CN110335001A - A kind of quick despatch positioning guidance system and method - Google Patents
A kind of quick despatch positioning guidance system and method Download PDFInfo
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- CN110335001A CN110335001A CN201910729472.3A CN201910729472A CN110335001A CN 110335001 A CN110335001 A CN 110335001A CN 201910729472 A CN201910729472 A CN 201910729472A CN 110335001 A CN110335001 A CN 110335001A
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Abstract
The invention discloses a kind of quick despatch positioning guidance system and method, quick despatch positioning guidance system includes sender unit, signal receiving device and steering engine holder laser designator, and quick despatch positions guidance method, quick despatch is placed on shelf；Sender unit is placed on immediately ahead of the quick despatch for needing to position, ultrasonic transmitter and radiofrequency emitting module is made to issue signal respectively；Signal receiving device acquires the signal of radiofrequency emitting module, and will receive the time point of radiofrequency signal as the time point ... of ultrasonic transmitter sending ultrasonic wave.The present invention, which is eliminated in binning phase, to classify to mixed and disorderly express delivery, sorts, it does not need staff in the pickup stage to help to look for express delivery, raising express delivery storage and pickup efficiency that can be very big mitigate intensity of workers and promote Courier Service quality.
Description
Technical field
The present invention relates to express delivery end delivery system technical field, in particular to a kind of quick despatch positioning guidance system and side
Method.
Background technique
It is in the express delivery post house of quick despatch dispatching end at present, is performed the following operation in express delivery binning phase needs:
The first step needs staff that mixed and disorderly unordered courier packages are carried out taxonomic revision, and then courier packages press
Part code sequence arranges；
Second step needs staff that courier packages are placed on shelf corresponding with pickup code；
Third step completes storage using the bar code that bar code scanner superscribes.
Obviously this express delivery storage mode program is complicated, and express delivery entrance efficiency is lower, and intensity of workers is big.
When client takes express delivery, need to perform the following operation:
The first step needs pickup people to quote " pickup code "；
Second step needs staff to search corresponding express delivery on shelf by pickup code.
This pickup mode is since client is unfamiliar with shelf, and pickup needs staff to help through, this will obviously
Increase the human cost of express delivery post house, and pickup efficiency is very low, be easy to cause the unsatisfied problem of client.
Summary of the invention
In view of this, the present invention provides a kind of quick despatch positioning guidance system and method, it is fast to solve existing express delivery post house
The technical issues of passing storage and pickup low efficiency.
Quick despatch of the present invention positions guidance system, including sender unit, is arranged in cuboid shelf and gets in stocks side side
Signal receiving device and steering engine holder laser designator on face,
The sender unit includes first singlechip, the ultrasonic sensor connecting with first singlechip and first
The radiofrequency emitting module of single-chip microcontroller connection, and the first power supply being connect with first singlechip；
The signal receiving device includes second singlechip, being arranged on shelf side extremely of connecting with second singlechip
Few three ultrasonic sensors, the Receiver Module being connect with second singlechip, the digital temperature being connect with second singlechip
It sensor, the second source being connect with second singlechip, the switch being connect with second singlechip and is connect with second singlechip
Computer；
The steering engine holder laser designator includes steering engine holder, laser emitter and third power supply, the steering engine holder
Including the first steering engine being arranged on shelf or be arranged between adjacent shelf and be arranged on the first steering engine output shaft second
Steering engine, the laser emitter are arranged on the second steering engine, and the output shaft of first steering engine and the output shaft of the second steering engine hang down
Directly, the third power supply respectively powers to steering engine holder and laser emitter, the signal output end of the second singlechip with point
It is not connect with the signal input part of the first steering engine and the second steering engine；
Every set signal receiving device is corresponding with a set of steering engine holder laser designator.
Further, the quick despatch positioning guidance system further includes the bar code scanner connecting with first singlechip.
Quick despatch of the present invention positioning guidance method the following steps are included:
1) quick despatch to be positioned is placed on shelf, presses opening for the signal receiving device on shelf opposite of currently getting in stocks
It closes, wakes up the signal receiving device；
2) sender unit is placed on to the front of quick despatch to be positioned, then scans express delivery with bar code scanner
On bar code complete express delivery storage, express delivery storage after, second singlechip control sender unit ultrasonic transmitter
Ultrasonic signal and radiofrequency signal are issued respectively with radiofrequency emitting module；
3) when the Receiver Module of signal receiving device receives radiofrequency signal, second singlechip will receive radio frequency
The time point of signal is recorded, and the time point of ultrasonic wave is issued as sender unit；It is each when signal receiving device
When ultrasonic sensor receives ultrasonic signal, each ultrasonic sensor is received ultrasonic signal respectively by second singlechip
Time point record；
4 set that quick despatch to be positioned is in M point, steering engine holder is in H point, if cuboid shelf are towards the one of steering engine holder
Y is established along pallet height direction in one side of the shelf towards steering engine holder using O point as coordinate origin for O point in the lower left corner in face
Axis establishes coordinate x-axis along shelf length direction in one side of the shelf towards steering engine holder, in shelf towards the one of steering engine holder
Lateral edge shelf width direction establishes coordinate z-axis；For the output shaft of first steering engine perpendicular to xoz plane, the output shaft of the second steering engine is flat
Row is in xoz plane, and in the output shaft angle clean state of the first steering engine and the second steering engine, the laser that laser emitter issues is parallel
In x-axis；
Each ultrasonic sensor that second singlechip calculates signal receiving device receives the time point of ultrasonic signal
The time difference Δ T between the time point of ultrasonic wave is issued with sender uniti, i ∈ (1, N), N are to surpass in signal receiving device
The quantity of sonic sensor；
And calculate M point to signal receiving device each ultrasonic sensor distance di, C is that ultrasonic wave exists in following formula
Propagation rate in air, T are the current celsius temperature scale that digital temperature sensor measures,
C=331.6+0.6T
di=Δ Ti* C, i ∈ (1, N)；
5) range data d of the second singlechip to the M point measured to each ultrasonic sensor of signal receiving deviceiIt carries out
Preliminary screening will be less than dminOr it is greater than dmaxData be considered as invalid value and rejected, dmin, dmaxIt is that quick despatch connects with signal
In receiving apparatus between ultrasonic sensor space length physical boundaries；
6) remaining n range data after preliminary screening, wherein each range data has the ultrasound in signal receiving device
Wave sensor is corresponding to it, and appoints from corresponding n sensor and takes three to be used as one group of setting base, sharesThe different group of kind
Conjunction mode calculates separately the space coordinate of quick despatch under various combined setting bases, by m calculated result be infinite multiresolution and
The setting base of no solution, which combines, to be deleted, and is finally obtainedThe target point of the possible position of a quick despatch；
7) extreme value of abscissa, ordinate, ordinate in all coordinate of ground point, i.e. x are extractedmin、xmax、ymin、ymax、
zmin、zmax, the distributed areas of target point are considered as an a length of xmax-xmin, width ymax-ymin, a height of zmax-zminIt is rectangular
Body；This cuboid of even partition isIt is a longIt is wideIt is highSub- cuboid,
The quantity T for counting target point in every sub- rectangular parallelepiped space chooses the most sub- cuboid of quantity containing target point, finds out this space
The HCCI combustion of interior all target pointsAnd it is sat the HCCI combustion as the final space of quick despatch
Mark；
8) it is steering engine rotational angle by the final space coordinate conversion of quick despatch by coordinate transform:
Point M is M relative to the space coordinate of steering engine holder laser guidance point H (a, b, c)H(xH, yH, zH), wherein
xH=x-a
yH=y-b
zH=z-c
When steering engine holder laser designator forward direction is placed, the second steering engine is located above the first steering engine, the first steering engine
Rotational angle is α, and the second steering engine rotational angle is β,
In the projecting placement of steering engine holder laser designator, the second steering engine is located at below the first steering engine, the first steering engine
Rotational angle is α, and the second steering engine rotational angle is β,
9) second singlechip is by the final space coordinate of quick despatch, the first rudder corresponding with the final space coordinate of quick despatch
The number of machine and the second steering engine angle data and signal receiving device is uploaded in database；
10) in pickup, pickup code is inputted into computer, computer is sat according to the space that pickup code inquires corresponding express delivery
The volume of mark, the first steering engine corresponding with the final space coordinate of quick despatch and the second steering engine angle data and signal receiving device
Number, and the first steering engine corresponding with the final space coordinate of quick despatch and the second steering engine angle data are sent to reference numeral
Signal receiving device, the signal receiving device of reference numeral is after receiving the first steering engine and the second steering engine angle data, the letter
The second singlechip of number reception device controls corresponding first steering engine and rotates clockwise α angle, and controls corresponding second steering engine
β angle is rotated clockwise, laser transmitter projects laser alignment quick despatch is made.
Beneficial effects of the present invention:
A kind of quick despatch positioning guidance system of the present invention and method are not needed in express delivery binning phase to mixed and disorderly express delivery
It carries out classification and is arranged by pickup code sequence, express delivery can be directly placed on shelf by staff, and then staff will believe
Number emitter is close to the front for being placed on the express delivery, is then entered with the bar code on bar code scanner scanning quick despatch
Library, when second singlechip receives scanning signal, second singlechip control sender unit emits ultrasonic signal and penetrates
Frequency signal, signal receiving device again receive obtained each ultrasonic receiver at the data such as the time of ultrasonic signal
Reason finally obtains the coordinate of the quick despatch, realizes the positioning to express delivery.In pickup, computer according to the pickup code of express delivery,
The coordinate of the quick despatch, the angle data of steering engine holder and signal receiving device number are found in database, then the second monolithic
Machine rotates corresponding angle according to the coordinate data of the express delivery and the angle data control flaps machine head of steering engine holder, sends out laser
The laser alignment quick despatch of emitter transmitting, client can find the express delivery of oneself according to the guide of laser.
Classified to mixed and disorderly express delivery, sorted due to being eliminated in binning phase, is not needed in the pickup stage
Staff helps to look for express delivery, and client can voluntarily find express delivery according to laser guidance, therefore this quick despatch positions guidance system
And method can be very big raising express delivery storage and pickup efficiency, mitigate intensity of workers and promoted Courier Service matter
Amount.
Detailed description of the invention
Fig. 1 is the structural schematic diagram that express delivery positions guidance system in embodiment；
Fig. 2 is the structural block diagram of sender unit；
Fig. 3 is the structural block diagram of signal receiving device；
Fig. 4 is the space coordinate schematic diagram of express delivery；
Fig. 5 is the connection schematic diagram of steering engine holder and laser emitter.
Specific embodiment
The invention will be further described with reference to the accompanying drawings and examples.
As shown, quick despatch positions guidance system in the present embodiment, including sender unit, it is arranged in cuboid
Shelf are got in stocks signal receiving device and steering engine holder laser designator on the side of side.
The sender unit includes first singlechip 1, the ultrasonic sensor connecting with first singlechip 2, with the
The radiofrequency emitting module 3 of one single-chip microcontroller connection, and the first power supply 4 being connect with first singlechip.In the present embodiment, ultrasonic wave
Sensor uses the ultrasonic sensor of model AJ-SR04K, and radiofrequency emitting module is adopted as 433m superregenerative transmitting module；
Certainly in different embodiments, other models also can be used in ultrasonic sensor and radiofrequency emitting module.
The signal receiving device includes second singlechip 5, being arranged on shelf side of connecting with second singlechip
At least three ultrasonic sensors 6, the Receiver Module 7 being connect with second singlechip, the number being connect with second singlechip
Temperature sensor 8, the second source 9 being connect with second singlechip, the switch 10 being connect with second singlechip and with it is second single
The computer 11 of piece machine connection.Digital temperature sensor is sensed using the digital Temperature and Humidity of model DHT-11 in the present embodiment
The digital temperature sensor of other models also can be used in device in different embodiments certainly.
The steering engine holder laser designator includes steering engine holder 12, laser emitter 13 and third power supply 14, the rudder
Machine head includes the first steering engine 121 for being arranged on shelf or being arranged between adjacent shelf and is arranged in the first steering engine output shaft
On the second steering engine 122, the output shaft of the output shaft of the first steering engine 121 and the second steering engine 122 passes through first in the present embodiment
Frame 123 connects, and the output shaft of first steering engine and the output shaft of the second steering engine are vertical, and the laser emitter passes through second
Frame 124 is arranged on the second steering engine, and the third power supply respectively powers to steering engine holder and laser emitter, second monolithic
The signal output end of machine with connect respectively with the signal input part of the first steering engine and the second steering engine.
Every set signal receiving device is corresponding with a set of steering engine holder laser designator.As shown in Figure 1, cuboid shelf
Front and rear sides face can get in stocks, and a set of signal receiving device, every set are respectively disposed on the front and rear sides face of cuboid shelf
The second singlechip of signal receiving device passes through serial communication interface respectively and connect with computer.
The first steering engine and the second steering engine in the present embodiment use DS3230, certainly in different embodiments, the first steering engine
The steering engine of other models also can be used with the second steering engine.
In the present embodiment, the first singlechip and second singlechip use Arduino Mega, certainly in different realities
It applies in example, the single-chip microcontroller of other models such as STM32 also can be used in first singlechip and second singlechip.
As the improvement to above embodiments, the quick despatch positions guidance system, further includes connecting with first singlechip
The bar code scanner 15 connect.
Quick despatch positions guidance method in the present embodiment, comprising the following steps:
1) quick despatch to be positioned is placed on shelf, presses opening for the signal receiving device on shelf opposite of currently getting in stocks
It closes, wakes up the signal receiving device.
2) sender unit is placed on to the front of quick despatch to be positioned, then scans express delivery with bar code scanner
On bar code complete express delivery storage, express delivery storage after, second singlechip control sender unit ultrasonic transmitter
Ultrasonic signal and radiofrequency signal are issued respectively with radiofrequency emitting module.
3) when the Receiver Module of signal receiving device receives radiofrequency signal, second singlechip will receive radio frequency
The time point of signal is recorded, and the time point of ultrasonic wave is issued as sender unit；It is each when signal receiving device
When ultrasonic sensor receives ultrasonic signal, each ultrasonic sensor is received ultrasonic signal respectively by second singlechip
Time point record.
4) set that quick despatch to be positioned is in M point, steering engine holder is in H point, if cuboid shelf are towards steering engine holder
The lower left corner on one side is that O point is built in one side of the shelf towards steering engine holder along pallet height direction using O point as coordinate origin
Vertical y-axis, establishes coordinate x-axis along shelf length direction in one side of the shelf towards steering engine holder, in shelf towards steering engine holder
A lateral edge shelf width direction establish coordinate z-axis；The output shaft of first steering engine is perpendicular to xoz plane, the output of the second steering engine
Axis is parallel to xoz plane, in the laser that the output shaft angle clean state of the first steering engine and the second steering engine, laser emitter issue
It is parallel to x-axis；
Each ultrasonic sensor that second singlechip calculates signal receiving device receives the time point of ultrasonic signal
The time difference Δ T between the time point of ultrasonic wave is issued with sender uniti, i ∈ (1, N), N are to surpass in signal receiving device
The quantity of sonic sensor；
And calculate M point to signal receiving device each ultrasonic sensor distance di, C is that ultrasonic wave exists in following formula
Propagation rate (unit m/s) in air, T are the current celsius temperature scale that digital temperature sensor measures,
C=331.6+0.6T
di=Δ Ti* C, i ∈ (1, N).
5) range data d of the second singlechip to the M point measured to each ultrasonic sensor of signal receiving deviceiIt carries out
Preliminary screening will be less than dminOr it is greater than dmaxData be considered as invalid value and rejected, dmin, dmaxIt is that quick despatch connects with signal
In receiving apparatus between ultrasonic sensor space length physical boundaries.
6) remaining n range data after preliminary screening, wherein each range data has the ultrasound in signal receiving device
Wave sensor is corresponding to it, and appoints from corresponding n sensor and takes three to be used as one group of setting base, sharesThe different group of kind
Conjunction mode calculates separately the space coordinate (x, y, z) of quick despatch under various combined setting bases, by taking Fig. 4 as an example, calculates with 1,
The space coordinate of 2, No. 4 ultrasonic sensor integrated positioning express deliveries, distance respectively d1、d2、d4, have:
(x-x1)2+(y-y1)2+z2=d1 2
(x-x2)2+(y-y2)2+z2=d2 2
(x-x4)2+(y-y4)2+z2=d4 2
It solves
X=(d1 2*y2-d1 2*y4-d2 2*y1+d2 2*y4+d4 2*y1-d4 2*y2-x1 2*y2+x1 2*y3+
x2 2*y1-x2 2*y4-x4 2*y1+x4 2*y2-y1 2*y2+y1 2*y3+y2 2*y1-y4 2*y1-y2 2*
y4+y4 2*y2)/(2*(x1*y2-x2*y1-x1*y4+x3*y1+x2*y4-x4*y2))
Y=(d1 2*x2-d1 2*x4-d2 2*x1+d2 2*x4+d4 2*x1-d4 2*x2-x1 2*x2+
x1 2*x4+x2 2*x1-x4 2*x1+y2 2*x1-y4 2*x1-x2 2*x4+x4 2*x2-y1 2*
x2+y4 2*x2+y1 2*x3-y2 2*x4)/(2*(x1*y2-x2*y1-x1*y4+x3*y1+
x2*y4-x4*y2))
It is same as mentioned above in the method that other combinations calculate quick despatch space coordinate；It is infinite multiresolution by calculated result
And the m setting base without solution is combined and is deleted, and is finally obtainedThe target point of the possible position of a quick despatch.
7) extreme value of abscissa, ordinate, ordinate in all coordinate of ground point, i.e. x are extractedmin、xmax、ymin、ymax、
zmin、zmax, the distributed areas of target point are considered as an a length of xmax-xmin, width ymax-ymin, a height of zmax-zminIt is rectangular
Body；This cuboid of even partition isIt is a longIt is wideIt is highSub- cuboid,
The quantity T for counting target point in every sub- rectangular parallelepiped space chooses the most sub- cuboid of quantity containing target point, finds out this space
The HCCI combustion of interior all target pointsAnd it is sat the HCCI combustion as the final space of quick despatch
Mark；
8) it is steering engine rotational angle by the final space coordinate conversion of quick despatch by coordinate transform:
Point M is M relative to the space coordinate of steering engine holder laser guidance point H (a, b, c)H(xH, yH, ZH), wherein
xH=x-a
yH=y-b
zH=z-c
When steering engine holder laser designator forward direction is placed, the second steering engine is located above the first steering engine, the first steering engine
Rotational angle is α, and the second steering engine rotational angle is β,
In the projecting placement of steering engine holder laser designator, the second steering engine is located at below the first steering engine, the first steering engine
Rotational angle is α, and the second steering engine rotational angle is β,
9) second singlechip is by the final space coordinate of quick despatch, the first rudder corresponding with the final space coordinate of quick despatch
The number of machine and the second steering engine angle data and signal receiving device is uploaded in database.
After the completion of current shelf are got in stocks, the switch of corresponding signal receiving device is pressed, it is made to come back to suspend mode shape
State.
10) in pickup, pickup code is inputted into computer, computer is sat according to the space that pickup code inquires corresponding express delivery
The volume of mark, the first steering engine corresponding with the final space coordinate of quick despatch and the second steering engine angle data and signal receiving device
Number, and the first steering engine corresponding with the final space coordinate of quick despatch and the second steering engine angle data are sent to reference numeral
Signal receiving device, the signal receiving device of reference numeral is after receiving the first steering engine and the second steering engine angle data, the letter
The second singlechip of number reception device controls corresponding first steering engine and rotates clockwise α angle, and controls corresponding second steering engine
β angle is rotated clockwise, laser transmitter projects laser alignment quick despatch is made.
After each pickup is guided, before guide next time, second singlechip controls the first steering engine and the second rudder
The shaft of machine turns round zero.
It is not needed in express delivery binning phase to mixed and disorderly using quick despatch positioning guidance system in the present embodiment and method
Express delivery carries out classification and arranges by pickup code sequence, and express delivery can be directly placed on shelf by staff, then staff
Sender unit is close to the front for being placed on the express delivery, then with the bar shaped on bar code scanner scanning quick despatch
Code storage, after storage is completed in express delivery, second singlechip controls sender unit transmitting ultrasonic signal and radiofrequency signal, letter
Number reception device receives the data such as the time of ultrasonic signal to obtained each ultrasonic receiver again and handles, final
To the coordinate of the quick despatch, the positioning to express delivery is realized.In pickup, computer is according to the pickup code of express delivery, in the database
The coordinate of the quick despatch, the angle data of steering engine holder and signal receiving device number are found, then second singlechip is according to this
The coordinate data of express delivery and the angle data control flaps machine head of steering engine holder rotate corresponding angle, make laser transmitter projects
Laser alignment quick despatch, client can find the express delivery of oneself according to the guide of laser.In specific implementation, second singlechip
It is connect with Ethernet expansion board, plate is expanded by Ethernet and connects database.
Classified to mixed and disorderly express delivery, sorted due to being eliminated in binning phase, is not needed in the pickup stage
Staff helps to look for express delivery, and client can voluntarily find express delivery according to laser guidance, therefore this quick despatch positions guidance system
And method can be very big raising express delivery storage and pickup efficiency, mitigate intensity of workers and promoted Courier Service matter
Amount.
Finally, it is stated that the above examples are only used to illustrate the technical scheme of the present invention and are not limiting, although referring to compared with
Good embodiment describes the invention in detail, those skilled in the art should understand that, it can be to skill of the invention
Art scheme is modified or replaced equivalently, and without departing from the objective and range of technical solution of the present invention, should all be covered at this
In the scope of the claims of invention.
Claims (3)
1. a kind of quick despatch positions guidance system, it is characterised in that: including sender unit, be arranged on cuboid shelf
Signal receiving device and steering engine holder laser designator on the side of goods side,
The sender unit includes first singlechip, the ultrasonic sensor connecting with first singlechip and the first monolithic
The radiofrequency emitting module of machine connection, and the first power supply being connect with first singlechip；
The signal receiving device includes second singlechip, at least three be arranged on shelf side connecting with second singlechip
A ultrasonic sensor, the Receiver Module being connect with second singlechip, the digital temperature being connect with second singlechip sensing
Device, the second source being connect with second singlechip, the switch being connect with second singlechip and the meter being connect with second singlechip
Calculation machine；
The steering engine holder laser designator includes steering engine holder, laser emitter and third power supply, and the steering engine holder includes
The second steering engine for being arranged on shelf or being arranged in the first steering engine between adjacent shelf and be arranged on the first steering engine output shaft,
The laser emitter is arranged on the second steering engine, and the output shaft of first steering engine and the output shaft of the second steering engine are vertical, institute
Third power supply is stated respectively to power to steering engine holder and laser emitter, the signal output end of the second singlechip with respectively with the
The connection of the signal input part of one steering engine and the second steering engine；
Every set signal receiving device is corresponding with a set of steering engine holder laser designator.
2. quick despatch according to claim 1 positions guidance system, it is characterised in that: further include being connect with first singlechip
Bar code scanner.
3. quick despatch according to claim 2 positions guidance method, it is characterised in that: the following steps are included:
1) quick despatch to be positioned is placed on shelf, presses the switch of the signal receiving device on shelf opposite of currently getting in stocks, calls out
It wakes up the signal receiving device；
2) sender unit is placed on to the front of quick despatch to be positioned, is then passed fastly with bar code scanner scanning
Bar code completes express delivery storage, and after express delivery storage, second singlechip controls the ultrasonic transmitter of sender unit and penetrates
Frequency transmitting module issues ultrasonic signal and radiofrequency signal respectively；
3) when the Receiver Module of signal receiving device receives radiofrequency signal, second singlechip will receive radiofrequency signal
Time point record, as sender unit issue ultrasonic wave time point；When each ultrasound of signal receiving device
When wave sensor receives ultrasonic signal, second singlechip respectively by each ultrasonic sensor receive ultrasonic signal when
Between point record；
4) set that quick despatch to be positioned is in M point, steering engine holder is in H point, if cuboid shelf are towards the one side of steering engine holder
The lower left corner be that O point using O point as coordinate origin establishes y along pallet height direction in one side of the shelf towards steering engine holder
Axis establishes coordinate x-axis along shelf length degree direction in one side of the shelf towards steering engine holder, in shelf frame towards steering engine holder
A lateral edge shelf width direction establish coordinate z-axis；The output shaft of first steering engine is perpendicular to xoz plane, the output of the second steering engine
Axis is parallel to xoz plane, in the laser that the output shaft angle clean state of the first steering engine and the second steering engine, laser emitter issue
It is parallel to x-axis；
Each ultrasonic sensor that second singlechip calculates signal receiving device receives time point and the letter of ultrasonic signal
Number emitter issues the time difference Δ T between the time point of ultrasonic wavei, i ∈ (1, N), N are ultrasonic wave in signal receiving device
The quantity of sensor；
And calculate M point to signal receiving device each ultrasonic sensor distance di, C is ultrasonic wave in air in following formula
In propagation rate, T is the current celsius temperature scale that measures of digital temperature sensor,
C=331.6+0.6T
di=Δ Ti* C, i ∈ (1, N)；
5) range data d of the second singlechip to the M point measured to each ultrasonic sensor of signal receiving deviceiIt carries out preliminary
Screening, will be less than dminOr it is greater than dmaxData be considered as invalid value and rejected, dmin, dmaxIt is that quick despatch and signal are received and filled
Set the physical boundaries of space length between ultrasonic sensor；
6) remaining n range data after preliminary screening, wherein each range data has the biography of the ultrasonic wave in signal receiving device
Sensor is corresponding to it, and appoints from corresponding n sensor and takes three to be used as one group of setting base, sharesThe different combination side of kind
Formula calculates separately the space coordinate of quick despatch under various combined setting bases, by m calculated result for infinite multiresolution and without solution
Setting base combine delete, finally obtainThe target point of the possible position of a quick despatch；
7) extreme value of abscissa, ordinate, ordinate in all coordinate of ground point, i.e. x are extractedmin、xmax、ymin、ymax、zmin、
zmax, the distributed areas of target point are considered as an a length of xmax-xmin, width ymax-ymin, a height of zmax-zminCuboid；?
Even this cuboid of segmentation isIt is a longIt is wideOfficeSub- cuboid, statistics is every
The quantity T of target point in a sub- rectangular parallelepiped space chooses the most sub- cuboid of quantity containing target point, finds out the institute in this space
There is the HCCI combustion of target pointAnd using the HCCI combustion as the final space coordinate of quick despatch；
8) it is steering engine rotational angle by the final space coordinate conversion of quick despatch by coordinate transform:
Point M is M relative to the space coordinate of steering engine holder laser guidance point H (a, b, c)H(xH, yH, zH), wherein
xH=x-a
yH=y-b
zH=z-c
When steering engine holder laser designator forward direction is placed, the second steering engine is located above the first steering engine, the rotation of the first steering engine
Angle is α, and the second steering engine rotational angle is β,
In the projecting placement of steering engine holder laser designator, the second steering engine is located at below the first steering engine, the rotation of the first steering engine
Angle is α, and the second steering engine rotational angle is β,
9) second singlechip by the final space coordinate of quick despatch, the first steering engine corresponding with the final space coordinate of quick despatch and
The number of second steering engine angle data and signal receiving device is uploaded in database；
10) in pickup, pickup code is inputted into computer, computer inquired according to pickup code corresponding express delivery space coordinate, with
The number of the final space coordinate of quick despatch corresponding first steering engine and the second steering engine angle data and signal receiving device, and will
The signal that the first steering engine corresponding with the final space coordinate of quick despatch and the second steering engine angle data are sent to reference numeral connects
Receiving apparatus, after receiving the first steering engine and the second steering engine angle data, which receives the signal receiving device of reference numeral
The second singlechip of device controls corresponding first steering engine and rotates clockwise α angle, and it is clockwise to control corresponding second steering engine
β angle is rotated, laser transmitter projects laser alignment quick despatch is made.
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