CN210294511U - Wireless positioning device for automatic handling vehicle - Google Patents
Wireless positioning device for automatic handling vehicle Download PDFInfo
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- CN210294511U CN210294511U CN201921039572.5U CN201921039572U CN210294511U CN 210294511 U CN210294511 U CN 210294511U CN 201921039572 U CN201921039572 U CN 201921039572U CN 210294511 U CN210294511 U CN 210294511U
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Abstract
The utility model discloses a wireless positioner for automatic handling car. The wireless positioning device comprises a shell, wherein a wireless transceiver module, a power supply module and a programmable logic device are arranged in the shell; the wireless transceiver module is connected with the programmable logic device; a measuring signal generating module, a time reference module, a time difference calculating module and a position calculating module are arranged in the programmable logic device; the time difference calculation module is connected with the wireless transceiving module, the time reference module and the position calculation module; the measuring signal generating module is connected with the wireless transceiving module and the time reference module; the position resolving module is connected with the position data output interface; the position data output interface is fixedly arranged on the side surface of the shell. The utility model discloses a wireless positioner has strengthened the wireless locating signal in the storage, can realize fixing a position in real time, correctly guides automatic handling car according to the walking of predetermined route.
Description
Technical Field
The utility model relates to a wireless positioner especially relates to a wireless positioner who is used for automatic handling car of storage environment.
Background
The automatic sorting and carrying of goods is an important characteristic of intelligent warehousing. The sorted goods are automatically transported to a predetermined area by an automatic transport vehicle. How to guide the automatic guided vehicle to transport the goods to the specified area is a common technical means for positioning and navigating the automatic guided vehicle in real time. In the prior art, a satellite positioning device is usually disposed on an automatic transportation vehicle, and the automatic transportation vehicle is subjected to position calculation and automatic navigation in a satellite positioning manner. Because the satellite navigation signal transmitted by the satellite navigation system works in the microwave frequency band, the electromagnetic wave signal of the microwave frequency band has the characteristics of linear propagation and easy shielding. Therefore, satellite navigation signals received by the automatic handling vehicles working in the storage area are influenced by shielding of storage buildings, so that the satellite navigation signals in the storage room are weak, the positioning real-time performance is poor, and the position resolving error is large, so that the automatic handling vehicles can convey cargoes to wrong areas.
Therefore, the wireless positioning device of the automatic handling vehicle is designed, can realize real-time positioning, improves the positioning precision, can correctly guide the walking route of the automatic handling vehicle, and is a problem to be solved by the wireless positioning device of the existing automatic handling vehicle.
SUMMERY OF THE UTILITY MODEL
The utility model aims at designing an automatic handling car's wireless positioner, through reasonable setting, can realize fixing a position in real time, improve positioning accuracy, can correctly guide automatic handling car walking route.
In order to realize the utility model discloses a purpose, the utility model provides a wireless positioner for automatic handling car. The wireless positioning device comprises a shell, wherein a wireless transceiver module, a power supply module and a programmable logic device are arranged in the shell; the power supply module is connected with the wireless transceiver module and the programmable logic device to provide power; the wireless transceiver module is connected with the programmable logic device; a measuring signal generating module, a time reference module, a time difference calculating module and a position calculating module are arranged in the programmable logic device; the time difference calculation module is connected with the wireless transceiving module, the time reference module and the position calculation module; the measuring signal generating module is connected with the wireless transceiving module and the time reference module; the position resolving module is connected with the position data output interface; the position data output interface is fixedly arranged on the side surface of the shell; the wireless transceiver module is connected with a plurality of position reference stations arranged in the warehouse through a wireless channel to exchange data.
Further, in the technical scheme disclosed in the utility model, wireless transceiver module includes wireless transmitting unit and wireless receiving unit, wireless transmitting unit with wireless receiving unit all works at wireless wiFi frequency channel.
Further, in the technical solution disclosed in the present invention, the programmable logic device adopts a Cyclone series FPGA programmable logic device of Altera corporation.
Further, in the technical solution disclosed in the present invention, the housing is a rectangular parallelepiped; and a standard USB power interface is arranged on the side surface of the shell and is connected with the power module.
Further, the utility model discloses an among the technical scheme, the casing upper surface is provided with a plurality of louvres.
Further, in the technical solution disclosed in the present invention, the time reference module is provided with a crystal oscillator.
Compared with the prior art, the utility model discloses following beneficial effect has:
the utility model discloses an among the technical scheme, through measuring and setting up the distance difference at position reference station in the storage, adopt hyperbola positioning method, realized automatic handling car's wireless location. The radio signal that positioner is based on, its signal propagation all is in the storage room to the sheltering from of storage building influence has been avoided. Compared with the prior art, the utility model discloses a radio positioner job stabilization, received signal are strong, the location real-time strong, the position is resolved the precision height to can correctly guide automatic handling car to go according to predetermined walking route. Further, the utility model discloses an among the technical scheme, the location of realization is solved the module and is adopted programmable logic device to realize, and processing software is solved to its built-in location, can be according to follow-up needs, through the built-in software of change, can realize resolving the adjustment of performance to the location, and the upgrading of being convenient for is reformed transform, and function scalability is stronger.
Additional advantages and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.
Drawings
Fig. 1 is an external schematic view of a housing of a wireless positioning device according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of a wireless positioning device according to an embodiment of the present invention.
Fig. 3 is a schematic view of the internal cross-linking relationship of the wireless positioning device disclosed in the embodiment of the present invention.
Wherein, the corresponding relation between the reference signs and the component names is as follows:
the device comprises a shell 1, a wireless transceiving module 2, a power supply module 3, a programmable logic device 4, a position data output interface 5, a USB power supply interface 6, a heat dissipation hole 7, a measurement signal generation module 401, a time reference module 402, a time difference calculation module 403 and a position calculation module 404.
Detailed Description
The present invention is further described in detail below with reference to the drawings and examples so that those skilled in the art can implement the invention with reference to the description.
In the prior art, a satellite positioning device is usually disposed on an automatic transportation vehicle, and the automatic transportation vehicle is subjected to position calculation and automatic navigation in a satellite positioning manner. Because the satellite navigation signal transmitted by the satellite navigation system works in the microwave frequency band, the electromagnetic wave signal of the microwave frequency band has the characteristics of linear propagation and easy shielding. Therefore, satellite navigation signals received by the automatic handling vehicles working in the storage area are influenced by shielding of storage buildings, so that the satellite navigation signals in the storage room are weak, the positioning real-time performance is poor, and the position resolving error is large, so that the automatic handling vehicles can convey cargoes to wrong areas.
In order to solve the technical problem existing in the prior art, the inventor starts with the wireless positioning in the storage room, and designs the wireless positioning device of the automatic handling vehicle for the storage environment based on the indoor multi-base-station positioning mode. In the storage room, a plurality of position reference stations with known positions are arranged, and the position reference stations are arranged on two sides of a preset action route of the automatic transport vehicle according to the preset action route. According to a Time Difference of arrival (TDOA) method, also called a hyperbolic positioning method, an automated guided vehicle transmits radio signals to a plurality of position reference stations disposed on both sides of a travel route, and calculates Time differences between signals transmitted from the automated guided vehicle and the plurality of position reference stations of received signals, calculates distance differences between the automated guided vehicle and three or more position reference stations of known positions based on a conversion relationship between Time and distance, and calculates the position of the automated guided vehicle according to a hyperbolic positioning principle, thereby achieving automatic guidance of the automated guided vehicle and completing transportation of goods according to a predetermined goods storage area, thereby solving technical problems in the related art. The time difference of arrival (TDOA) is a mature prior art and is known to those skilled in the art, and will not be described herein.
In order to solve the technical problem that exists among the prior art, the embodiment of the utility model discloses a wireless positioner for automatic handling car is disclosed. As shown in fig. 1 and fig. 2, the wireless positioning device includes a housing 1, and a wireless transceiver module 2, a power module 3, and a programmable logic device 4 are disposed in the housing 1; the power module 3 is connected with the wireless transceiver module 2 and the programmable logic device 4 to provide power; the wireless transceiver module 2 is connected with the programmable logic device 4; a measuring signal generating module 401, a time reference module 402, a time difference calculating module 403 and a position calculating module 404 are arranged in the programmable logic device 4; the time difference calculation module 403 is connected to the wireless transceiver module 2, the time reference module 402 and the position calculation module 404; the measurement signal generation module 401 is connected with the wireless transceiver module 2 and the time reference module 402; the position calculating module 404 is connected with the position data output interface 5; the position data output interface 5 is fixedly arranged on the side surface of the shell 1; the wireless transceiver module 2 is connected with a plurality of position reference stations arranged in the warehouse through a wireless channel to exchange data.
In the technical solution disclosed in the embodiment of the present invention, the wireless transceiver module 2 is connected to a plurality of position reference stations disposed at both sides of the predetermined operation route of the automatic handling vehicle in the warehouse through a wireless channel, and transmits a measurement signal; according to the time difference of arrival measurement method (TDOA), the radio transceiver module 2 only needs to transmit measurement signals to three position reference stations. The measurement signal is generated by the measurement signal generation module 401 and transmitted via the wireless transceiver module 2. The measurement signal generation module 401 generates a measurement signal containing a time start flag according to a predetermined signal frame format, and sets the time flag in a corresponding digital bit of the measurement signal frame according to a time reference signal generated by the time reference module 402. The time reference module 402 outputs the generated time reference signal to the measurement signal generation module 401 and the time difference calculation module 403. How to generate the measurement signal frame is a well-established technique in the prior art, and is a technical knowledge that is known to those skilled in the art, and is not described in detail here.
The embodiment of the utility model provides an among the disclosed technical scheme, the position reference station of automatic handling car both sides is received behind the measuring signal that wireless transceiver module 2 launches, with its retransmission extremely wireless transceiver module 2, this is equivalent to measuring signal is reflected back to wireless positioner. The wireless transceiver module 2 amplifies the received measurement signal and transmits the amplified measurement signal to the time difference calculation module 403. The time difference calculation module 403 receives and processes the measurement signal, and calculates the signal transmission time of the measurement signal according to the time reference generated by the time reference module 402, the time start flag bit in the measurement signal frame, and the signal arrival time, where the signal transmission time is divided by 2, which is the one-way signal transmission time of the measurement signal from the wireless positioning device to the position reference station. According to the above process, the wireless positioning device transmits measurement signals to a plurality of position reference stations, and the time difference calculation module calculates the transmission time of the measurement signals, so that the signal transmission time difference of the measurement signals can be calculated when the wireless positioning device transmits the measurement signals to different position reference stations. The time difference calculation module outputs the time difference signal calculated by the time difference calculation module to the position calculation module. And the position calculating module calculates the current position according to a time difference of arrival (TDOA) and a hyperbolic positioning principle. The position calculating module outputs the calculated position to a position data output interface. And the navigation system of the automatic transport vehicle is connected through the position data output interface to obtain the current position information, and then correct navigation is carried out according to a preset planned route. As can be seen from the above analysis process, the technical solutions disclosed in the embodiments of the present invention are feasible, the technical principles involved therein are known in the prior art, and can be known to those skilled in the art, and the technical details about the specific implementation thereof can be realized by the prior art, and are not described herein again.
Further, in the technical scheme disclosed in the embodiment of the utility model, wireless transceiver module 2 includes wireless transmitting unit and wireless receiving unit, wireless transmitting unit with wireless receiving unit all works at wireless wiFi frequency channel. The wireless transceiver module 2 works in a wireless WiFi frequency band, signal transmission is stable, the prior art is mature, the wireless transceiver module is a goods shelf product, and the product cost is low.
Further, in the technical solution disclosed in the embodiment of the present invention, the programmable logic device 4 is a Cyclone series FPGA programmable logic device of Altera corporation. The realized positioning calculation related measurement signal generation module, the time difference calculation module, the position calculation module and the like can be realized by adopting programming logic devices, hardware functions are realized by software in a programming mode through a software radio technology, the adjustment of the positioning calculation performance can be realized by changing the built-in software according to subsequent requirements, the upgrading and the reconstruction are facilitated, and the function expandability is strong.
Further, in the technical solution disclosed in the embodiment of the present invention, the housing 1 is a rectangular parallelepiped; the side of the shell 1 is provided with a standard USB power interface 6, and the USB power interface 6 is connected with the power module 3.
Further, the embodiment of the utility model provides an among the disclosed technical scheme, for the convenience of the detection device heat dissipation, improve operational reliability, 1 upper surface of casing is provided with a plurality of louvres 7.
Further, in the technical solution disclosed in the present invention, the time reference module 402 is provided with a crystal oscillator, and the crystal oscillator is used for generating the time reference signal.
Further, in the technical solution disclosed in the present invention, the position data output interface 5 adopts the RS232 interface specification; and outputting the calculated position information of the automatic transport vehicle to relevant navigation equipment through the position data output interface 5 so as to navigate the automatic transport vehicle.
While embodiments of the invention have been disclosed above, it is not intended to be limited to the specific applications set forth in the specification and illustrated embodiments. It can be applicable to various and be fit for the utility model discloses a field completely. Additional modifications will readily occur to those skilled in the art. The invention is therefore not to be limited to the specific details and illustrations shown and described herein, without departing from the general concept defined by the claims and their equivalents.
Claims (7)
1. A wireless positioning device for an automatic handling vehicle, comprising a housing (1); the wireless power supply is characterized in that a wireless transceiving module (2), a power supply module (3) and a programmable logic device (4) are arranged in the shell (1); the power supply module (3) is connected with the wireless transceiver module (2) and the programmable logic device (4) to provide power supply; the wireless transceiver module (2) is connected with the programmable logic device (4); the programmable logic device (4) is internally provided with a measuring signal generating module (401), a time reference module (402), a time difference calculating module (403) and a position calculating module (404); the time difference calculation module (403) is connected with the wireless transceiver module (2), the time reference module (402) and the position calculation module (404); the measurement signal generation module (401) is connected with the wireless transceiver module (2) and the time reference module (402); the position calculating module (404) is connected with the position data output interface (5); the position data output interface (5) is fixedly arranged on the side surface of the shell (1); the wireless transceiving module (2) is connected with a plurality of position reference stations arranged in the warehouse through a wireless channel to exchange data.
2. The wireless positioning device for automatic guided vehicles according to claim 1, characterized in that said wireless transceiver module (2) comprises a wireless transmitting unit and a wireless receiving unit, both operating in the wireless WiFi band.
3. The wireless positioning device for automatic guided vehicles according to claim 1, characterized in that the programmable logic device (4) is a Cyclone series FPGA programmable logic device of Altera corporation.
4. The wireless positioning device for an automatic guided vehicle according to claim 1, wherein the housing (1) is a rectangular parallelepiped; the USB power supply comprises a shell (1) and is characterized in that a standard USB power supply interface (6) is arranged on the side face of the shell (1), and the USB power supply interface (6) is connected with a power supply module (3).
5. The wireless positioning device for an automated guided vehicle according to claim 1, wherein the housing (1) is provided with a plurality of heat radiation holes (7) on an upper surface thereof.
6. The wireless positioning device for an automated guided vehicle of claim 1, wherein the time reference module (402) is provided with a crystal oscillator.
7. The wireless positioning device for an automated guided vehicle according to claim 1, wherein the position data output interface (5) adopts an RS232 interface specification.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921039572.5U CN210294511U (en) | 2019-07-05 | 2019-07-05 | Wireless positioning device for automatic handling vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921039572.5U CN210294511U (en) | 2019-07-05 | 2019-07-05 | Wireless positioning device for automatic handling vehicle |
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| Publication Number | Publication Date |
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| CN210294511U true CN210294511U (en) | 2020-04-10 |
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| CN201921039572.5U Expired - Fee Related CN210294511U (en) | 2019-07-05 | 2019-07-05 | Wireless positioning device for automatic handling vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111603252A (en) * | 2020-05-28 | 2020-09-01 | 重庆医科大学附属儿童医院 | Medical sharp instrument box |
-
2019
- 2019-07-05 CN CN201921039572.5U patent/CN210294511U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111603252A (en) * | 2020-05-28 | 2020-09-01 | 重庆医科大学附属儿童医院 | Medical sharp instrument box |
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