings
Fig. 1 is a block diagram of a logistics rest station system.
Detailed Description
The invention will be further illustrated with reference to specific examples.
Referring to fig. 1, the logistic rest station system based on wireless power transmission provided in the present embodiment includes an electric power logistic robot 1, a wireless charging platform 2 and a coordination guidance system 3; the power logistics robot 1 comprises a visual navigation module 4, a receiving wireless charging module 5, a large-opening logistics placement box 6 and a GPRS module 7, wherein the visual navigation module 4 comprises a mobile control module 11 and a camera module 12, the receiving wireless charging module 5 comprises a battery management module 13 and a wireless charging transmitting coil 14, the wireless charging platform 2 comprises a reflecting wireless charging module 9 and a gravity feedback module 10, the transmitting wireless charging module 9 comprises a power supply conversion module 15 and a wireless charging receiving coil 16, and the gravity feedback module 10 comprises a strain gauge pressure sensor 17 and a communication control card 18; the coordination guiding system 3 comprises a communication chip 19 and a control computer 20, the GPRS module 7 is connected with the mobile control module 11 and the battery management module 13, the electric logistics robot 1 is connected with the coordination guiding system 3 and the wireless charging platform 2 through the GPRS technology, the communication control card 18 is connected with the power supply conversion module 15 and the strain gauge pressure sensor 17, and the identification mark 8 and the large-opening logistics placement box 6 are of a physical structure.
The big opening commodity circulation is placed case 6 and is installed in the robot top, for physical structure, provides the container of placing the express delivery, and GPRS module 7 links to each other with battery management module 13, establishes the connection with wireless charging platform 2 and coordination guide system 3 through the GPRS technique, transmits battery information data and wireless state of charge information, and camera module 12 installs in the wireless receiving coil center that charges in robot below, links to each other with mobile control module 11 and links to each other according to this GPRS module 7 for scan ground information, mobile control module 11 is used for carrying out the robot and removes control command.
The receiving wireless charging module 5 of the electric power logistics robot comprises a wireless charging receiving coil 14 and a battery management module 13, wherein the wireless charging receiving coil 14 is arranged below the robot and used for establishing an electromagnetic relationship with a wireless charging transmitting coil 16 of a wireless charging platform, receiving electric energy to realize wireless electric energy transmission, the battery management module 13 is connected with a robot battery pack and a GPRS module 7, and reading battery electric parameters in real time to monitor battery electric quantity and reflect electric quantity information in real time.
The wireless charging platform 2 is installed below the ground and comprises an emission type wireless charging module 9 and a gravity feedback module 10, the emission type wireless charging module 9 comprises a wireless charging transmitting coil 16 and a power supply conversion module 15, the wireless charging transmitting coil 16 is connected with the power supply conversion module 15 and receives electric energy from the power supply conversion module 15, an electromagnetic relationship is established between the wireless charging transmitting coil and a wireless charging receiving coil 14 of the electric logistics robot to complete wireless charging, the power supply conversion module 15 is connected with the gravity feedback module 10 and a power grid, and electric energy obtained from the power grid is integrated into electric energy for wireless charging and transmitted to the wireless charging transmitting coil 16.
The gravity feedback module 10 comprises a strain gauge pressure sensor 17 and a communication control card 18, wherein the strain gauge pressure sensor 17 is adhered near the ground surface and is connected with the communication control card 18, the gravity condition on the ground surface is sensed and transmitted to the communication control card 18, when the ground surface has stably displayed gravity, the wireless charging platform 2 is considered to be in an occupied state, otherwise, the wireless charging platform 2 is in an idle state, the connection of the wireless charging platform 2 with the power logistics robot 1 and the coordination guide system 3 is completed through the communication control card 18, and the control of the wireless charging platform 2 is realized.
The utility model provides a commodity circulation rest station earth's surface top, the printing has sign 8 of electric power commodity circulation robot 1 discernment of being convenient for, including the route along the line and platform discernment sign, the route along the line is drawn on electric power commodity circulation robot transportation route has the black line of 2cm width, realizes the unmanned navigation transportation of electric power commodity circulation robot 1 in the station, and platform discernment sign is the cross sign, and wherein cross department ground below is wireless charging transmitting coil 16 centre of a circle, and electric power commodity circulation robot 1 discernment of being convenient for and berth in the position that electric energy transmission efficiency is highest.
The coordination guiding system 3 comprises a communication chip 19 and a control computer 20, wherein the communication chip 19 is connected with the control computer 20, so that the upper computer system of the control computer 20 manages equipment in a station, the communication chip 19 is connected with all the power logistics robots 1 and the wireless charging platform 2 in the station, and the control of all the equipment in the rest station is completed.
The following is an operation method of the above-mentioned logistics rest station system based on wireless power transmission in this embodiment, which includes the following two parts:
A. transport section
S1, a coordination guiding system 3 is tasked to be distributed to an electric logistics robot 1, selects a path and transmits the path to a GPRS module 7;
s2, the electric power logistics robot 1 receives an instruction, and the camera module 12 recognizes a black line on the ground and cooperates with the movement control module 11 to enable the electric power logistics robot 1 to move towards a destination;
s3, enabling the electric logistics robot 1 to reach a designated position, enabling the coordination guide system 3 to stop moving, and placing objects into the large-opening logistics placing box 6;
s4, circulating S2 the final power logistics robot 1 to reach a final destination to finish transportation.
B. Charging part
S1, a battery management module 13 of an electric power logistics robot senses insufficient electric quantity and requests a coordination guide system 3 to charge through a GPRS module 7;
s2, the coordination guide system 3 receives a charging request, starts to scan the wireless charging platform 2 in an idle state, and sends the selected position and the moving path of the wireless charging platform 2 to the power logistics robot 1;
s3, through the GPRS module 7, the electric power logistics robot movement control module 11 receives a movement path, the camera module 12 recognizes black lines on the ground surface, and the electric power logistics robot 1 starts to move;
s4, the electric power logistics robot 1 reaches the vicinity of the destination, the camera module 12 catches the platform identification mark through movement, the wireless charging receiving coil 14 is overlapped with the wireless charging transmitting coil 16, and the electric power logistics robot 1 stops moving;
s5, the strain gauge pressure sensor 17 senses a stable gravity value, the communication control card 18 requests the coordination guide system 3 to start charging, and the upper computer of the coordination guide system 3 displays the relationship between the wireless charging platform 2 and the power logistics robot 1 and prepares to start charging;
s6, the communication control card 18 drives the power supply conversion module 15, acquires battery information through the GPRS module 7 and the battery management module 13, and starts wireless charging;
s7, the electric quantity of the electric power logistics robot 1 is full, and the communication control card 18 stops wireless charging;
s8, the coordination guiding system 3 distributes a transportation task to the electric power logistics robot 1, the electric power logistics robot 1 drives away from the position of the wireless charging platform 2, the strain gauge pressure sensor 17 cannot sense gravity change finally, occupation is relieved, and the wireless charging platform 2 is in an idle state;
and S9, if no task is distributed, the power logistics robot 1 resides in the wireless charging platform 2, and the occupied state of the wireless charging platform 2 is not released.
The above embodiments are only preferred embodiments of the present invention, and are not intended to limit the scope of the present invention, so variations in shape and principles of the present invention should be covered.
Claims (1)
1. A logistic rest station system based on wireless power transmission, comprising:
the electric power logistics robot is used for realizing automatic transportation of express delivery of a logistics rest station;
the wireless charging platform is used for converting alternating current into sustainable wireless charging electric energy and transmitting the sustainable wireless charging electric energy to the electric power logistics robot;
the coordination guiding system is used for controlling the wireless charging process and managing and guiding the rest station equipment;
the power logistics robot comprises a visual navigation module, a receiving wireless charging module, a large-opening logistics placement box and a GPRS module, wherein the large-opening logistics placement box is installed at the top of the robot and is used for providing a container for placing express, the GPRS module is connected with a battery management module of the receiving wireless charging module, is connected with a wireless charging platform and a coordination guiding system through a GPRS technology and is used for transmitting battery information data and wireless charging state information, the receiving wireless charging module comprises a wireless charging receiving coil and a battery management module, the wireless charging receiving coil is installed below the robot and is used for establishing an electromagnetic relationship with a wireless charging transmitting coil of the wireless charging platform, receiving electric energy to realize wireless electric energy transmission, the battery management module is connected with a battery pack of the robot and the GPRS module, and is used for reading battery electric parameters in real time to monitor battery electric quantity and reflect electric quantity information in real time, the visual navigation module comprises a mobile control module and a camera module, the camera module is installed at the center of the wireless charging receiving coil below the robot and is connected with the GPRS module through the mobile control module and is used for scanning ground information, and the mobile control module is used for executing a mobile control instruction of the robot;
the wireless charging platform is arranged below the ground and comprises an emission type wireless charging module and a gravity feedback module, the emission type wireless charging module comprises a wireless charging emission coil and a power supply conversion module, the wireless charging emission coil is connected with the power supply conversion module, receives electric energy from the power supply conversion module and establishes electromagnetic relation with a wireless charging receiving coil of the power logistics robot to complete wireless charging, the power supply conversion module is connected with the gravity feedback module and a power grid, electric energy obtained from the power grid is integrated into electric energy for wireless charging and is transmitted to the wireless charging emission coil, the gravity feedback module comprises a strain gauge pressure sensor and a communication control card, the strain gauge pressure sensor is adhered near the ground surface and is connected with the communication control card, the gravity condition on the ground surface is sensed and is transmitted to the communication control card, when the ground surface has stably displayed gravity, the wireless charging platform is considered to be in an occupied state, otherwise, the wireless charging platform is connected with the power logistics robot and the coordination guide system through the communication control card, and the control of the wireless charging platform is achieved;
the electric power logistics robot system comprises a logistics rest station, wherein a mark convenient for the identification of the electric power logistics robot is printed above the ground surface of the logistics rest station, the mark comprises a path line and a platform identification mark, black lines are drawn on the transportation path of the electric power logistics robot along the path line, unmanned navigation transportation of the electric power logistics robot in the station is realized, the platform identification mark is a crisscross mark, and a wireless charging transmitting coil circle center is arranged below the ground of the crisscross position, so that the electric power logistics robot can conveniently identify and stop at the position with highest electric energy transmission efficiency;
the coordination guiding system comprises a communication chip and a control computer, wherein the communication chip is connected with the control computer, so that equipment in a station is managed by an upper computer system of the control computer, and the communication chip is connected with all electric power logistics robots and wireless charging platforms in the station to complete control of all equipment in a rest station;
the operation method of the logistics rest station system based on wireless power transmission comprises the following two parts:
A. transport section
S1, a coordination guiding system is assigned to an electric power logistics robot with tasks, and a path is selected and transmitted to a GPRS module;
s2, the electric power logistics robot receives the instruction, and the camera module recognizes the ground black line and cooperates with the movement control module to enable the electric power logistics robot to move towards a destination;
s3, enabling the electric logistics robot to reach a designated position, enabling the coordination guiding system to stop moving, and placing the objects into a large-opening logistics placing box;
s4, circulating the S2 final power logistics robot to reach a final destination to finish transportation;
B. charging part
S1, a battery management module of an electric power logistics robot senses insufficient electric quantity, and a GPRS module requests a coordination guide system to charge;
s2, the coordination guiding system receives a charging request, starts to scan the wireless charging platform in an idle state, and sends the selected wireless charging platform position and the selected moving path to the power logistics robot;
s3, through the GPRS module, a movement control module of the electric power logistics robot receives a movement path, a camera module recognizes black lines on the ground surface, and the electric power logistics robot starts to move;
s4, enabling the electric power logistics robot to reach the vicinity of the destination, capturing the platform identification mark by the camera through movement, enabling the wireless charging receiving coil to be overlapped with the wireless charging transmitting coil, and stopping movement of the electric power logistics robot;
s5, the strain gauge pressure sensor senses a stable gravity value, the communication control card requests the coordination guide system to start charging, and an upper computer of the coordination guide system displays the relationship between the wireless charging platform and the electric power logistics robot and prepares to start charging;
s6, the communication control card drives the power supply conversion module, battery information is obtained through the GPRS module and the battery management module, and wireless charging is started;
s7, the electric quantity of the electric power logistics robot is full, and the communication control card stops wireless charging;
s8, the coordination guiding system distributes a transportation task to the electric power logistics robot, the electric power logistics robot drives away from the position of the wireless charging platform, the strain gauge pressure sensor finally fails to sense gravity change, occupation is relieved, and the wireless charging platform is in an idle state;
and S9, if no task is allocated, the power logistics robot resides in the wireless charging platform, and the occupation state of the wireless charging platform is not released.
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| CN110867916B (en) * | 2019-11-01 | 2022-02-15 | 清华大学 | Wireless charging system of transformer substation discharge source positioning robot |
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| JP2007004434A (en) * | 2005-06-23 | 2007-01-11 | Yoichiro Sawa | Mobile robot system |
| CN202575301U (en) * | 2012-03-01 | 2012-12-05 | 毛振刚 | Laser guidance type automatic carrier system |
| HUE033302T2 (en) * | 2012-11-15 | 2017-11-28 | Velox-Puredigital Ltd | Printing system and method |
| JP6637836B2 (en) * | 2016-05-12 | 2020-01-29 | 株式会社ダイヘン | Power transmission device, power receiving device, and non-contact charging system |
| CN106094832B (en) * | 2016-07-19 | 2020-10-27 | Tcl科技集团股份有限公司 | Robot and method and system for autonomous wireless charging |
| CN106586276A (en) * | 2016-11-08 | 2017-04-26 | 浙江大学 | Cold-chain logistics packing box based on wireless charging |
| CN107425567A (en) * | 2017-06-30 | 2017-12-01 | 吕青青 | A kind of interactive intelligent charging system based on network control |
| CN208856340U (en) * | 2018-08-15 | 2019-05-14 | 华南理工大学 | A kind of logistics rest station system based on wireless power transmission |
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