CN109602256A - A kind of express delivery cabinet and its control method - Google Patents
A kind of express delivery cabinet and its control method Download PDFInfo
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- CN109602256A CN109602256A CN201910121289.5A CN201910121289A CN109602256A CN 109602256 A CN109602256 A CN 109602256A CN 201910121289 A CN201910121289 A CN 201910121289A CN 109602256 A CN109602256 A CN 109602256A
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- express delivery
- cabinet
- plate
- shell
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47G—HOUSEHOLD OR TABLE EQUIPMENT
- A47G29/00—Supports, holders, or containers for household use, not provided for in groups A47G1/00-A47G27/00 or A47G33/00
- A47G29/14—Deposit receptacles for food, e.g. breakfast, milk, or large parcels; Similar receptacles for food or large parcels with appliances for preventing unauthorised removal of the deposited articles, i.e. food or large parcels
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47G—HOUSEHOLD OR TABLE EQUIPMENT
- A47G29/00—Supports, holders, or containers for household use, not provided for in groups A47G1/00-A47G27/00 or A47G33/00
- A47G29/14—Deposit receptacles for food, e.g. breakfast, milk, or large parcels; Similar receptacles for food or large parcels with appliances for preventing unauthorised removal of the deposited articles, i.e. food or large parcels
- A47G29/30—Accessories, e.g. signalling devices, lamps, means for leaving messages
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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- Engineering & Computer Science (AREA)
- Food Science & Technology (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The present invention discloses a kind of express delivery cabinet, comprising: cabinet storage area comprising: multiple case supports plates, cabinet storage is divided into multilayer in the cabinet storage area by spaced and parallel setting along the vertical direction；Wherein, multiple cabinet express delivery subregions are divided into every layer of case supports plate, and the cabinet express delivery partition size in every layer of case supports plate is consistent, are used for case for storing express delivery；Multiple lateral rotation wheels are axially separately positioned in the case supports plate in the cabinet express delivery subregion along the case supports plate, and are corresponded with the cabinet express delivery subregion, are axially moved for drive case express delivery along the case supports plate；It is multiple to longitudinally rotate wheel, it is radially separately positioned in the case supports plate in the cabinet express delivery subregion along the case supports plate, and corresponded with the cabinet express delivery subregion, for drive case express delivery along the case supports plate radial motion.The present invention also provides a kind of control methods of express delivery cabinet.
Description
Technical field
The present invention relates to logistics technology, and more particularly, the present invention relates to a kind of express delivery cabinet and its control methods.
Background technique
With the fast development of information technology and logistlcs technology, delivery industry had obtained swift and violent development in recent years, so
And some problems are also faced in the logistics links such as express mail classification, transport, access, courier's delivery low efficiency occupies quite
Big human cost and time cost.
The space of express delivery cabinet is fixed at present, and size can not be adjusted according to package, thus being to a certain degree conjunction
The space resources of express delivery cabinet ought to be used.
201811030678.9 patent of invention of application number provides a kind of express delivery cabinet, by controller control driving mechanism with
Make driving mechanism driving cabinet door rotation to open or close cabinet body, does not need people and be turned off manually, brought to a certain extent for people
Convenience, but when fetcher's height too low storage grid is excessively high, inconvenience can be caused.
201811094322.1 patent of invention of application number provides a kind of unmanned express delivery cabinet, by executing agency by article from depositing
It takes mouth to be placed directly into article rack, or article taking-up is placed into access port, user is in storage grid when avoiding access article
Move back and forth between touch screen it is cumbersome, but store article grid be it is fixed, can not adjust, to a certain extent
Underuse space resources.
Summary of the invention
It is an object of the invention to design and develop a kind of express delivery cabinet, cabinet storage is divided by case supports plate
Multilayer, and every layer box body support plate is divided into multiple cabinet express delivery subregions, and be provided with transverse and longitudinal deflecting roller group, facilitate cabinet express delivery
Access.
Another object of the present invention is to design and develop a kind of control method of express delivery cabinet, in pickup, is acquired fast wait take
Pass type, position and express delivery to be taken express delivery state on the supporting plate, and the first sliding plate is determined based on BP neural network
With the state of the second sliding plate and the pickup route of cabinet express delivery.
The present invention can also control the sliding plate speed that transversely sliding rail is axially moved according to type, the size and weight of express delivery
Degree is realized to stablize and quickly transports express delivery.
Technical solution provided by the invention are as follows:
A kind of express delivery cabinet, comprising:
Cabinet storage area is arranged in express delivery cabinet side；
The cabinet storage area includes:
Multiple case supports plates, it is spaced and parallel along the vertical direction to be arranged in the cabinet storage area, by the cabinet
Multilayer is divided into storage；
Wherein, multiple cabinet express delivery subregions are divided into every layer of case supports plate, and in every layer of case supports plate
Cabinet express delivery subregion receiving volume it is equal, be used for case for storing express delivery；
Multiple lateral rotation wheels are axially separately positioned on the case in the cabinet express delivery subregion along the case supports plate
In body support plate, and corresponded with the cabinet express delivery subregion, it is axial along the case supports plate for drive case express delivery
Movement；
It is multiple to longitudinally rotate wheel, the case in the cabinet express delivery subregion is radially separately positioned on along the case supports plate
In body support plate, and corresponded with the cabinet express delivery subregion, it is radial along the case supports plate for drive case express delivery
Movement；
Multiple first slots are positioned close to the case supports plate side in the middle part of the express delivery cabinet, and every layer of institute
First slot stated in case supports plate is located on same vertical direction；
Horizontal slide rail is axially disposed within the express delivery above the cabinet storage area along the case supports plate
In the middle part of cabinet；
First sliding plate is arranged in horizontal slide rail radial direction side, and can be axially moved along the horizontal slide rail；
First shell is connect with first sliding plate, can be axially moved along the horizontal slide rail, and can be along perpendicular
Histogram to carry out elevating movement；
First trolley is removably set in the first shell, can be extend out to outside the first shell or be received
It is back in the first shell；
First bolt is arranged in the described first small front side two sides, and first bolt is corresponding with first slot；
Wherein, when carrying out cabinet express delivery storage, at least one cabinet express delivery subregion in every layer of case supports plate
It is vacant.
Preferably, further includes:
Bag class storage area, is arranged in the express delivery cabinet other side；
The bag class storage area includes:
Multiple bags of class support plates, it is spaced and parallel along the vertical direction to be arranged in the bag class storage area, by the bag class
Multilayer is divided into storage；
Multiple vertical clapboards are arranged in parallel in the bag class storage area along the bag class support plate axially spaced-apart, by institute
It states a bag class support plate and is divided into multiple bags of class express delivery subregions,
Multiple second slots are separately positioned on the bag class express delivery subregion side in the middle part of the express delivery cabinet, and
It is corresponded with the bag class express delivery subregion；
Second sliding plate is arranged in the horizontal slide rail radial direction other side, and can axially transport along the horizontal slide rail
It is dynamic；
Second shell is connect with second sliding plate, can be axially moved along the horizontal slide rail, and can be along perpendicular
Histogram to carry out elevating movement；
Second trolley is removably set in the second shell, can be extend out to outside the second shell or be received
It is back in the second shell；
Second bolt is arranged in the described second small front side two sides, and second bolt is corresponding with second slot.
Preferably, further includes:
Multiple cabinets deposit part mouth, are arranged in the express delivery cabinet side wall surface of horizontal slide rail axial direction side, and with
First trolley is corresponding；
Multiple bags of classes deposit part mouth, are arranged in the express delivery cabinet side wall surface of horizontal slide rail axial direction side, and with
Second trolley is corresponding；
Multiple cabinets deposit part plate, are arranged on the express delivery cabinet inner wall that the cabinet is deposited at part mouth；
Multiple bags of classes deposit part plate, are arranged on the express delivery cabinet inner wall that the bag class is deposited at part mouth；
Multiple third slots, are positioned close to the bag class and deposit the cabinet of part plate to deposit part plate side, and with it is described
First bolt is corresponding；
Multiple 4th slots, are positioned close to the cabinet and deposit the bag class of part plate to deposit part plate side, and with it is described
Second bolt is corresponding.4, express delivery cabinet as claimed in claim 3, which is characterized in that further include:
Pickup mouth is arranged in the express delivery cabinet side wall surface of the horizontal slide rail axial direction other side, and with described
One trolley and the second trolley are corresponding；
Taking board is arranged on the express delivery cabinet inner wall at the pickup mouth；
5th slot is symmetricly set on the taking board two sides, and respectively with first bolt and the second bolt pair
It answers.
Preferably, the first shell is connect by the first wirerope with first sliding plate, the second shell
It is connect by the second wirerope with second sliding plate.
Preferably, further includes:
Multiple first motors are connect with the lateral rotation wheel, for driving the lateral rotation wheel to rotate；
Multiple second motors longitudinally rotate wheel connection with described, for driving the wheel that longitudinally rotates to rotate；
Wherein, parallel with one another between the first motor, it is parallel with one another between second motor；
Third motor is connect with first trolley, for driving first trolley to extend out to the first shell
Outside or it is retracted in the first shell；
4th motor is connect, for driving the first shell to be risen along the vertical direction with first wirerope
Drop movement；
5th motor is connect with second trolley, for driving second trolley to extend out to the second shell
Outside or it is retracted in the second shell；
6th motor is connect, for driving the second shell to be risen along the vertical direction with second wirerope
Drop movement.
Preferably, further includes:
First rack gear is arranged in the first shell；
First gear, setting are engaged on first trolley, and with first rack gear；
Second rack gear is arranged in the second shell；
Second gear, setting are engaged on second trolley, and with second rack gear；
Wherein, the third motor is connect with the first gear, for driving with first trolley along described first
Rack gear is axially moved；5th motor is connect with the second gear, for driving second trolley along second tooth
Item is axially moved.
A kind of control method of express delivery cabinet acquires express delivery type, position and express delivery to be taken place branch to be taken in pickup
Express delivery state on fagging, and determine based on BP neural network the state and cabinet express delivery of the first sliding plate and the second sliding plate
Pickup route, specifically comprise the following steps:
Step 1: according to the sampling period, express delivery type to be taken, express delivery position to be taken, express delivery to be taken are acquired by sensor
Each express delivery subregion on the supporting plate express delivery state；
Step 2: determining input layer vector x={ x of three layers of BP neural network1,x2,x3}；Wherein, x1For wait take
Express delivery type, x2For express delivery position to be taken, x3For express delivery to be taken each express delivery subregion on the supporting plate express delivery state；
Wherein, the input layer value isWork as o1When for B, the express delivery to be taken is case class, works as o1For S
When, the express delivery to be taken is bag class；The input layer value isFor express delivery to be taken j-th of express delivery subregion on the supporting plate express delivery
State works as XjWhen being 0, j-th of express delivery subregion is vacant on the supporting plate for the express delivery institute to be taken, XjWhen being 1, the express delivery to be taken
J-th of express delivery subregion has express delivery on the supporting plate for institute；
Step 3: the input layer DUAL PROBLEMS OF VECTOR MAPPING is to hidden layer, the neuron of hidden layer is m；
Step 4: obtaining output layer neuron vector o={ o1,o2,o3,o4,o5}；Wherein, o1It is the first sliding plate along horizontal
The distance being axially moved to sliding rail, o2For the vertically moving distance of first shell, o3For the second sliding plate transversely sliding rail
The distance of axial movement, o4For the vertically moving distance of second shell, o5For the removal route of cabinet express delivery.
Preferably,
Work as o1When=B, o3=o4=0, the second sliding sliding plate and second shell are motionless；
Work as o1When=S, o1=o2=o5=0, the first sliding sliding plate and first shell are motionless, and do not export cabinet express delivery
Remove route.
Preferably,
When pickup type is the express delivery of case class, the first sliding plate of control speed that transversely sliding rail is axially moved meets:
Wherein, v1For the first sliding plate speed that transversely sliding rail is axially moved, v1,0For the first sliding plate transversely sliding rail
The basal rate of axial movement, m1For the weight of cabinet express delivery, a, b, c is the length of cabinet express delivery, ρ0For unit density, d
For the distance between first trolley bolt, L is the length of the first trolley bolt；
When pickup type is the express delivery of bag class, the second sliding plate of control speed that transversely sliding rail is axially moved meets:
Wherein, v2For the second sliding plate speed that transversely sliding rail is axially moved, v2,0For the second sliding plate transversely sliding rail
The basal rate of axial movement, m2For the weight of bag class express delivery, m2,0For the basis weight of bag class express delivery.
Preferably, the excitation function of the hidden layer and the output layer is all made of S type function fj(x)=1/ (1+e-x)。
It is of the present invention the utility model has the advantages that
(1) cabinet storage is divided into multilayer by case supports plate by the express delivery cabinet that the present invention designs and develops, and by every layer
Case supports plate is divided into multiple cabinet express delivery subregions, and is provided with transverse and longitudinal deflecting roller group, facilitates the access of cabinet express delivery.Also design
Marsupial express delivery subregion, and pass through horizontal slide rail, the access of sliding plate and trolley, bolt and slot realization express delivery.
(2) control method of express delivery cabinet that the present invention designs and develops, in pickup, acquire express delivery type to be taken, position with
And express delivery to be taken express delivery state on the supporting plate, and the first sliding plate and the second sliding plate are determined based on BP neural network
State and the pickup route of cabinet express delivery.The present invention can also control sliding plate along horizontal according to type, the size and weight of express delivery
The speed being axially moved to sliding rail is realized to stablize and quickly transports express delivery.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of express delivery cabinet of the present invention.
Fig. 2 is the partial structurtes enlarged diagram of express delivery cabinet of the present invention.
Fig. 3 is the bag class storage area structural schematic diagram of express delivery cabinet of the present invention.
Fig. 4 is the structural schematic diagram of case supports plate of the present invention.
Fig. 5 is the structural schematic diagram of horizontal slide rail of the present invention, sliding plate, shell and trolley.
Fig. 6 is the structural schematic diagram that cabinet of the present invention deposits part plate.
Fig. 7 is the structural schematic diagram of taking board of the present invention.
Fig. 8 is the structural schematic diagram of first shell of the present invention and the first trolley.
Specific embodiment
Present invention will be described in further detail below with reference to the accompanying drawings, to enable those skilled in the art referring to specification text
Word can be implemented accordingly.
In the description of the present invention, it is to be understood that, term " longitudinal direction ", " transverse direction ", " width ", "upper", "lower",
The orientation or positional relationship of the instructions such as "front", "rear", "left", "right" is to be based on the orientation or positional relationship shown in the drawings, and is only
For the convenience of describing the present invention and simplifying the description, rather than the device or element of indication or suggestion meaning must have specific side
Position is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include one or more of the features.In the description of the present invention, the meaning of " plurality " is two or more,
Unless otherwise specifically defined.
As shown in figures 1-8, the present invention provides a kind of express delivery cabinet, comprising: cabinet storage area 110 is arranged in the express delivery
100 side of cabinet comprising: multiple case supports plates 111, spaced and parallel setting, will in cabinet storage area 110 along the vertical direction
Cabinet storage area 110 divides for multilayer；Multiple cabinet express delivery subregions, and every layer box body branch will be divided into every layer box body support plate 111
Cabinet express delivery partition size on fagging 111 is consistent, for storing cabinet express delivery of the size in the same range, accomplishes express delivery
Cabinet space makes full use of.
Multiple lateral rotation wheels 112, along the axial cabinet being separately positioned in cabinet express delivery subregion of case supports plate 111
It in support plate 111, and corresponds with cabinet express delivery subregion, is axially moved for drive case express delivery along case supports plate 111；
It is multiple to longitudinally rotate wheel 113, along the radial case supports being separately positioned in the cabinet express delivery subregion of case supports plate 111
It on plate 111, and is corresponded with cabinet express delivery subregion, for drive case express delivery along 111 radial motion of case supports plate.When into
When row cabinet express delivery is stored, at least one cabinet express delivery subregion is vacant in every layer box body support plate 111, convenient for cabinet express delivery
It takes out.
Multiple first slots 114 are positioned close to 111 side of case supports plate at 100 middle part of express delivery cabinet, i.e. every layer of case
One slot 114 is only set in body support plate 111, and the i.e. outermost cabinet being correspondingly arranged in the middle part of express delivery cabinet is fast
It passs in subregion, which is to be symmetrically arranged with rectangular recess in the cabinet express delivery subregion two sides, and every layer box body supports
The first slot 114 on plate 111 is located on same vertical direction.
Horizontal slide rail 120, the express delivery cabinet 100 being axially disposed within above cabinet storage area along case supports plate 111
Middle part；First sliding plate 121 is arranged in horizontal slide rail diameter 120 to side, and can transversely sliding rail 120 be axially moved；The
One shell 122 is connect with the first sliding plate 121 by the first wirerope, enables first shell 122 in the first sliding plate
It is axially moved under 121 drives along horizontal slide rail 120, additionally it is possible to carry out lifting fortune along the vertical direction under the drive of the first wirerope
It is dynamic.
First trolley 123 is removably set in the first shell 122, can be stretched out or is retracted to described
In one shell；Specifically, the first rack gear 1221 is symmetrically arranged in 122 inner bottom surface two sides of first shell, by the first trolley
Wheel changes first gear 1222 into, and the first gear 1222 is engaged with first rack gear 1221, passes through 1222 turns of first gear
It is dynamic, drive the first trolley 123 to be axially moved along the first rack gear 1221, and then realize that the first trolley stretches out or be retracted to first shell
In vivo.It is symmetrically arranged with the first bolt 124 in the first trolley front end face two sides, first bolt 124 and the first slot 114 are right
It answers.
Bag class storage area 130, is arranged in 100 other side of express delivery cabinet comprising: multiple bags of class support plates 131,
It is spaced and parallel along the vertical direction to be arranged in bag class storage area 130, bag class storage area 130 is divided for multilayer；Multiple vertical clapboards
132, it is arranged in parallel in a bag class storage area 130 along 131 axially spaced-apart of bag class support plate, it is multiple that bag class support plate 131, which is divided,
Bag class express delivery subregion, is used to store the different bag class express delivery of specification.
Multiple second slots 132, are separately positioned on the bag class express delivery subregion side close to the middle part of express delivery cabinet 100, and with
Bag class express delivery subregion corresponds, and second slot 132 is recessed to be symmetrically arranged with rectangle each bag of class express delivery subregion two sides
Slot.
Second sliding plate 125, setting, and being capable of transversely 120 axis of sliding rail in the radial other side of the horizontal slide rail 120
To movement；Second shell 126 is connect by the second wirerope with the second sliding plate 125, can be in the second sliding plate 125
It is axially moved under drive along horizontal slide rail 120, additionally it is possible to carry out elevating movement along the vertical direction under the drive of the second wirerope.
Second trolley 127 is removably set in the second shell 126, can be stretched out or is retracted to described
In two shells 126；Specifically, the second rack gear is symmetrically arranged in 126 inner bottom surface two sides of second shell, by the vehicle of the second trolley
Wheel changes second gear into, and the second gear is engaged with second rack gear, is rotated by second gear, drives the second trolley 127
It is axially moved along the second rack gear, and then realizes that the second trolley 127 is stretched out or is retracted in second shell 126.In the second trolley
127 front end face two sides are symmetrically arranged with the second bolt 128, and second bolt 128 is corresponding with the second slot 132.
Multiple cabinets deposit part mouth 140, are arranged in 100 side wall surface of express delivery cabinet of the axial side of horizontal slide rail 120, and with
First trolley 123 is corresponding；Multiple bags of classes deposit part mouth 150, and 100 side wall of express delivery cabinet of the axial side of horizontal slide rail 120 is arranged in
On face, and it is corresponding with the second trolley 127；The cabinet deposits part mouth 140 and bag class is deposited part mouth 150 and is oppositely arranged.Multiple cabinets deposit part
Plate 141 is arranged on 100 inner wall of express delivery cabinet that cabinet is deposited at part mouth 140, for the supporting box express delivery when depositing part；
Multiple bags of classes deposit part plate 151, are arranged on 100 inner wall of express delivery cabinet that bag class is deposited at part mouth 150, for the branch when depositing part
Support the express delivery of bag class；Multiple third slots 142, are positioned close to bag class and deposit the cabinet of part plate 151 to deposit 140 side of part plate, and with
First bolt 124 is corresponding；Multiple 4th slots 152, are positioned close to case class and deposit the bag class of part plate 141 to deposit 151 side of part plate,
And it is corresponding with second bolt 128.
Pickup mouth 160 is arranged in 100 side wall surface of express delivery cabinet of the axial other side of horizontal slide rail 120, and with it is first small
Vehicle 123 and the second trolley 127 are corresponding；Taking board 161 is arranged on the express delivery cabinet inner wall at the pickup mouth；
5th slot 16 2 is symmetricly set on 161 two sides of taking board, and corresponding with the first bolt 124 and the second bolt 128 respectively.
In the present embodiment, the structure of the first bolt and the second bolt is consistent, the first slot, the second slot, third slot,
The structure of four slots and the 5th slot is also consistent.
Multiple first motor (not shown)s, connect with lateral rotation wheel 112, for driving lateral rotation wheel 112
Rotation；Multiple second motor (not shown)s, connect with wheel 113 is longitudinally rotated, and longitudinally rotate 113 turns of wheel for driving
It is dynamic；Parallel with one another between the first motor, parallel with one another between second motor, i.e., each lateral rotation wheel and longitudinal direction turn
Mutual self-movement between driving wheel；Third motor, connect with first gear, for driving first trolley to stretch out or receiving
It is back in the first shell；4th motor is connect with the first wirerope, for driving first shell to carry out along the vertical direction
Elevating movement；5th motor, connect with second gear, for driving the second trolley to stretch out or being retracted in second shell；
6th motor is connect with the second wirerope, for driving second shell to carry out elevating movement along the vertical direction.
The course of work:
When depositing part, express delivery is successively placed in cabinet deposits part plate and bag class is deposited on part plate, corresponding cunning according to express delivery type
It moves strip and moves first shell and second shell and move to that cabinet deposits part plate and bag class is deposited at part plate, and control wirerope and make first
Shell and second shell are located at that cabinet deposits part plate and bag class deposits lower section at part plate, and the first trolley and the second trolley is driven to stretch out first
Shell and second shell, and the first bolt and the second bolt that wirerope makes the first trolley and the second trolley are controlled again from cabinet
It deposits part plate and bag class is deposited in part plate moved beneath to the first slot and the second slot, so that the first slot and the second slot contact case
Body express delivery and bag class express delivery, and continue up and promote the first trolley and the second trolley, so that the first bolt and the second bolt are by case
Body express delivery and bag class express delivery lift, and cabinet express delivery is transported to above corresponding case supports plate by the first sliding plate, and is moved downward,
So that the first slot moves in the first slot, so that cabinet express delivery is placed in case supports plate, and continue to move downward first
Trolley withdraws trolley, and control the lateral rotation wheel in case supports plate and longitudinal direction after the first bolt moves out the first slot
Cabinet express delivery is moved to the designated position in case supports plate by rotating wheel, realizes that part is deposited in cabinet express delivery.The movement of second sliding plate
To designated position, so that the second bolt is located above bag class support plate, and move downward, so that the second slot moves to second
In slot, so that bag class express delivery is placed in bag class support plate, and continues to move downward the second trolley, when the second bolt moves out
After two slots, trolley is withdrawn, realizes that part is deposited in the express delivery of bag class.
In pickup, pickup express delivery type and position are determined, when pickup is that the express delivery of bag class makes, the second sliding plate of control is moved
It to designated position, so that the second trolley is placed in below bag class support plate, and moves upwards, is inserted so that the second bolt moves to second
In slot, so that bag class express delivery is placed on the second bolt, and the second trolley is continued up, is inserted when the second bolt moves out second
After slot, the second sliding plate is controlled, so that above the second moving of car to taking board, and move downward, when the second bolt moves to
After in 5th slot, bag class express delivery is placed on taking board, continues to move downward the second trolley, so that the second bolt moves out the 5th
After slot, the second trolley is withdrawn, express delivery can be taken out in pickup mouth.When pickup be cabinet express delivery when, control lateral rotation wheel and
Wheel is longitudinally rotated, cabinet express delivery is moved at the cabinet express delivery subregion at the first slot, the first sliding plate of control moves to finger
Positioning is set, so that the first trolley is placed in below case supports plate, and is moved upwards, so that the first bolt moves to the first slot
It is interior, so that cabinet express delivery is placed on the first bolt, and continues up the first trolley, when the first bolt moves out the first slot
Afterwards, the first sliding plate is controlled, so that the first moving of car is to above taking board, and moves downward, when the first bolt moves to the
After in five slots, cabinet express delivery is placed on taking board, continues to move downward the first trolley, is inserted so that the first bolt moves out the 5th
After slot, the first trolley is withdrawn, express delivery can be taken out in pickup mouth.
Cabinet storage is divided into multilayer by case supports plate by the express delivery cabinet that the present invention designs and develops, and by every layer of case
Body support plate is divided into multiple cabinet express delivery subregions, and is provided with transverse and longitudinal deflecting roller group, facilitates the access of cabinet express delivery.It is also devised with
Bag class express delivery subregion, and pass through horizontal slide rail, the access of sliding plate and trolley, bolt and slot realization express delivery.
The present invention also provides a kind of control methods of express delivery cabinet, in pickup, acquire express delivery type to be taken, position and to
Take express delivery express delivery state on the supporting plate, and determine based on BP neural network the state of the first sliding plate and the second sliding plate
And the pickup route of cabinet express delivery, specifically comprise the following steps:
Step 1: establishing BP neural network model.
Totally interconnected connection is formed on BP model between the neuron of each level, is not connected between the neuron in each level
It connects, the output of input layer is identical as input, i.e. oi=xi.The operating characteristic of the neuron of intermediate hidden layer and output layer
Are as follows:
opj=fj(netpj)
Wherein p indicates current input sample, ωjiFor from neuron i to the connection weight of neuron j, opiFor neuron
The current input of j, opjIt is exported for it；fjFor it is non-linear can micro- non-decreasing function, be generally taken as S type function, i.e. fj(x)=1/ (1
+e-x)。
For the BP network architecture that the present invention uses by up of three-layer, first layer is input layer, total n node, corresponding
Indicate that n detection signal of express delivery cabinet, these signal parameters are provided by data preprocessing module；The second layer is hidden layer, total m section
Point is determined in an adaptive way by the training process of network；Third layer is output layer, and total p node is actually needed by system
Output in response to determining that.
The mathematical model of the network are as follows:
Input vector: x=(x1,x2,...,xn)T
Middle layer vector: y=(y1,y2,...,ym)T
Output vector: o=(o1,o2,...,op)T
In the present invention, input layer number is n=3, and output layer number of nodes is p=5, hidden layer number of nodes m=5.
3 parameters of input layer respectively indicate are as follows: x1For express delivery type to be taken, x2For express delivery position to be taken, x3For express delivery to be taken
Each express delivery subregion on the supporting plate express delivery state；
Wherein, the input layer value isWork as o1When for B, the express delivery to be taken is case class, works as o1For S
When, the express delivery to be taken is bag class；The input layer value is
For express delivery to be taken j-th of express delivery subregion on the supporting plate express delivery state, work as XjWhen being 0, support where the express delivery to be taken
J-th of express delivery subregion is vacant on plate, XjWhen being 1, j-th of express delivery subregion has express delivery on the supporting plate for the express delivery institute to be taken；
5 parameters of output layer respectively indicate are as follows: o1For the first sliding plate distance that transversely sliding rail is axially moved, o2It is
The vertically moving distance of one shell, o3For the second sliding plate distance that transversely sliding rail is axially moved, o4For second shell
Vertically moving distance, o5For the removal route of cabinet express delivery, in the present embodiment, when sliding plate is located in horizontal slide rail
When portion, exporting is 0, is positive towards part mouth direction is deposited, is negative towards pickup mouth direction.Shell is located at cabinet storage area or bag class
It is 0 when storage area top layer, is positive when moving downward.
Step 2: carrying out the training of BP neural network.
After establishing BP neural network nodal analysis method, the training of BP neural network can be carried out.It is passed through according to the history of product
Test the sample of data acquisition training, and the connection weight between given input node i and hidden layer node j, hidden node j and defeated
Connection weight between node layer k out.
(1) training method
Each subnet is using individually trained method；When training, first have to provide one group of training sample, each of these sample
This, to forming, when all reality outputs of network and its consistent ideal output, is shown to train by input sample and ideal output
Terminate；Otherwise, by correcting weight, keep the ideal output of network consistent with reality output.
(2) training algorithm
BP network is trained using error back propagation (Backward Propagation) algorithm, and step can be concluded
It is as follows:
Step 1: a selected structurally reasonable network, is arranged the initial value of all Node B thresholds and connection weight.
Step 2: making following calculate to each input sample:
(a) forward calculation: to l layers of j unit
In formula,L layers of j unit information weighted sum when being calculated for n-th,For l layers of j units with it is previous
Connection weight between the unit i of layer (i.e. l-1 layers),For preceding layer (i.e. l-1 layers, number of nodes nl-1) unit i send
Working signal；When i=0, enableFor the threshold value of l layers of j unit.
If the activation primitive of unit j is sigmoid function,
And
If neuron j belongs to the first hidden layer (l=1), have
If neuron j belongs to output layer (l=L), have
And ej(n)=xj(n)-oj(n)；
(b) retrospectively calculate error:
For output unit
To hidden unit
(c) weight is corrected:
η is learning rate.
Step 3: new sample or a new periodic samples are inputted, and until network convergence, the sample in each period in training
Input sequence is again randomly ordered.
BP algorithm seeks nonlinear function extreme value using gradient descent method, exists and falls into local minimum and convergence rate is slow etc.
Problem.A kind of more efficiently algorithm is Levenberg-Marquardt optimization algorithm, it makes the e-learning time shorter,
Network can be effectively inhibited and sink into local minimum.Its weighed value adjusting rate is selected as
Δ ω=(JTJ+μI)-1JTe
Wherein J is error to Jacobi (Jacobian) matrix of weight differential, and I is input vector, and e is error vector,
Variable μ is the scalar adaptively adjusted, for determining that study is completed according to Newton method or gradient method.
In system design, system model is one merely through the network being initialized, and weight needs basis using
The data sample obtained in journey carries out study adjustment, devises the self-learning function of system thus.Specify learning sample and
In the case where quantity, system can carry out self study, to constantly improve network performance.
Work as o1When=B, o3=o4=0, the second sliding sliding plate and second shell are motionless；
Work as o1When=S, o1=o2=o5=0, the first sliding sliding plate and first shell are motionless, and do not export cabinet express delivery
Remove route.
When pickup type is the express delivery of case class, the first sliding plate of control speed that transversely sliding rail is axially moved meets:
Wherein, v1For the first sliding plate speed that transversely sliding rail is axially moved, v1,0For the first sliding plate transversely sliding rail
The basal rate of axial movement, m1For the weight of cabinet express delivery, a, b, c is the length of cabinet express delivery, ρ0For unit density, d
For the distance between first trolley bolt, L is the length of the first trolley bolt；
When pickup type is the express delivery of bag class, the second sliding plate of control speed that transversely sliding rail is axially moved meets:
Wherein, v2For the second sliding plate speed that transversely sliding rail is axially moved, v2,0For the second sliding plate transversely sliding rail
The basal rate of axial movement, m2For the weight of bag class express delivery, m2,0For the basis weight of bag class express delivery.
Below with reference to the further control to express delivery cabinet provided by the invention for the express delivery of 10 groups of different locations and type
Method processed is illustrated.The data of the express delivery are as shown in table 1.
The fast delivery data of watch 1
Output is determined using method of the invention as a result, specific as shown in table 2.
Table 2 exports result
As shown in Table 2, it is correct for taking out express delivery, is the express delivery for wanting to take out, so method provided by the invention
It is reasonable.
The control method for the express delivery cabinet that the present invention designs and develops, in pickup, acquire express delivery type to be taken, position and to
Take express delivery express delivery state on the supporting plate, and determine based on BP neural network the state of the first sliding plate and the second sliding plate
And the pickup route of cabinet express delivery.The present invention can also control sliding plate and transversely slide according to type, the size and weight of express delivery
The speed that rail is axially moved is realized to stablize and quickly transports express delivery.
Although the embodiments of the present invention have been disclosed as above, but its is not only in the description and the implementation listed
With it can be fully applied to various fields suitable for the present invention, for those skilled in the art, can be easily
Realize other modification, therefore without departing from the general concept defined in the claims and the equivalent scope, the present invention is simultaneously unlimited
In specific details and legend shown and described herein.
Claims (10)
1. a kind of express delivery cabinet characterized by comprising
Cabinet storage area is arranged in express delivery cabinet side；
The cabinet storage area includes:
Multiple case supports plates, it is spaced and parallel along the vertical direction to be arranged in the cabinet storage area, the cabinet is stored
Divide into multilayer；
Wherein, multiple cabinet express delivery subregions, and the case in every layer of case supports plate are divided into every layer of case supports plate
The receiving volume of body express delivery subregion is equal, is used for case for storing express delivery；
Multiple lateral rotation wheels are axially separately positioned on the cabinet branch in the cabinet express delivery subregion along the case supports plate
It on fagging, and corresponds with the cabinet express delivery subregion, is axially moved for drive case express delivery along the case supports plate；
It is multiple to longitudinally rotate wheel, the cabinet branch in the cabinet express delivery subregion is radially separately positioned on along the case supports plate
It on fagging, and is corresponded with the cabinet express delivery subregion, for drive case express delivery along the case supports plate radial motion；
Multiple first slots are positioned close to the case supports plate side in the middle part of the express delivery cabinet, and every layer of case
First slot in body support plate is located on same vertical direction；
Horizontal slide rail is axially disposed in the express delivery cabinet above the cabinet storage area along the case supports plate
Portion；
First sliding plate is arranged in horizontal slide rail radial direction side, and can be axially moved along the horizontal slide rail；
First shell is connect with first sliding plate, can be axially moved along the horizontal slide rail, and can be along vertical side
To progress elevating movement；
First trolley is removably set in the first shell, can be extend out to outside the first shell or is retracted to
In the first shell；
First bolt is arranged in the described first small front side two sides, and first bolt is corresponding with first slot；
Wherein, when carrying out cabinet express delivery storage, at least one cabinet express delivery subregion is vacant in every layer of case supports plate.
2. express delivery cabinet as described in claim 1, which is characterized in that further include:
Bag class storage area, is arranged in the express delivery cabinet other side；
The bag class storage area includes:
Multiple bags of class support plates, it is spaced and parallel along the vertical direction to be arranged in the bag class storage area, the bag class is stored
Divide into multilayer；
Multiple vertical clapboards are arranged in parallel in the bag class storage area along the bag class support plate axially spaced-apart, by the bag
Class support plate is divided into multiple bags of class express delivery subregions,
Multiple second slots, are separately positioned on the bag class express delivery subregion side in the middle part of the express delivery cabinet, and with institute
Bag class express delivery subregion is stated to correspond；
Second sliding plate is arranged in the horizontal slide rail radial direction other side, and can be axially moved along the horizontal slide rail；
Second shell is connect with second sliding plate, can be axially moved along the horizontal slide rail, and can be along vertical side
To progress elevating movement；
Second trolley is removably set in the second shell, can be extend out to outside the second shell or is retracted to
In the second shell；
Second bolt is arranged in the described second small front side two sides, and second bolt is corresponding with second slot.
3. express delivery cabinet as claimed in claim 2, which is characterized in that further include:
Multiple cabinets deposit part mouth, are arranged in the express delivery cabinet side wall surface of horizontal slide rail axial direction side, and with it is described
First trolley is corresponding；
Multiple bags of classes deposit part mouth, are arranged in the express delivery cabinet side wall surface of horizontal slide rail axial direction side, and with it is described
Second trolley is corresponding；
Multiple cabinets deposit part plate, are arranged on the express delivery cabinet inner wall that the cabinet is deposited at part mouth；
Multiple bags of classes deposit part plate, are arranged on the express delivery cabinet inner wall that the bag class is deposited at part mouth；
Multiple third slots, are positioned close to the bag class and deposit the cabinet of part plate to deposit part plate side, and with described first
Bolt is corresponding；
Multiple 4th slots, are positioned close to the cabinet and deposit the bag class of part plate to deposit part plate side, and with described second
Bolt is corresponding.
4. express delivery cabinet as claimed in claim 3, which is characterized in that further include:
Pickup mouth is arranged in the express delivery cabinet side wall surface of the horizontal slide rail axial direction other side, and with it is described first small
Vehicle and the second trolley are corresponding；
Taking board is arranged on the express delivery cabinet inner wall at the pickup mouth；
5th slot is symmetricly set on the taking board two sides, and corresponding with first bolt and the second bolt respectively.
5. express delivery cabinet as claimed in claim 4, which is characterized in that the first shell passes through the first wirerope and described first
Sliding plate connection, the second shell are connect by the second wirerope with second sliding plate.
6. express delivery cabinet as claimed in claim 5, which is characterized in that further include:
Multiple first motors are connect with the lateral rotation wheel, for driving the lateral rotation wheel to rotate；
Multiple second motors longitudinally rotate wheel connection with described, for driving the wheel that longitudinally rotates to rotate；
Wherein, parallel with one another between the first motor, it is parallel with one another between second motor；
Third motor is connect with first trolley, for driving first trolley to extend out to outside the first shell or
Person is retracted in the first shell；
4th motor is connect, for driving the first shell to carry out lifting fortune along the vertical direction with first wirerope
It is dynamic；
5th motor is connect with second trolley, for driving second trolley to extend out to outside the second shell or
Person is retracted in the second shell；
6th motor is connect, for driving the second shell to carry out lifting fortune along the vertical direction with second wirerope
It is dynamic.
7. a kind of control method of express delivery cabinet, which is characterized in that in pickup, acquire express delivery type to be taken, position and wait take
Express delivery express delivery state on the supporting plate, and based on BP neural network determine the state of the first sliding plate and the second sliding plate with
And the pickup route of cabinet express delivery, specifically comprise the following steps:
Step 1: according to the sampling period, where acquiring express delivery type to be taken, express delivery position to be taken, express delivery to be taken by sensor
The express delivery state of each express delivery subregion in support plate；
Step 2: determining input layer vector x={ x of three layers of BP neural network1,x2,x3}；Wherein, x1For express delivery to be taken
Type, x2For express delivery position to be taken, x3For express delivery to be taken each express delivery subregion on the supporting plate express delivery state；
Wherein, the input layer value isWork as o1When for B, the express delivery to be taken is case class, works as o1When for S, institute
Stating express delivery to be taken is bag class；The input layer value is XjFor wait take
Express delivery j-th of express delivery subregion on the supporting plate express delivery state, work as XjWhen being 0, express delivery to be taken institute jth on the supporting plate
A express delivery subregion is vacant, XjWhen being 1, j-th of express delivery subregion has express delivery on the supporting plate for the express delivery institute to be taken；
Step 3: the input layer DUAL PROBLEMS OF VECTOR MAPPING is to hidden layer, the neuron of hidden layer is m；
Step 4: obtaining output layer neuron vector o={ o1,o2,o3,o4,o5}；Wherein, o1It is transversely slided for the first sliding plate
The distance that rail is axially moved, o2For the vertically moving distance of first shell, o3For the second sliding plate, transversely sliding rail is axial
The distance of movement, o4For the vertically moving distance of second shell, o5For the removal route of cabinet express delivery.
8. the control method of express delivery cabinet as claimed in claim 7, which is characterized in that
Work as o1When=B, o3=o4=0, the second sliding sliding plate and second shell are motionless；
Work as o1When=S, o1=o2=o5=0, the first sliding sliding plate and first shell are motionless, and do not export the removal road of cabinet express delivery
Line.
9. the control method of express delivery cabinet as claimed in claim 8, which is characterized in that
When pickup type is the express delivery of case class, the first sliding plate of control speed that transversely sliding rail is axially moved meets:
Wherein, v1For the first sliding plate speed that transversely sliding rail is axially moved, v1,0For the first sliding plate, transversely sliding rail is axial
The basal rate of movement, m1For the weight of cabinet express delivery, a, b, c is the length of cabinet express delivery, ρ0For unit density, d
The distance between one trolley bolt, L are the length of the first trolley bolt；
When pickup type is the express delivery of bag class, the second sliding plate of control speed that transversely sliding rail is axially moved meets:
Wherein, v2For the second sliding plate speed that transversely sliding rail is axially moved, v2,0For the second sliding plate, transversely sliding rail is axial
The basal rate of movement, m2For the weight of bag class express delivery, m2,0For the basis weight of bag class express delivery.
10. the control method of the express delivery cabinet as described in claim 7,8 or 9, which is characterized in that the hidden layer and the output layer
Excitation function be all made of S type function fj(x)=1/ (1+e-x)。
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Cited By (1)
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| CN111776502A (en) * | 2020-07-21 | 2020-10-16 | 重庆水利电力职业技术学院 | Novel bright express delivery is given birth to with cold chain to property management is deposited device |
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