CN109634278A - A kind of material floor truck of cross grid tracking and the identification of more colors - Google Patents
A kind of material floor truck of cross grid tracking and the identification of more colors Download PDFInfo
- Publication number
- CN109634278A CN109634278A CN201811541319.XA CN201811541319A CN109634278A CN 109634278 A CN109634278 A CN 109634278A CN 201811541319 A CN201811541319 A CN 201811541319A CN 109634278 A CN109634278 A CN 109634278A
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- Prior art keywords
- vehicle frame
- master control
- control borad
- driver
- camera
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- 239000000463 material Substances 0.000 title claims abstract description 12
- 239000003086 colorant Substances 0.000 title claims abstract description 9
- 238000000034 method Methods 0.000 claims description 13
- 241000209140 Triticum Species 0.000 claims 1
- 235000021307 Triticum Nutrition 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000004886 process control Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 1
- RFHAOTPXVQNOHP-UHFFFAOYSA-N fluconazole Chemical compound C1=NC=NN1CC(C=1C(=CC(F)=CC=1)F)(O)CN1C=NC=N1 RFHAOTPXVQNOHP-UHFFFAOYSA-N 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
Classifications
-
- 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
- G05D1/0231—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
-
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
Abstract
The invention discloses the material floor trucks that a kind of cross grid tracking and more colors identify, including vehicle frame, in car frame in the following, two Mecanum wheels are respectively arranged in front-end and back-end, there are two gray-scale sensors for dress before vehicle frame, and two gray-scale sensors are also equipped on the right side of vehicle frame.Above vehicle frame, behind power supply, intermediate fixed mechanical arm and camera are housed, before driver is housed, side is equipped with master control borad on a drive.Wherein power supply is bonded on vehicle frame, and driver and mechanical arm are all to be bolted to be fixed on it on vehicle frame, and master control borad and camera are also secured on vehicle frame, and master control borad is located above driver, the configuration of the present invention is simple, and disassembly is high, and service performance is strong.
Description
Technical field
The present invention relates to Mechanical course and program control technology fields, are especially embodied in crawl structure and camera identification
On.
Background technique
Current floor truck passes through primarily directed to manufacture designed by national college students' Engineering Robot contest proposition
Process control makes trolley tracking reach material area feeding, and object is then placed article storage area by trolley tracking again.And
Increased in this 6th national college students' engineering training integration capability contest barcode scanning neck task, trolley according to mission requirements according to
The secondary object to different colours and shape is carried, while there has also been certain variations in material area, increase the feeding of object
Highly, and placing height does not change, this merely cannot complete entire exercise by gripper as before, need
Increase mechanical arm and other process controls to complete.
The design of Intelligent carrier gets task before seeking to make trolley oneself to reach two dimensional code according to track, according to appointing
Business goes successively smoothly to remove object and be smoothly transported to destination to place from material, identifies object and handling process in trolley
In must stablize and can be only achieved requirement, so entire mechanical device and camera that mechanical arm and gripper are constituted identify object face
Color and two dimensional code this two parts just seem most important.
Summary of the invention
It is followed the technical problems to be solved by the present invention are: providing a kind of suitable method and trolley can be made to carry out cross grid
Mark voluntarily gets task and completes identification carrying task as requested.It is mainly reflected in mechanical device and procedure identification control two
Aspect.Structure is simply easy to accomplish, and disassembly is good, realizes the cross tracking and material recognition handling process of intelligent carriage.
The present invention is implemented as follows:
The material floor truck of a kind of cross grid tracking and the identification of more colors, including vehicle frame.It is characterized by: in car frame
In the following, two Mecanum wheels are respectively arranged in front-end and back-end, there are two gray-scale sensors for dress before vehicle frame, on the right side of vehicle frame
Dress is there are two gray-scale sensor, above vehicle frame, behind power supply, intermediate fixed mechanical arm and camera are housed, before be equipped with
Driver, side is equipped with master control borad on a drive.Wherein power supply is bonded on vehicle frame, driver and mechanical arm and all with vehicle
Frame is to be bolted to be fixed on it on vehicle frame, and master control borad and camera are fixed on vehicle frame by searcher's external member, master control
Plate is located above driver.
In a kind of cross grid tracking above-mentioned and the material floor truck of more colors identification, four gray-scale sensors are every
By that all information can be transmitted to master control borad when a black line and counted, master control borad can adjust Mike by encoder according to information and receive
The revolving speed of nurse wheel and direction achieve the purpose that tracking and deflecting are mobile.When camera is by L, M, N tri- can to object into
Information is passed to master control borad by row identification, and master control borad, which also will do it position memory, makes the storage position of trolley " knowing " each object,
Trolley can realize the handling process to object after getting task according to these location informations.
By adopting the above-described technical solution, compared with prior art, of the invention has an advantageous effect in that trolley travelling
Place is not limited to single lines, runs especially suitable for cross grid tracking.Trolley travelling will not be because of cross grid place
Complexity and be interfered, can independently get and complete task.Maximum advantage is that car body can be lateral in the handling process
It is mobile, it completely solves trolley and repeatedly turn the problem of bringing in cross grid place, this is also and existing floor truck maximum
Difference.The present invention is a kind of simple easily adjustment, the good wheeling mechanism of disassembly.
Detailed description of the invention
Accompanying drawing 1 is the structural representation of the present invention；
Attached drawing 2 is the schematic diagram of mechanical arm；
Attached drawing 3 is gripper top view；
Attached drawing 4 is cross grid place schematic diagram.
Specific embodiment
The embodiment of the present invention: the material floor truck of a kind of cross grid tracking and the identification of more colors, such as 1 institute of attached drawing
Show, including vehicle frame 10.It is characterized by: in car frame 10 in the following, two Mecanum wheels 5 are respectively arranged in front-end and back-end,
Gray-scale sensor 1 and 2 is housed before vehicle frame 10, gray-scale sensor 3 and 4 is housed on the right side of vehicle frame 10, above vehicle frame 10, behind
Equipped with power supply 6, intermediate fixed mechanical arm 7 and camera 11, before driver 8 is housed, master control is installed above driver 8
Plate 9.Wherein power supply 6 is bonded on vehicle frame 10, and driver 8 and mechanical arm 7 are all to be bolted that it is made to be fixed on vehicle frame
On 10, master control borad 9 and camera 11 are also secured on vehicle frame 10, and only master control borad 9 is located at 8 top of driver.
Wherein information can be all transmitted to master control borad in one black line of every process and counted by gray-scale sensor 1,2,3,4, main
Control plate can adjust revolving speed and the direction of Mecanum wheel 5 by encoder to reach the mesh of tracking and deflecting movement according to information
's.On the other hand, object can be identified when camera 11 is by L, M, N tri- and information is passed into master control borad 9, master control borad
9, which also will do it position memory, makes the storage position of trolley " knowing " each object, and trolley can be according to these positions after getting task
Handling process of the information realization to object.
When specifically used
The present embodiment as shown in Fig. 1 is by gray-scale sensor 1, Mecanum wheel 5, power supply 6, mechanical arm 7, driver 8, master control
The devices such as plate 9, camera 11 composition.Mechanical arm takes device as shown in Figure 2, gathers around there are two freedom degree.Master control borad 9 and camera shooting
First 11 are respectively adopted STM32F103RC and openmv3 camera to complete the identification of the color in handling process, barcode scanning and follow
The activities such as mark.
As shown in Fig. 4, trolley headstock is placed on zone of departure towards the right side, powers on rear trolley transverse shifting, when gray scale passes
Sensor 1 and 2 senses that black line is off transverse shifting simultaneously, switchs to straight-line travelling, the two are sensed during straight-line travelling
Device plays tracking, travels trolley along black line, at the same also can the horizontal line quantity to process count.Gray-scale sensor
3 and 4 also play the role of counting other than carrying out tracking when moving after trolley along vertical line, i.e. master control borad can pass through gray scale
The vertical line quantity that sensor 3 and 4 incuded is counted, this is primarily to can make trolley that can find after getting object
That vertical line corresponding to destination.In trolley along the traveling of black line 1 by tri- positions L, M, N when, camera can to this three
The corresponding object in a position is identified and passes to master control borad and carry out position memory can stop when reaching P position, sweep plate of making even
Two dimensional code on computer gets task.Trolley can fall back on the object of first requirement carrying after of short duration processing according to mission requirements
(i.e. L, M, N are wherein at one) is grabbed at body, and trolley can be run at corresponding vertical line (before this after the completion of crawl
Through the corresponding destination information of respective object to be input into program, trolley only needs to find i.e. according to the counting at the beginning to vertical line
Can).Trolley can find the position for the object that second needs to carry back to first horizontal line after putting first object well, press
It is transported to destination until (trolley is arranged in program only can be on first horizontal line directly for the entire task of completion according to same method
Line traveling, similarly also can only in third, four, five vertical lines transverse shifting).
Basic functional principle of the invention: basic functional principle of the invention: gray-scale sensor 1,2,3,4 follows black line
Mark, master control borad 9 count it, and control the steering of Mecanum wheel 5；Camera 11 is to object color shape and two dimension
The identification of code, master control borad 9 are judged according to the information that camera 11 provides and control trolley to complete carrying task.Volume can be passed through
Code device adjusts motor speed to improve the stability of carrying.
It should be noted last that the above specific embodiment is only used to illustrate the technical scheme of the present invention and not to limit it,
An embodiment of the present invention is described in detail, but the content is only a preferred embodiment created by the present invention, cannot
It is believed to be used to limit the scope of the invention.It will be understood by those of skill in the art that can be to technical side of the invention
Case is modified or replaced equivalently, and without departing from the spirit and scope of the technical solution of the present invention, should all be covered in the present invention
Scope of the claims in.
Claims (5)
1. the material floor truck of a kind of cross grid tracking and the identification of more colors, including vehicle frame (10).
2. it is characterized by: in car frame (10) in the following, two Mecanum wheels (5) are respectively arranged in front-end and back-end, in vehicle frame
(10) front is equipped with gray-scale sensor (1) and (2), gray-scale sensor (3) and (4) is housed on the right side of vehicle frame (10), in vehicle frame
(10) top, behind power supply (6) are housed, intermediate fixed mechanical arm (7) and camera (11), before equipped with driver (8),
Master control borad (9) are installed above driver (8).
3. wherein power supply (6) is bonded on vehicle frame (10), driver (8) and mechanical arm (7) are all to be bolted to make it
It is fixed on vehicle frame (10), master control borad (9) and camera (11) are also secured on vehicle frame (10), and master control borad (9) is located at driver
(8) top.
4. the spherical material floor truck of a kind of cross grid tracking according to claim 1 and the identification of more colors, described
A kind of S-shaped path walking carbon-free trolley steering mechanism, it is characterised in that: on the one hand, gray-scale sensor (1) (2) (3) (4)
Every by that all information can be transmitted to master control borad when a black line and counted, master control borad can adjust wheat by encoder according to information
Ke Namu takes turns revolving speed and the direction of (5) to achieve the purpose that tracking and deflecting are mobile.
5. on the other hand, can be identified to object when camera (11) is by L, M, N tri- information passing to master control borad
(9), master control borad (9), which also will do it position memory, makes the storage position of trolley " knowing " each object, and trolley gets meeting after task
The handling process to object is realized according to these location informations.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811541319.XA CN109634278A (en) | 2018-12-17 | 2018-12-17 | A kind of material floor truck of cross grid tracking and the identification of more colors |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811541319.XA CN109634278A (en) | 2018-12-17 | 2018-12-17 | A kind of material floor truck of cross grid tracking and the identification of more colors |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109634278A true CN109634278A (en) | 2019-04-16 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811541319.XA Pending CN109634278A (en) | 2018-12-17 | 2018-12-17 | A kind of material floor truck of cross grid tracking and the identification of more colors |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110817228A (en) * | 2019-12-11 | 2020-02-21 | 南京邮电大学 | Unmanned storage carrier |
Citations (4)
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|---|---|---|---|---|
| CN103760903A (en) * | 2014-01-20 | 2014-04-30 | 昆山鑫盛盟创科技有限公司 | Intelligent tracking conveying management system for warehouses |
| CN105868939A (en) * | 2016-05-31 | 2016-08-17 | 乐视控股（北京）有限公司 | Automatic distribution method and system of delivery objects |
| CN207058610U (en) * | 2017-06-22 | 2018-03-02 | 浙江理工大学 | A kind of full-automatic material transfer robot with image identification function |
| CN108388245A (en) * | 2018-01-26 | 2018-08-10 | 温州大学瓯江学院 | A kind of AGV trolleies indoor positioning navigation system and its control method |
-
2018
- 2018-12-17 CN CN201811541319.XA patent/CN109634278A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103760903A (en) * | 2014-01-20 | 2014-04-30 | 昆山鑫盛盟创科技有限公司 | Intelligent tracking conveying management system for warehouses |
| CN105868939A (en) * | 2016-05-31 | 2016-08-17 | 乐视控股（北京）有限公司 | Automatic distribution method and system of delivery objects |
| CN207058610U (en) * | 2017-06-22 | 2018-03-02 | 浙江理工大学 | A kind of full-automatic material transfer robot with image identification function |
| CN108388245A (en) * | 2018-01-26 | 2018-08-10 | 温州大学瓯江学院 | A kind of AGV trolleies indoor positioning navigation system and its control method |
Non-Patent Citations (3)
| Title |
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| 吴年祥等: "搬运机器人的研究与设计" * |
| 苏品刚等: "基于单片机的智能分拣搬运机器人的设计与实现" * |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110817228A (en) * | 2019-12-11 | 2020-02-21 | 南京邮电大学 | Unmanned storage carrier |
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