CN206411516U - Guide transport lorry system and automated warehousing logistics system - Google Patents
Guide transport lorry system and automated warehousing logistics system Download PDFInfo
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- CN206411516U CN206411516U CN201720114950.6U CN201720114950U CN206411516U CN 206411516 U CN206411516 U CN 206411516U CN 201720114950 U CN201720114950 U CN 201720114950U CN 206411516 U CN206411516 U CN 206411516U
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Abstract
The utility model is related to conveying arrangement technical field, more particularly, to a kind of guide transport lorry system and automated warehousing logistics system.The guide transport lorry system includes confined space, automatical pilot transportation vehicle, signal base station and remote server；Wherein, the confined space is rectangle, and the automatical pilot transportation vehicle is arranged on the ground of the confined space, and the signal base station is four and four signal base stations form spatial triangle structure.The guide transport lorry system and automated warehousing logistics system route become more flexible, and schedule safeguards simple, remote controlled.
Description
Technical field
The utility model is related to conveying arrangement technical field, more particularly, to a kind of guide transport lorry system and automated warehouse
Storing streaming system.
Background technology
Guide transport lorry, refers to and is equipped with electricity magnetically or optically grade homing guidance device, can be travelled along defined guide path,
Transport vehicle with safeguard protection and various transfer functions, can charge or use battery for its power resources.
However, the guide transport lorry of prior art is also equipped with following defect：
First, existing guide transport lorry also needs to manually carry out assistance manipulation, and a guide transport lorry is accomplished by a work
Coordination is tracked as personnel, really unmanned guiding (manipulation) is difficult to realize.
2nd, existing guide transport lorry, because environment is opened, can be disturbed during guiding by other signals,
Instruction is chaotic, it is impossible to normal operation.
The information for being disclosed in the background section is merely intended to deepen the reason to general background technology of the present utility model
Solution, and be not construed as recognizing or imply known to those skilled in the art existing of the information structure in any form
Technology.
Utility model content
The utility model provides a kind of guide transport lorry system and automated warehousing logistics system, can largely solve
Certainly at least one problem in above mentioned problem.
The purpose of this utility model is to provide a kind of guide transport lorry system.
Second purpose of the present utility model is to provide a kind of automated warehousing logistics system.
On the one hand, the guide transport lorry system that the utility model is provided, including：Confined space, automatical pilot transportation vehicle, letter
Number base station and remote server；Wherein, the confined space is rectangle, and the automatical pilot transportation vehicle is arranged on the confined air
Between ground on, the signal base station is that four and four signal base stations form spatial triangle structure；
Four signal base stations are respectively used to send the present bit for including each signal base station to automatical pilot transportation vehicle
Put the signal of coordinate information；
The automatical pilot transportation vehicle receives above-mentioned signal, determines the current position coordinates of automatical pilot transportation vehicle；
The automatical pilot transportation vehicle sends the signal comprising its current position coordinates information to remote server, described
Remote server according to its motion path of the current position coordinates information planning of the automatical pilot transportation vehicle received, and will planning after
Motion path feed back to the automatical pilot transportation vehicle, the automatical pilot transportation vehicle is advanced according to the path planning.
Further, the emission system for electromagnetic signals is provided with four signal base stations；
The automatical pilot transportation vehicle includes car body and the CPU module being separately mounted on the car body, driven
Motivation structure, follower, steering mechanism, navigation module, signal receiving module and signal emission module, the central processing unit mould
Block connects with the drive mechanism, follower, steering mechanism, navigation module, signal receiving module and signal emission module respectively
Connect；
The signal receiving module is used for the signal for receiving the current position coordinates information comprising each signal base station, described
CPU module determines car body according to the signal for the current position coordinates information comprising each signal base station for stating reception
Current position coordinates information, signal emission module sends the signal comprising car body current position coordinates information to remote service
Device, the remote server receives and makes planning after car body current position coordinates information to car body course, and will planning
The signal comprising car body traffic line information afterwards feeds back to the signal receiving module, and the signal receiving module will be received
Traffic line information feed back to the CPU module, the CPU module is controlled respectively by navigation module
Drive mechanism, follower, steering mechanism, make car body be advanced according to the car body traffic line information received.
Further, the car body, for bearing load, it is tower structure, and is welded by steel plate；
The drive mechanism, for band motor vehicles bodies traveling, it includes driving wheel and power source, and the power source is driving
In driving wheel support；
The follower, the normal pressure for playing a part of support and scattered driving wheel to car body, it is driven
Wheel, the driving wheel spoke of the drive mechanism is formed by sub- polyurethane parcel；
The steering mechanism, for coordinating driven pulley band motor vehicles bodies to turn to；
The drive mechanism and the equal device of follower are immediately below the car body, and steering mechanism's device is described
In driven wheel support.
Further, the power source of the drive mechanism includes DC servo motor, reductor and differential mechanism, and fills
Put in drive wheel bracket.
Further, the car body side is additionally provided with goods transfer mechanism, and the goods transfer mechanism pushes away for submarine
Draw transfer mechanism.
Further, in addition to the electric power system that is connected in the car body with CPU module of device, for making
The on-line automatic charging of guide transport lorry.
Further, in addition to security system, the traffic safety for protecting guide transport lorry.
Further, the navigation module includes the navigation system being arranged in the car body and device below car body
The navigation path laid by magnetic rubber.
Further, the security system includes emergency stop push button and device of the device in car body front panel in car body
It is interior to preset the sensor of multiple traveling subregions.
On the other hand, the utility model provides a kind of automated warehousing logistics system, including described guide transport lorry system
System.
Compared with prior art, the utility model has the advantages that：
Guide transport lorry system of the present utility model includes：Confined space, automatical pilot transportation vehicle, signal base station and long-range
Server；Wherein, the confined space is rectangle, and the automatical pilot transportation vehicle is arranged on the ground of the confined space,
The signal base station is four and four signal base stations form spatial triangle structure；Use respectively four signal base stations
In the signal that the current position coordinates information comprising each signal base station is sent to automatical pilot transportation vehicle；The homing guidance fortune
Defeated car receives above-mentioned signal, determines the current position coordinates of automatical pilot transportation vehicle；The automatical pilot transportation vehicle will be included
The signal of its current position coordinates information is sent to remote server, and the remote server is transported according to the homing guidance received
Its motion path of the current position coordinates information planning of car, and the motion path after planning is fed back into homing guidance transport
Car, the automatical pilot transportation vehicle is advanced according to the path planning；Wherein, four signal base stations are used to carry out signal transmission and true
Determine the position of guide transport lorry, remote server is collected after the position signalling of guide transport lorry, assign instruction task to guiding
Transport vehicle makes it perform order, is continued on according to movement locus, this set, transport vehicle can be positioned and to it
Realize remote control.
In addition, the automatical pilot transportation vehicle of guide transport lorry system of the present utility model, remote server and signal base
Station arrangement is in a confined space, and four signal base stations constitute a spatial triangle structure；Confined space can be very big
Degree prevents the traveling to automatical pilot transportation vehicle such as the electromagnetic signal in the external world from interfering, it is ensured that automatical pilot transportation vehicle is received
The signal of signal base station is advanced according to movement locus.
In addition, the automated warehousing logistics system that the utility model is provided, it includes described guide transport lorry system, because
This its there are all advantages of guide transport lorry system, just do not repeat herein.
Brief description of the drawings
, below will be right in order to illustrate more clearly of the utility model embodiment or technical scheme of the prior art
The accompanying drawing used required in embodiment or description of the prior art is briefly described, it should be apparent that, describe below
In accompanying drawing be some embodiments of the present utility model, for those of ordinary skill in the art, do not paying creativeness
On the premise of work, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is the overall structure diagram for the guide transport lorry system that the utility model embodiment one is provided；
The side structure schematic diagram for the automatical pilot transportation vehicle that Fig. 2 provides for the utility model embodiment one based on Fig. 1；
Fig. 3 is connected for the automatical pilot transportation vehicle that the utility model embodiment one based on Fig. 1 is provided with signal base station
System diagram；
The structural representation for the navigation module that Fig. 4 provides for the utility model embodiment one based on Fig. 1-3.
Icon：100- signals base station；200- confined spaces；300- automatical pilot transportation vehicles；400- remote servers；12-
CPU module；13- navigation modules；14- electric power systems；15- security systems；16- signal receiving modules；17- signals are sent out
Penetrate module；111- car bodies；112- drive mechanisms；113- followers；114- steering mechanism；131- navigation paths.
Embodiment
The technical solution of the utility model is clearly and completely described below in conjunction with accompanying drawing, it is clear that described
Embodiment is a part of embodiment of the utility model, rather than whole embodiments.Based on the embodiment in the utility model, sheet
The every other embodiment that field those of ordinary skill is obtained under the premise of creative work is not made, belongs to this practicality
Novel protected scope.
, it is necessary to explanation in description of the present utility model, term " " center ", " on ", " under ", it is "left", "right", " perpendicular
Directly ", the orientation or position relationship of the instruction such as " level ", " interior ", " outer " are, based on orientation shown in the drawings or position relationship, to be only
Described for the ease of description the utility model and simplifying, rather than to indicate or imply that signified device or element must have specific
Orientation, with specific azimuth configuration and operation, therefore it is not intended that to limitation of the present utility model.In addition, term " the
One ", " second ", " the 3rd " are only used for describing purpose, and it is not intended that indicating or implying relative importance.
, it is necessary to which explanation, unless otherwise clearly defined and limited, term " are pacified in description of the present utility model
Dress ", " connected ", " connection " should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integratedly
Connection；Can be mechanical connection or electrical connection；Can be joined directly together, can also be indirectly connected to by intermediary,
It can be the connection of two element internals.For the ordinary skill in the art, above-mentioned art can be understood with concrete condition
Concrete meaning of the language in the utility model.
Embodiment one
As Figure 1-4, the guide transport lorry system that the present embodiment is provided, including confined space 200, homing guidance transport
Car 300, signal base station 100 and remote server 400；Wherein, the confined space 200 is rectangle, the homing guidance transport
Car 300 is arranged on the ground of the confined space 200, and the signal base station 100 is four and four signal base stations 100
Form spatial triangle structure；Four signal base stations 100 are respectively used to send comprising each to automatical pilot transportation vehicle 300
The signal of the current position coordinates information of signal base station 100；The automatical pilot transportation vehicle 300 receives above-mentioned signal, it is determined that
The current position coordinates of automatical pilot transportation vehicle 300；The automatical pilot transportation vehicle 300 will include its current position coordinates information
Signal send to remote server 400, the remote server 400 is current according to the automatical pilot transportation vehicle 300 received
Location coordinate information plans its motion path, and the motion path after planning is fed back into the automatical pilot transportation vehicle 300, described
Automatical pilot transportation vehicle 300 is advanced according to the path planning.
It is pointed out that the guide transport lorry system of the present embodiment includes：Confined space 200, automatical pilot transportation vehicle
300th, signal base station 100 and remote server 400；Wherein, the confined space 200 is rectangle, the automatical pilot transportation vehicle
300 are arranged on the ground of the confined space 200, and the signal base station 100 is four and four signal base stations 100 shape
Into spatial triangle structure；Four signal base stations 100 are respectively used to send comprising each letter to automatical pilot transportation vehicle 300
The signal of the current position coordinates information of number base station 100；The automatical pilot transportation vehicle 300 receives above-mentioned signal, it is determined that from
The current position coordinates of dynamic guide transport lorry 300；The automatical pilot transportation vehicle 300 will include its current position coordinates information
Signal is sent to remote server 400, and the remote server 400 is according to the present bit of the automatical pilot transportation vehicle 300 received
Put coordinate information and plan its motion path, and the motion path after planning is fed back into the automatical pilot transportation vehicle 300, it is described from
Dynamic guide transport lorry 300 is advanced according to the path planning；Wherein, four signal base stations 100 are used to carry out signal transmission and determination
The position of guide transport lorry, remote server 400 is collected after the position signalling of guide transport lorry, assigns instruction task to guiding
Transport vehicle makes it perform order, is continued on according to movement locus, this set, transport vehicle can be positioned and to it
Realize remote control.
It may also be noted that the automatical pilot transportation vehicle 300 of the present embodiment, remote server 400 and signal base station
100 devices are in a confined space 200, and four signal base stations 100 constitute a spatial triangle structure；Confined space
200 can largely prevent the traveling to automatical pilot transportation vehicle 300 such as the electromagnetic signal in the external world from interfering, it is ensured that automatic
The signal that guide transport lorry 300 receives signal base station 100 is advanced according to movement locus.
In the present embodiment, the emission system for electromagnetic signals is provided with four signal base stations 100
(not shown on figure)；During the automatical pilot transportation vehicle 300 includes car body 111 and is separately mounted on the car body 111
Central processor module 12, drive mechanism 112, follower 113, steering mechanism 114, navigation module 13, signal receiving module 16
With signal emission module 17, the CPU module 12 respectively with the drive mechanism 112, follower 113, turn to machine
Structure 114, navigation module 13, signal receiving module 16 and signal emission module 17 are connected；The signal receiving module 16 is used to connect
The signal of current position coordinates information of the packet receiving containing each signal base station 100, the CPU module 12 is according to stating reception
The signal of the current position coordinates information comprising each signal base station 100 determine the current position coordinates information of car body 111, letter
Number transmitter module 17 sends the signal comprising the current position coordinates information of car body 111 to remote server 400, the long-range clothes
Business device 400 is received makes planning to the course of car body 111 after the current position coordinates information of car body 111, and by after planning
Signal comprising the traffic line information of car body 111 feeds back to the signal receiving module 16, and the signal receiving module 16 will connect
The traffic line information received feeds back to the CPU module 12, and the CPU module 12 passes through navigation module
13 control drive mechanism 112, follower 113, steering mechanism 114 respectively, make car body 111 according to the row of car body 111 received
Enter route information traveling.
It is pointed out that the positioning method to automatical pilot transportation vehicle 300 is roughly the same with GPS location mode, automatically
The positioning of guide transport lorry 300, is actually to determine the position of automatical pilot transportation vehicle 300 by four signal base stations 100
Put.As shown in figure 1, the automatical pilot transportation vehicle 300 in figure is will currently determine the equipment of position, four signal base stations 100 are
This is positioned to what is used, d1, d2, d3 be respectively three signal base stations 100 to the automatical pilot transportation vehicle 300 to be positioned away from
, also can the timestamp of affix packet when sending from, three signal base stations 100 while positional information is sent.Automatically
Guide transport lorry 300 is received after packet, and with current time, (current time certainly can only be by automatical pilot transportation vehicle 300 oneself
To determine) time on timestamp is subtracted, it is exactly that packet transmits the time used in the air.Packet is aware of in sky
In transmission time, be multiplied by its transmission speed, be exactly the distance that packet is transmitted in the air, that is, three signal base stations
100 arrive the distance of automatical pilot transportation vehicle 300.Packet is transmitted by electromagnetic wave, then ideal velocity is exactly the light velocity
C, if the propagation time is designated as Ti, is formulated and is exactly：Di=c*Ti (i=1,2,3), here it is di (i=1,2,3)
Originate.According to the relation of trigonometric function, it is possible to draw the particular location of automatical pilot transportation vehicle 300, the 4th signal
Base station 100 is used for together with first three signal base station 100 or separately as further amendment automatical pilot transportation vehicle 300 position
Use.
In the present embodiment, the car body 111, for bearing load, it is tower structure, and by steel plate welding
Into；
The drive mechanism 112, is travelled for band motor vehicles bodies 111, and it includes driving wheel and power source, the power source dress
Put in drive wheel bracket；
The follower 113, the normal pressure for playing a part of support and scattered driving wheel to car body 111, its
For driven pulley, the driving wheel spoke of the drive mechanism 112 is formed by sub- polyurethane parcel；
The steering mechanism 114, for coordinating driven pulley band motor vehicles bodies 111 to turn to；
The drive mechanism 112 and the equal device of follower 113 are immediately below the car body 111, the steering mechanism
114 devices are in the driven wheel support.
In the present embodiment, the power source of the drive mechanism 112 includes DC servo motor, reductor and differential mechanism,
And device is in drive wheel bracket.
In the present embodiment, the side of car body 111 is additionally provided with goods transfer mechanism, and the goods transfer mechanism is latent
Formula push-and-pull transfer mechanism.
In the present embodiment, in addition to the electric power system that device is connected in the car body 111 with CPU module 12
14, for making the on-line automatic charging of guide transport lorry.
In the present embodiment, in addition to security system 15, the traffic safety for protecting guide transport lorry.
In the present embodiment, the navigation module 13 includes the navigation system being arranged in the car body 111 and device exists
The navigation path 131 that the lower section of car body 111 is laid by magnetic rubber.
In the present embodiment, the security system 15 includes emergency stop push button and dress of the device in the front panel of car body 111
The sensor of multiple traveling subregions can be preset in car body 111 by putting.
Embodiment two
On the basis of embodiment one, the utility model provides a kind of automated warehousing logistics system, including described leads
Draw transport vehicle system.
It is pointed out that the automated warehousing logistics system that the present embodiment is provided, it includes described guide transport lorry
System, therefore it has all advantages of guide transport lorry system, does not just repeat herein.
It may also be noted that the automated warehousing logistics system that the present embodiment is provided, its general configuration is as existing
There is technology to be disclosed, just do not repeat herein.
Finally it should be noted that：Various embodiments above is only limited to illustrate the technical solution of the utility model, rather than to it
System；Although the utility model is described in detail with reference to foregoing embodiments, one of ordinary skill in the art should
Understand：It can still modify to the technical scheme described in foregoing embodiments, or to which part or whole
Technical characteristic carries out equivalent substitution；And these modifications or replacement, the essence of appropriate technical solution is departed from this practicality newly
The scope of each embodiment technical scheme of type.
Claims (10)
1. a kind of guide transport lorry system, it is characterised in that including：Confined space, automatical pilot transportation vehicle, signal base station and remote
Journey server；Wherein, the confined space is rectangle, and the automatical pilot transportation vehicle is arranged on the ground of the confined space
On, the signal base station is four and four signal base stations form spatial triangle structure；
Four signal base stations are respectively used to send the current location seat comprising each signal base station to automatical pilot transportation vehicle
Mark the signal of information；
The automatical pilot transportation vehicle receives above-mentioned signal, determines the current position coordinates of automatical pilot transportation vehicle；
The automatical pilot transportation vehicle sends the signal comprising its current position coordinates information to remote server, described long-range
Server is according to its motion path of the current position coordinates information planning of the automatical pilot transportation vehicle received, and by the fortune after planning
Dynamic path feeds back to the automatical pilot transportation vehicle, and the automatical pilot transportation vehicle is advanced according to the path planning.
2. guide transport lorry system according to claim 1, it is characterised in that be provided with four signal base stations
Emission system for electromagnetic signals；
The automatical pilot transportation vehicle includes car body and the CPU module being separately mounted on the car body, driving machine
Structure, follower, steering mechanism, navigation module, signal receiving module and signal emission module, the CPU module point
It is not connected with the drive mechanism, follower, steering mechanism, navigation module, signal receiving module and signal emission module；
The signal receiving module is used for the signal for receiving the current position coordinates information comprising each signal base station, the center
Processor module determines working as car body according to the signal of the current position coordinates information comprising each signal base station of the reception
Front position coordinate information, signal emission module sends the signal comprising car body current position coordinates information to remote server,
The remote server receives and makes planning after car body current position coordinates information to car body course, and by after planning
Signal comprising car body traffic line information feeds back to the signal receiving module, and the signal receiving module is by the row received
Enter route feedback of the information to the CPU module, the CPU module controls driving by navigation module respectively
Mechanism, follower, steering mechanism, make car body be advanced according to the car body traffic line information received.
3. guide transport lorry system according to claim 2, it is characterised in that the car body, for bearing load, it is
Tower structure, and be welded by steel plate；
The drive mechanism, for band motor vehicles bodies traveling, it includes driving wheel and power source, and the power source is in driving wheel
In support；
The follower, the normal pressure for playing a part of support and scattered driving wheel to car body, it is driven pulley, institute
The driving wheel spoke for stating drive mechanism is formed by sub- polyurethane parcel；
The steering mechanism, for coordinating driven pulley band motor vehicles bodies to turn to；
The drive mechanism and the equal device of follower are immediately below the car body, and steering mechanism's device is described driven
In wheel support.
4. guide transport lorry system according to claim 3, it is characterised in that the power source of the drive mechanism includes straight
Flow servo motor, reductor and differential mechanism, and device is in drive wheel bracket.
5. guide transport lorry system according to claim 4, it is characterised in that the car body side is additionally provided with goods shifting
Mounted mechanism, the goods transfer mechanism is submarine push-and-pull transfer mechanism.
6. guide transport lorry system according to claim 5, it is characterised in that also including device in the car body with
The electric power system of central processor module connection, for making the on-line automatic charging of guide transport lorry.
7. guide transport lorry system according to claim 6, it is characterised in that also including security system, leads for protecting
Draw the traffic safety of transport vehicle.
8. guide transport lorry system according to claim 7, it is characterised in that the navigation module includes being arranged on described
The navigation path that navigation system and device in car body are laid below car body by magnetic rubber.
9. guide transport lorry system according to claim 8, it is characterised in that the security system includes device in car body
The emergency stop push button and device of front panel can preset the sensor of multiple traveling subregions in car body.
10. a kind of automated warehousing logistics system, it is characterised in that including the guiding fortune any one of claim 1-9
Defeated car system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720114950.6U CN206411516U (en) | 2017-02-07 | 2017-02-07 | Guide transport lorry system and automated warehousing logistics system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720114950.6U CN206411516U (en) | 2017-02-07 | 2017-02-07 | Guide transport lorry system and automated warehousing logistics system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206411516U true CN206411516U (en) | 2017-08-15 |
Family
ID=59557680
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720114950.6U Active CN206411516U (en) | 2017-02-07 | 2017-02-07 | Guide transport lorry system and automated warehousing logistics system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206411516U (en) |
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2017
- 2017-02-07 CN CN201720114950.6U patent/CN206411516U/en active Active
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| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 210000 Binjiang Economic and Technological Development Zone, Jiangning District, Nanjing City, Jiangsu Province Patentee after: Nanjing Dolly Technology Development Co., Ltd. Address before: 210000 Binjiang Economic and Technological Development Zone, Jiangning District, Nanjing City, Jiangsu Province Patentee before: Nanjing Yodoly Logistics Equipments Manufacturing Co., Ltd. |
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| CP01 | Change in the name or title of a patent holder |