CN209356922U - A kind of express delivery trolley using positioning system - Google Patents
A kind of express delivery trolley using positioning system Download PDFInfo
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- CN209356922U CN209356922U CN201822027031.2U CN201822027031U CN209356922U CN 209356922 U CN209356922 U CN 209356922U CN 201822027031 U CN201822027031 U CN 201822027031U CN 209356922 U CN209356922 U CN 209356922U
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Abstract
The utility model relates to a kind of express delivery trolleies using positioning system, including trolley body, and cargo rest area, avoidance mechanism, data acquisition and procession mechanism, navigator fix mechanism and motion control mechanism are provided in trolley body；Trolley microprocessor in data acquisition and procession mechanism connects circuit drives radar by serial ports, and host computer indicates car body position.When GPS positioning device searches satellite-signal, collected data compare when being transmitted in trolley microprocessor with test, the position for primarily determining car body, when radar scanning acquires ambient data, collected data are compared when with test, it is accurately positioned car body position, because GPS positioning device precision is higher, and cooperates High Accuracy Radar, can position in the error less than 0.5 meter, and keep car body mobile, reach pinpoint purpose.
Description
Technical field
The utility model belongs to express delivery equipment technical field, is related to a kind of express delivery trolley using positioning system.
Background technique
With Internet of Things economic development, people are to the service level of delivery industry and send part efficiency requirements higher and higher.It passes
The problems such as delivery industry of uniting is manually to send with charge free, and there is low efficiency and low safeties, in order to solve these problems, we will transport
Logistics is brought into the new logistics epoch of science and technology driving from the traditional mode to carry on one's shoulders or with both hands with big data and artificial intelligence.This
System simultaneously " last one kilometer " that will also solve the problems, such as in Express Logistics, i.e., how by express mail safely and efficiently from home-delivery center
It is transported in user hand.
Break the mode that tradition send express delivery, whole-course automation sends part, allows and send express delivery more intelligent, when user receives express delivery
To after the short message of home-delivery center, can by cell phone application reserve pickup time, can preferably arrange properly oneself when
Between, it is unmanned that part trolley is sent within the predetermined time will to be accurately and efficiently sent to express delivery in the hand of user.It is this that nobody sends part
System also reduces cost while improving efficiency, and delivery industry is made to enter a new era.
For the safety problem in the regions such as school, cell, more and more schools and cell forbid the small brother of express delivery to enter it
Region, because express delivery vehicle is to pursue efficiency to drive over the speed limit in campus and injure the personal safety of student and teacher, and express delivery
Small brother enters in the cell of resident's inhabitation and send express delivery again resident can be made to worry the property safety of oneself.
With the rapid development of artificial intelligence, innovation speed of the robot in delivering field is also constantly being accelerated.Future, intelligence
Energy logistics will thoroughly change present logistics system, and enterprise must accelerate transition and upgrade, just adapt to the development of the tendency of the day, from
And more there is the market competitiveness, it is therefore, unmanned to send part system imperative.
Instantly especially Express Logistics link, has reached ultimate attainment state for the exploitation of manual labor.Promote whenever big, express delivery is small
Brother runs broken leg, and mountain heap everywhere in warehouse reduces human cost in order to improve dispatching efficiency, and electric business giant starts to place hope on
" intelligent, automation " means.On the other hand, bourgeois gradually to emerge with the rapid development of electric business, the purchase of people
Power is constantly promoted, and needs to set up a faster transport channel between the two.
Utility model content
In order to overcome the disadvantages mentioned above of the prior art, the utility model provides a kind of express delivery trolley using positioning system,
It can significantly reduce human cost, and the area that can enter current limitation is sent with charge free, while reducing hand haulage institute
Situations such as mistake group being easy to appear, leakage is sent；Traffic pressure and row can also be further decreased in the crowded area in city
Safety between sailing, and robot sends that efficiency is higher than sending with charge free by hand with charge free is suitable for more high-intensitive sending demand with charge free.
The technical scheme adopted by the utility model to solve the technical problem is as follows: a kind of small using the express delivery of positioning system
Vehicle, including trolley body are provided with cargo rest area, avoidance mechanism, data acquisition and procession mechanism, navigation in trolley body
Positioning mechanism and motion control mechanism；
Wherein avoidance mechanism includes being located at that the camera of cargo rest area front end is arranged in, is arranged at the top of cargo rest area
Radar, thermal imaging probe and ultrasonic probe, various components are for detecting ambient parameter data and by serial port protocol and number
It is connected according to acquisition with processing mechanism and transmits supplemental characteristic, realizes data transmitting, wherein radar passes through serial port protocol and tree
Certain kind of berries group is connected to determine ambient enviroment that trolley is presently in；
The data acquisition and procession mechanism includes trolley microprocessor, trolley microprocessor by serial port protocol respectively with
Avoidance mechanism, navigator fix mechanism and motion control mechanism are connected, and trolley microprocessor constantly acquires avoidance mechanism and navigation is fixed
The data of position mechanism, then by the information processing being collected into and motion control mechanism progress essence is sent a command to by trolley microprocessor
It is really mobile；
The navigator fix mechanism includes using the GPS positioning device of Hangzhou Zhongke Microelectronic Co., Ltd.'s production, and GPS is fixed
Position device accesses Beidou satellite navigation database, can access newest map, know that the location information of unmanned express delivery vehicle, GPS are fixed
Position device is connected with the longitude and latitude of positioning trolley present position, before analyzing in advance by serial port protocol with trolley microprocessor
Supplemental characteristic is simultaneously sent to trolley microprocessor by the road conditions of Fang Daolu；
The motion control mechanism is driven using high-power deceleration motor, large-capacity battery as power supply, in conjunction with
Gyroscope and magnetometer carry out pid algorithm Data Fusion, and the operating instruction for constantly receiving trolley microprocessor is moved,
Traffic direction data also are fed back to trolley microprocessor simultaneously, ensure that the errorless walking of delivery car.
Further, it is provided when be provided in the trolley body for user's pickup and operates help, assists pickup
Interactive interface, interactive interface are used for direct setting command, and the interactive interface and data acquisition and procession mechanism, which are connected, realizes signal
It interacts while giving data acquisition and procession mechanism for direct setting command, data acquisition and procession mechanism is by being arranged in trolley
The antenna and user mobile phone of bodies top carry out information exchange, to reach mobile phone remote control.
Further, using HC-SR04 open source integration module, ultrasonic probe mainly measures small the ultrasonic probe
Vehicle is at a distance from road edge, by ultrasonic distance measurement, trolley microprocessor may determine that trolley at a distance from road edge, and
It prevents from knocking road edge when walking by controlling vehicle motor.
Further, the camera uses Pixy CMUcam5 Sensor high-definition camera, has powerful image to know
Other function has sensitive analysis ability to the color of image, by imaging sensor identify flowers and plants around trolley, pavement and
The information such as traffic lights, and these environmental information data of identification are transferred to microprocessor, and then control trolley and avoid periphery barrier
Hinder object and by pavement, traffic lights；
Further, for the radar by using the RPLIDAR-A2 for thinking haze science and technology, this radar is laser scanning, has 12
The sweep radius of rice, 8000 times/second measurement frequency, carry out building figure for the 2D plane to environment where trolley, by building figure,
It can be concluded that all obstacle informations in trolley traveling plane, are tied by popping one's head in ultrasonic probe, camera and thermal imaging
It closes and uses, play the important function of avoidance system.
Further, the thermal imaging probe uses AMG8833 module, and the temperature range that can be identified is 0 DEG C -80 DEG C,
Resolution ratio is 8*8, can effectively identify the life entity on delivery car periphery, and by data feedback, finds that delivery car in time
And certain distance is kept with life entity.
Further, the trolley body bottom is provided with symmetrical two groups of wheels, wheel and motion control
Mechanism is connected, and provides power and direction by motion control mechanism.
The beneficial effects of the utility model are: trolley microprocessor connects electricity by serial ports when trolley is in outdoor sport
Road drives radar, and host computer indicates car body position.When GPS positioning device searches satellite-signal, it is micro- to be transmitted to trolley
Collected data compare when in processor with test, primarily determine the position of car body, when radar scanning acquires surrounding ring
Border data, collected data compare when with test, are accurately positioned car body position, because GPS positioning device precision is higher,
And cooperation High Accuracy Radar, it can be positioned in the error less than 0.5 meter, and keep car body mobile, reach pinpoint mesh
's；Human cost can be significantly reduced, the area that can enter current limitation is sent with charge free, while reducing hand haulage institute
Situations such as mistake group being easy to appear, leakage is sent；Traffic pressure and row can also be further decreased in the crowded area in city
Safety between sailing, and robot sends that efficiency is higher than sending with charge free by hand with charge free is suitable for more high-intensitive sending demand with charge free.
Detailed description of the invention
Fig. 1 is the utility model main view；
Fig. 2 is Fig. 1 front view；
Fig. 3 is the top view of Fig. 1；
Fig. 4 is Fig. 1 perspective view；
Fig. 5 is utility model works schematic diagram.
In figure: 1- trolley body；2- cargo rest area；3- radar；4- antenna；5- ultrasonic probe；6- wheel；7- camera shooting
Head.
Specific embodiment
The present invention will be further described with reference to the accompanying drawings and examples.
Referring to FIG. 1 to FIG. 5, a kind of express delivery trolley using positioning system, including trolley body 1, it is set in trolley body 1
It is equipped with cargo rest area 2, avoidance mechanism, data acquisition and procession mechanism, navigator fix mechanism and motion control mechanism；
Wherein avoidance mechanism includes being located at that the camera of cargo rest area front end is arranged in, is arranged at the top of cargo rest area
Radar 3, thermal imaging probe and ultrasonic probe 5, various components for detect ambient parameter data and by serial port protocol with
Data acquisition and procession mechanism be connected supplemental characteristic is transmitted, realize data transmitting, wherein radar 3 by serial port protocol with
Raspberry pie is connected to determine ambient enviroment that trolley is presently in；
The data acquisition and procession mechanism includes trolley microprocessor, trolley microprocessor by serial port protocol respectively with
Avoidance mechanism, navigator fix mechanism and motion control mechanism are connected, and trolley microprocessor constantly acquires avoidance mechanism and navigation is fixed
The data of position mechanism, then by the information processing being collected into and motion control mechanism progress essence is sent a command to by trolley microprocessor
It is really mobile；
The navigator fix mechanism includes using the GPS positioning device of Hangzhou Zhongke Microelectronic Co., Ltd.'s production, and GPS is fixed
Position device accesses Beidou satellite navigation database, can access newest map, know that the location information of unmanned express delivery vehicle, GPS are fixed
Position device is connected with the longitude and latitude of positioning trolley present position, before analyzing in advance by serial port protocol with trolley microprocessor
Supplemental characteristic is simultaneously sent to trolley microprocessor by the road conditions of Fang Daolu；
The motion control mechanism is driven using high-power deceleration motor, large-capacity battery as power supply, in conjunction with
Gyroscope and magnetometer carry out pid algorithm Data Fusion, and the operating instruction for constantly receiving trolley microprocessor is moved,
Traffic direction data also are fed back to trolley microprocessor simultaneously, ensure that the errorless walking of delivery car.
Further, it is provided when being provided in the trolley body 1 for user's pickup and operates help, assists pickup
Interactive interface, interactive interface are used for direct setting command, and the interactive interface and data acquisition and procession mechanism, which are connected, realizes signal
It interacts while giving data acquisition and procession mechanism for direct setting command, data acquisition and procession mechanism is by being arranged in trolley
The antenna 4 and user mobile phone at 1 top of ontology carry out information exchange, to reach mobile phone remote control.
Further, the ultrasonic probe 5 is mainly measured using HC-SR04 open source integration module, ultrasonic probe 5
Trolley is at a distance from road edge, by ultrasonic distance measurement, trolley microprocessor may determine that trolley at a distance from road edge,
And it prevents from knocking road edge when walking by controlling vehicle motor.
Further, the camera 7 uses Pixy CMUcam5 Sensor high-definition camera 7, there is powerful image
Identification function has sensitive analysis ability to the color of image, passes through the flowers and plants around imaging sensor identification trolley, pavement
And the information such as traffic lights, and these environmental information data of identification are transferred to microprocessor, and then control trolley and avoid periphery
Barrier and pass through pavement, traffic lights；
Further, for the radar 3 by using the RPLIDAR-A2 for thinking haze science and technology, this radar 3 is laser scanning, is had
12 meters of sweep radius, 8000 times/second measurement frequency, carry out building figure for the 2D plane to environment where trolley, by building
Figure, it can be deduced that trolley travels all obstacle informations in plane, by visiting with ultrasonic probe 5, camera 7 and thermal imaging
Head is used in combination, and plays the important function of avoidance system.
Further, the thermal imaging probe uses AMG8833 module, and the temperature range that can be identified is 0 DEG C -80 DEG C,
Resolution ratio is 8*8, can effectively identify the life entity on delivery car periphery, and by data feedback, finds that delivery car in time
And certain distance is kept with life entity.
Further, 1 bottom of trolley body is provided with symmetrical two groups of wheels 6, wheel 6 and movement are controlled
Mechanism processed is connected, and provides power and direction by motion control mechanism.
In actual work, trolley microprocessor is connect with GPS positioning device and radar 3, on the way during travel operation
The constantly data of acquisition two parts hardware, wherein GPS is used to obtain the latitude and longitude information of positioning, and trolley microprocessor obtains GPS
After information data, the route planning that express delivery is sent with charge free is realized in the combinable position that itself is learnt with the navigation map information set；
Figure is built in combination with the 2D plane of radar 3, the plane information of trolley position is obtained, reduces GPS positioning error, is improved specific
Position precision keeps route planning more accurate.
The utility model is not limited to above embodiment, if various changes or modifications to the utility model do not take off
From the spirit and scope of the present invention, if these changes or modifications belong to the claims and equivalents of the utility model range
Within, then the utility model is also intended to encompass these modification and variations.
Claims (6)
1. a kind of express delivery trolley using positioning system, it is characterised in that: including trolley body, be arranged in trolley body available in stock
Object rest area, avoidance mechanism, data acquisition and procession mechanism, navigator fix mechanism and motion control mechanism；
Wherein avoidance mechanism includes being located at that the camera of cargo rest area front end, the thunder being arranged at the top of cargo rest area is arranged in
It reaches, thermal imaging probe and ultrasonic probe, various components are used to detect ambient parameter data and adopt by serial port protocol and data
Collection is connected with processing mechanism transmits supplemental characteristic, realizes data transmitting, wherein radar passes through serial port protocol and raspberry pie
It is connected to determine ambient enviroment that trolley is presently in；
The data acquisition and procession mechanism includes trolley microprocessor, trolley microprocessor by serial port protocol respectively with avoidance
Mechanism, navigator fix mechanism and motion control mechanism are connected, and trolley microprocessor constantly acquires avoidance mechanism and navigator fix machine
The data of structure, then by the information processing being collected into and sent a command to motion control mechanism by trolley microprocessor and accurately moved
It is dynamic；
The navigator fix mechanism includes using the GPS positioning device of Hangzhou Zhongke Microelectronic Co., Ltd.'s production, GPS positioning dress
Access Beidou satellite navigation database is set, newest map can be accessed, knows the location information of unmanned express delivery vehicle, GPS positioning dress
It sets and is connected by serial port protocol with trolley microprocessor with the longitude and latitude of positioning trolley present position, analyze front road in advance
Supplemental characteristic is simultaneously sent to trolley microprocessor by the road conditions on road；
The motion control mechanism is driven using high-power deceleration motor, and large-capacity battery is as power supply, in conjunction with gyro
Instrument and magnetometer carry out pid algorithm Data Fusion, and the operating instruction for constantly receiving trolley microprocessor is moved, simultaneously
Also traffic direction data are fed back to trolley microprocessor, ensure that the errorless walking of delivery car；
The interactive interface for being provided when be provided in the trolley body for user's pickup and operating help, assist pickup, interaction circle
Face is used for direct setting command, and the interactive interface and data acquisition and procession mechanism, which are connected, realizes that signal interaction is used for directly simultaneously
Setting command gives data acquisition and procession mechanism, data acquisition and procession mechanism pass through the antenna that is arranged at the top of trolley body with
User mobile phone carries out information exchange, to reach mobile phone remote control.
2. utilizing the express delivery trolley of positioning system as described in claim 1, it is characterised in that: the ultrasonic probe uses HC-
SR04 open source integration module, ultrasonic probe mainly measure trolley at a distance from road edge, and by ultrasonic distance measurement, trolley is micro-
Processor may determine that trolley prevents from knocking road side when walking at a distance from road edge, and by controlling vehicle motor
Edge.
3. utilizing the express delivery trolley of positioning system as described in claim 1, it is characterised in that: the camera uses Pixy
CMUcam5 Sensor high-definition camera, there is powerful image identification function, there is sensitive analysis ability to the color of image, leads to
Cross the information such as flowers and plants, pavement and traffic lights around imaging sensor identification trolley, and by these environmental information numbers of identification
According to being transferred to microprocessor, and then controls trolley and avoid periphery barrier and by pavement, traffic lights.
4. utilizing the express delivery trolley of positioning system as described in claim 1, it is characterised in that: the radar will be scientific and technological using haze is thought
RPLIDAR-A2, this radar is laser scanning, the measurement frequency with 12 meters of sweep radius, 8000 times/second, for small
The 2D plane of environment carries out building figure where vehicle, by building figure, it can be deduced that trolley travels all obstacle informations in plane, leads to
It crosses and is used with ultrasonic probe, camera and thermal imaging probe incorporated, play the important function of avoidance system.
5. utilizing the express delivery trolley of positioning system as described in claim 1, it is characterised in that: the thermal imaging probe uses
AMG8833 module, the temperature range that can be identified are 0 DEG C -80 DEG C, resolution ratio 8*8, can effectively identify delivery car periphery
Life entity, and by data feedback, it finds that delivery car in time and keeps certain distance with life entity.
6. utilizing the express delivery trolley of positioning system as described in claim 1, it is characterised in that: be arranged in the trolley body bottom
There are symmetrical two groups of wheels, wheel is connected with motion control mechanism, provides power and direction by motion control mechanism.
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| CN201822027031.2U CN209356922U (en) | 2018-12-05 | 2018-12-05 | A kind of express delivery trolley using positioning system |
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| CN201822027031.2U CN209356922U (en) | 2018-12-05 | 2018-12-05 | A kind of express delivery trolley using positioning system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112099499A (en) * | 2020-09-11 | 2020-12-18 | 中南大学 | Unmanned transport vehicle, system, control method and readable storage medium |
| CN113807551A (en) * | 2021-09-15 | 2021-12-17 | 上汽通用五菱汽车股份有限公司 | Distribution method, robot, device and readable storage medium |
| CN116797130A (en) * | 2023-08-28 | 2023-09-22 | 沥拓科技(深圳)有限公司 | Combinable express delivery transport cart and intelligent logistics system |
-
2018
- 2018-12-05 CN CN201822027031.2U patent/CN209356922U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112099499A (en) * | 2020-09-11 | 2020-12-18 | 中南大学 | Unmanned transport vehicle, system, control method and readable storage medium |
| CN113807551A (en) * | 2021-09-15 | 2021-12-17 | 上汽通用五菱汽车股份有限公司 | Distribution method, robot, device and readable storage medium |
| CN116797130A (en) * | 2023-08-28 | 2023-09-22 | 沥拓科技(深圳)有限公司 | Combinable express delivery transport cart and intelligent logistics system |
| CN116797130B (en) * | 2023-08-28 | 2024-03-26 | 沥拓科技(深圳)有限公司 | Combinable express delivery transport cart and intelligent logistics system |
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