CN105731013B - A kind of intelligent transfer cart and the Transfer method realized using the transfer cart - Google Patents

Abstract

An intelligent transfer vehicle and a transportation method realized by using the transfer vehicle relate to the field of automatic transfer vehicles. The present invention aims to solve the problems that the existing hand-push transfer vehicle relies on manpower to transport goods, has high labor intensity and low degree of automation. The input/output end of the single-chip microcomputer system of the present invention is connected to the output/input end of the GPS module interface unit, the input/output end of the single-chip microcomputer system is connected to the output/input end of the infrared sensor interface unit, and the infrared sensor interface unit is used to connect the infrared sensor and the input/output of the single-chip microcomputer system The terminal is connected to the output/input terminal of the radar interface unit, the output terminal of the single-chip system is connected to the input terminal of the alarm module, the output terminal of the single-chip system is connected to the input terminal of the storage module, the input terminal of the single-chip system is connected to the output terminal of the power module, and the output terminal of the single-chip system is connected to the input terminal of the drive motor module , the output end of the drive motor module is connected to the input end of the motor, and the motor is connected to the input end of the wheel of the working vehicle. It is used to deliver goods automatically.

Description

An intelligent transfer vehicle and a transportation method realized by using the transfer vehicle

technical field

The invention relates to an automatic transfer vehicle. It belongs to the field of automatic transfer vehicles.

Background technique

The existing hand-push transfer vehicle relies on manpower to push the transfer vehicle to transport goods, which increases labor intensity, wastes manpower, and has a low degree of automation.

Contents of the invention

The present invention aims to solve the problems that the existing hand-push transfer vehicle relies on manpower to transport goods, has high labor intensity and low degree of automation. An intelligent transfer vehicle and a transportation method realized by using the transfer vehicle are now provided.

An intelligent transfer vehicle, which includes a single-chip microcomputer system, an infrared sensor, an infrared sensor interface unit, a radar module, a radar interface unit, a GPS module, a GPS module interface unit, a power supply module, a storage module, an alarm module, a drive motor module and a motor,

The front end of the transfer vehicle is equipped with a radar module and a radar interface unit. The single-chip microcomputer system, GPS module, GPS module interface unit, infrared sensor, infrared sensor interface unit, alarm module, storage module, power supply module, drive motor module and motor are all set in the On the transfer vehicle,

The positioning signal input/output end of the single-chip microcomputer system is connected to the positioning signal output/input end of the GPS module interface unit, and the GPS module interface unit is used to connect the GPS module,

The infrared signal input/output end of the single-chip microcomputer system is connected to the infrared signal output/input end of the infrared sensor interface unit, and the infrared sensor interface unit is used to connect the infrared sensor,

The radar signal input/output end of the single-chip microcomputer system is connected to the radar signal output/input end of the radar interface unit, and the radar interface unit is used to connect the radar module,

The alarm signal output end of the single-chip microcomputer system is connected to the alarm signal input end of the alarm module,

The storage signal output end of the single-chip microcomputer system is connected to the storage signal input end of the storage module,

The power signal input end of the single-chip microcomputer system is connected to the power signal output end of the power module,

The processing signal output end of the single-chip microcomputer system is connected to the processing signal input end of the drive motor module,

The drive signal output end of the drive motor module is connected to the drive signal input end of the motor,

The drive signal output end of the motor is connected to the drive signal input end of the wheel of the transfer vehicle.

The beneficial effects of the present invention are: the transfer vehicle belt weighing system adopts PWM to adjust the speed of the motor, has its own GPS module, can locate the vehicle information, does not need manual operation, and can run autonomously as long as the loaded weight meets the requirements. Specify the location. For transporting components, the load weight can be set, and the forward movement can also be controlled manually to provide better automation equipment. An infrared limiting device is set near the position to increase the accuracy to 0.1 mm. When the GPS signal cannot be collected, the built-in path learning function can be used to simulate the path first, and automatically record the path of movement to complete the transportation of materials. The front and rear range-finding radar modules prevent collisions with personnel and equipment. The adoption of the automatic transfer vehicle saves labor and improves the degree of automation.

Description of drawings

Fig. 1 is a schematic diagram of the principle of an intelligent transfer vehicle described in Embodiment 1;

Fig. 2 is a schematic diagram of the principle of an intelligent transfer vehicle described in the second embodiment;

Fig. 3 is a schematic diagram of the principle of an intelligent transfer vehicle described in Embodiment 3;

Fig. 4 is a schematic diagram of the principle of an intelligent transfer vehicle described in Embodiment 4;

Fig. 5 is a schematic diagram of the principle of an intelligent transfer vehicle described in Embodiment 5;

Fig. 6 is a schematic diagram of the principle of an intelligent transfer vehicle described in Embodiment 6;

Fig. 7 is a schematic diagram of the principle of an intelligent transfer vehicle described in Embodiment 7;

Fig. 8 is a schematic diagram of the principle of an intelligent transfer vehicle described in Embodiment 8;

Fig. 9 is a schematic diagram of the principle of an intelligent transfer vehicle described in the ninth specific embodiment.

detailed description

Specific embodiment 1: This embodiment is described in detail with reference to FIG. 1. A kind of intelligent transfer vehicle described in this embodiment includes a single-chip microcomputer system 1, an infrared sensor 2, an infrared sensor interface unit 3, a radar module 4, and a radar interface unit. 5. GPS module 6, GPS module interface unit 7, power supply module 8, storage module 9, alarm module 10, drive motor module 11 and motor 12,

The front end of the transfer vehicle is provided with a radar module 4 and a radar interface unit 5, a single-chip microcomputer system 1, a GPS module 6, a GPS module interface unit 7, an infrared sensor 2, an infrared sensor interface unit 3, an alarm module 10, a storage module 9, and a power supply module 8. The driving motor module 11 and the motor 12 are both arranged on the transfer vehicle,

The positioning signal input/output end of the single-chip microcomputer system 1 is connected to the positioning signal output/input end of the GPS module interface unit 7, and the GPS module interface unit 7 is used to connect the GPS module 6,

The infrared signal input/output end of the single-chip microcomputer system 1 is connected to the infrared signal output/input end of the infrared sensor interface unit 3, and the infrared sensor interface unit 3 is used to connect the infrared sensor 2,

The radar signal input/output end of the single-chip microcomputer system 1 is connected to the radar signal output/input end of the radar interface unit 5, and the radar interface unit 5 is used to connect the radar module 4,

The alarm signal output end of the single-chip microcomputer system 1 is connected to the alarm signal input end of the alarm module 10,

The storage signal output end of the single-chip microcomputer system 1 is connected to the storage signal input end of the storage module 9,

The power signal input end of the single-chip microcomputer system 1 is connected to the power signal output end of the power supply module 8,

The processing signal output end of the single-chip microcomputer system 1 is connected to the processing signal input end of the drive motor module 11,

The drive signal output end of the drive motor module 11 is connected to the drive signal input end of the motor 12,

The drive signal output end of the motor 12 is connected to the drive signal input end of the wheel 13 of the transfer vehicle.

In this embodiment, two-way PWM is used to control the motor to realize forward and backward, left and right steering. The GPS module 6 can locate the vehicle information, but the accuracy of the GPS module 6 cannot reach the millimeter level. At this time, the infrared positioning method is used. An infrared sensor is placed at the designated position, and it cooperates with the ranging radar module to make the transfer vehicle reach the designated position. to millimeter accuracy.

Specific embodiment 2: This embodiment is described in detail with reference to Fig. 2. This embodiment is a further description of a kind of intelligent transfer vehicle described in the specific embodiment 1. In this embodiment, the single-chip microcomputer system 1 includes a single-chip microcomputer whose model is MC9S12ZVL764 U1, capacitor C2, capacitor C3, capacitor C11 and capacitor C12,

The No. 17 pin of the single-chip microcomputer U1 whose model is MC9S12ZVL764 is connected to the power supply and one end of the capacitor C11 at the same time, and the other end of the capacitor C11 is connected to the power supply ground and the No. 19 pin of the single-chip microcomputer U1 whose model is MC9S12ZVL764.

The 18th pin of the MCU U1 whose model is MC9S12ZVL764, the 31st pin of the MCU U1 whose model is MC9S12ZVL764, the 65th pin of the MCU U1 whose model is MC9S12ZVL764 and the 57th pin of the MCU U1 whose model is MC9S12ZVL764 are all connected to the power supply land,

The No. 20 pin of the single-chip microcomputer U1 whose model is MC9S12ZVL764 is connected to one end of the capacitor C12, and the other end of the capacitor C12 is connected to the power ground.

The No. 30 pin of the single-chip microcomputer U1 whose model is MC9S12ZVL764 and the No. 64 pin of the single-chip microcomputer U1 whose model is MC9S12ZVL764 are connected to the power supply,

The No. 63 pin of the single-chip microcomputer U1 whose model is MC9S12ZVL764 is connected to the power ground and one end of the capacitor C2 at the same time, and the other end of the capacitor C2 is connected to the power supply and the No. 62 pin of the single-chip microcomputer U1 whose model is MC9S12ZVL764.

The No. 58 pin of the single-chip microcomputer U1 whose model is MC9S12ZVL764 is connected to one end of the capacitor C3, and the other end of the capacitor C3 is connected to the power ground.

The No. 3 pin of the single-chip microcomputer U1 whose model is MC9S12ZVL764 is connected to the No. 15 pin of the GPS module interface unit 7, the No. 4 pin of the single-chip microcomputer U1 whose model is MC9S12ZVL764 is connected to the No. 14 pin of the GPS module interface unit 7, and the GPS module interface unit No. 19 pins of 7, No. 21 pins of GPS module interface unit 7 and No. 23 pins of GPS module interface unit 7 are all connected to the power supply ground, and No. 25 pins of GPS module interface unit 7 and GPS module interface unit 7 Pin 27 is connected to the power supply,

No. 22 pins of the GPS module interface unit 7 and No. 24 pins of the GPS module interface unit 7 are all connected to the power supply ground,

Both pin 26 of the GPS module interface unit 7 and pin 28 of the GPS module interface unit 7 are connected to the power supply.

Specific embodiment three: This embodiment is described in detail with reference to FIG. 3. This embodiment is a further description of a kind of intelligent transfer vehicle described in specific embodiment one. In this embodiment, the infrared sensor interface unit 3 includes resistors R5, Resistor R6, resistor R14, resistor R15, resistor R16, resistor R17, resistor R18, resistor R19, capacitor C3, capacitor C4 and the first interface terminal XS1,

The first interface terminal XS1 is used to connect the infrared sensor 3,

The No. 21 pin of the single-chip microcomputer U1 whose model is MC9S12ZVL764 is connected to one end of the resistor R19 and one end of the capacitor C4 at the same time, and the other end of the resistor R19 is connected to one end of the resistor R17, one end of the resistor R15, the other end of the capacitor C4 and the power ground. The other end of R15 is simultaneously connected to one end of the resistor R6 and the No. 2 pin of the No. 1 interface terminal XS1,

The No. 3 pin of the No. 1 interface terminal XS1 is connected to one end of the resistor R5 and one end of the resistor R14 at the same time.

The other end of the resistor R5 is connected to the power supply, the other end of the resistor R14 is connected to one end of the resistor R16 and one end of the resistor R18 at the same time, the other end of the resistor R16 is connected to the power ground and one end of the capacitor C3 at the same time, and the other end of the capacitor C3 is connected to the resistor R18 at the same time The other end and the 22nd pin of the single-chip microcomputer U1 whose model is MC9S12ZVL764.

Specific Embodiment 4: This embodiment is specifically described with reference to FIG. 4 . This embodiment is a further description of a kind of intelligent transfer vehicle described in Embodiment 1. In this embodiment, the power module 8 includes a 5V power module 8- 1 and 12V power module 8-2,

The 5V power supply module 8-1 is used to provide a 5V power supply for the microcontroller system 1,

The 12V power supply module 8-2 is used to provide a 12V power supply for the microcontroller system 1,

5V power supply module 8-1 includes diode RD3, step-down switching regulator KU1 of model AE2576-125, capacitor C5, capacitor C14, capacitor C15, capacitor C16, capacitor C22, capacitor C23, capacitor C24 and capacitor C25,

The No. 16 pin of the microcontroller U1 whose model is MC9S12ZVL764 is connected to the anode of the diode RD3, and the cathode of the diode RD3 is connected to one end of the capacitor C5 and the No. 1 pin of the step-down switching regulator KU1 whose model is AE2576-125.

The other end of the capacitor C5 is simultaneously connected to the No. 3 pin of the step-down switching regulator KU1 of the model AE2576-125, one end of the capacitor C14, one end of the capacitor C15, one end of the capacitor C16, one end of the capacitor C22, and one end of the capacitor C23. One end, one end of capacitor C24 and one end of capacitor C25,

The No. 5 pin of the step-down switching regulator KU1 whose model is AE2576-125 is connected to the other end of the capacitor C14, the other end of the capacitor C15, the other end of the capacitor C16, the other end of the capacitor C22, and the other end of the capacitor C23. , the other end of capacitor C24, the other end of capacitor C25 and the power supply,

Pin 0 of the step-down switching regulator KU1, model AE2576-125, is connected to the power ground;

The 12V power supply module 7-2 includes No. 3 interface terminal XS3, resistor R11, resistor R9, resistor R7, resistor R12, resistor R10, resistor R8, bidirectional voltage regulator diode FT1, transformer K1, capacitor C11, diode RD2, capacitor C12, Capacitor C13, zener diode RD4, inductor L1, capacitor C19, capacitor C20, capacitor C21 and low-dropout voltage regulator KU2 whose model is TLE-4275,

The third interface terminal XS3 is used to connect the external power supply,

The No. 16 pin of the single-chip microcomputer U1 whose model is MC9S12ZVL764 is connected with one end of capacitor C21, one end of capacitor C20, one end of capacitor C19, one end of inductor L1 and the No. 4 pin of the low-drop voltage regulator of model TLE-4275 ,

The other end of the inductor L1 is simultaneously connected to the negative pole of the Zener diode RD4 and the No. 2 pin of the low-dropout voltage regulator KU2 of the model TLE-4275,

The other end of the capacitor C21 is simultaneously connected to the other end of the capacitor C20, the other end of the capacitor C19, the anode of the Zener diode RD4, the No. One end of C12, one end of capacitor C11 and one end of the secondary winding of the transformer K1, and the other end of the secondary winding of the transformer K1 is simultaneously connected to one end of the bidirectional voltage regulator diode FT1 and the power ground,

The No. 1 pin of the TLE-4275 low-dropout voltage regulator KU2 is connected to the other end of the capacitor C13, the other end of the capacitor C12 and the cathode of the diode RD2 at the same time.

The anode of the diode RD2 is simultaneously connected to the other end of the capacitor C11 and one end of the primary winding of the transformer K1,

The other end of the primary winding of the transformer K1 is connected to the other end of the bidirectional voltage regulator diode FT1, one end of the resistor R12, one end of the resistor R10 and one end of the resistor R8, and the other end of the resistor R12 is connected to one end of the resistor R11 and the resistor R9 at the same time. One end, one end of resistor R7, the other end of resistor R10 and the other end of resistor R8,

The other end of the resistor R11 is simultaneously connected to the other end of the resistor R9, the other end of the resistor R7 and the No. 1 pin of the third interface terminal XS3, and the No. 2 pin of the third interface terminal XS3 is connected to the power ground.

Embodiment 5: This embodiment will be described in detail with reference to FIG. 5. This embodiment is a further description of the intelligent transfer vehicle described in Embodiment 1. In this embodiment, the radar module interface unit 5 includes interface No. 3 Terminal XS2 and No. 4 interface terminal XS6,

The third interface terminal XS2 and the fourth interface terminal XS6 are both used to connect the radar module 4,

The No. 1 pin of the No. 3 interface terminal XS2 is connected to the power supply,

The No. 4 pin of the No. 3 interface terminal XS2 is connected to the power ground,

The No. 2 pin of the third interface terminal XS2 is connected to the No. 55 pin of the single-chip microcomputer U1 of the model MC9S12ZVL764, and the No. 3 pin of the third interface terminal XS2 is connected to the No. 7 pin of the single-chip microcomputer U1 of the model MC9S12ZVL764.

The No. 1 pin of the No. 4 interface terminal XS6 is connected to the power supply,

The No. 4 pin of the No. 4 interface terminal XS6 is connected to the power ground,

The No. 2 pin of the fourth interface terminal XS6 is connected to the No. 5 pin of the single-chip microcomputer U1 whose model is MC9S12ZVL764,

The No. 2 pin of the No. 4 interface terminal XS6 is connected to the No. 6 pin of the single-chip microcomputer U1 whose model is MC9S12ZVL764.

Specific embodiment six: This embodiment will be described in detail with reference to FIG. row interface EEPROM KU4, resistor R42, resistor R43 and resistor R44,

The No. 60 pin of the single-chip microcomputer U1 whose model is MC9S12ZVL764 is connected to the No. 2 pin of the serial interface electric erasable memory KU4 of the model 24C04, and the No. 59 pin of the single-chip microcomputer U1 whose model is MC9S12ZVL764 is connected to the serial interface of the model 24C04 The No. 3 pin of the EEP memory KU4, the No. 4 pin of the serial interface EEP memory KU4 of model 24C04 is connected to the power ground,

The No. 8 pin of the serial interface EEPROM KU4 of model 24C04 is connected to the power supply, one end of the resistor R42, one end of the resistor R43 and one end of the resistor R44 at the same time.

The other end of the resistor R42 is simultaneously connected to the No. 7 pin of the serial interface EEPROM KU4 of the model 24C04 and the No. 53 pin of the single-chip microcomputer U1 of the model MC9S12ZVL764,

The other end of the resistor R43 is connected to the No. 6 pin of the serial interface EEPROM KU4 of the model 24C04 and the No. 52 pin of the single-chip microcomputer U1 of the model MC9S12ZVL764,

The other end of the resistor R44 is connected to the No. 5 pin of the serial interface EEPROM KU4 whose model is 24C04 and the No. 51 pin of the single-chip microcomputer U1 whose model is MC9S12ZVL764.

Embodiment 7: This embodiment will be described in detail with reference to FIG. 7. This embodiment is a further description of the intelligent transfer vehicle described in Embodiment 1. In this embodiment, the drive motor module 11 includes a resistor R26, a resistor R36, resistor R22, resistor R31, resistor R24, resistor R34, resistor R20, resistor R29, resistor R37, resistor R27, resistor R30, resistor R23, resistor R35, resistor R25, resistor R28, resistor R21, first NMOS transistor Q1, The second NMOS transistor Q2, the third NMOS transistor Q3, the fourth NMOS transistor Q4, the fifth NMOS transistor Q5, the sixth NMOS transistor Q6, the seventh NMOS transistor Q7, the eighth NMOS transistor Q8, the first Zener diode D1, the Second Zener diode D2, Third Zener diode D3, Fourth Zener diode D4, Fifth Zener diode D5, Sixth Zener diode D6, Seventh Zener diode D7, Eighth Zener diode D8, Interface terminal M1 and interface terminal M2,

Both the interface terminal M1 and the interface terminal M2 are used to connect the drive signal input end of the motor 9,

One end of the resistor R26 is connected to pin 48 of the microcontroller U1 of the model MC9S12ZVL764, the other end of the resistor R26 is connected to one end of the resistor R36 and the gate of the seventh NMOS transistor Q7, and the other end of the resistor R36 is connected to the microcontroller of the model MC9S12ZVL764 The No. 29 pin of U1 and the No. 1 interface of the interface terminal M2, the No. 2 interface of the interface terminal M2 are simultaneously connected to one end of the resistor R37 and the No. The gate of the NMOS transistor Q8 and one end of the resistor R27, the other end of the resistor R27 is connected to the 25th pin of the microcontroller U1 of the model MC9S12ZVL764,

The drain of the eighth NMOS transistor Q8 is simultaneously connected to the +12V power supply of the power supply, the drain of the seventh NMOS transistor Q7, the cathode of the seventh zener diode D7, and the cathode of the eighth zener diode D8,

The anode of the seventh Zener diode D7 is connected to the source of the seventh NMOS transistor Q7, the drain of the third NMOS transistor Q3 and the cathode of the third Zener diode D3, and the gate of the third NMOS transistor Q3 is connected to the resistor R22 at the same time. One end and one end of the resistor R31, the other end of the resistor R22 is connected to the 45th pin of the MC9S12ZVL764 chip, and the other end of the resistor R31 is connected to the 43rd pin of the single-chip microcomputer U1 of the MC9S12ZVL764 model, and the third NMOS transistor Q3 source, the anode of the third Zener diode D3 and the power ground,

The source of the eighth NMOS transistor Q8 is connected to the drain of the fourth NMOS transistor Q4 and the cathode of the fourth Zener diode D4 at the same time, and the gate of the fourth NMOS transistor Q4 is connected to one end of the resistor R30 and one end of the resistor R23 at the same time, and the resistor R23 The other end of the resistor R30 is connected to the No. 27 pin of the microcontroller U1 whose model is MC9S12ZVL764, and the other end of the resistor R30 is simultaneously connected to the source of the fourth NMOS transistor Q4, the anode of the fourth Zener diode D4 and the power ground.

One end of the resistor R24 is connected to pin 36 of the single-chip microcomputer U1 of the model MC9S12ZVL764, and the other end of the resistor R24 is connected to one end of the resistor R34 and the gate of the sixth NMOS transistor Q6 at the same time, and the other end of the resistor R34 is connected to the single-chip microcomputer of the model MC9S12ZVL764 at the same time The No. 37 pin of U1 and the No. 1 interface of the interface terminal M1, the No. 2 interface of the interface terminal M1 are simultaneously connected to one end of the resistor R35 and the No. The gate of the NMOS transistor Q5 and one end of the resistor R25, the other end of the resistor R25 is connected to pin 39 of the microcontroller U1 of the model MC9S12ZVL764,

The drain of the fifth NMOS transistor Q5 is simultaneously connected to the +12V power supply of the power supply, the drain of the sixth NMOS transistor Q6, the cathode of the sixth zener diode D6, and the cathode of the fifth zener diode D5,

The anode of the sixth Zener diode D6 is simultaneously connected to the source of the sixth NMOS transistor Q6, the drain of the first NMOS transistor Q1, and the cathode of the first Zener diode D1, and the gate of the first NMOS transistor Q1 is simultaneously connected to the resistor R20. One end and one end of the resistor R29, the other end of the resistor R20 is connected to the No. 33 pin of the single-chip microcomputer U1 of the model MC9S12ZVL764, and the other end of the resistor R29 is connected to the No. 32 pin of the single-chip microcomputer U1 of the model MC9S12ZVL764 and the pin of the first NMOS transistor Q1 The source of the first zener diode D1 and the power ground,

The source of the fifth NMOS transistor Q5 is connected to the drain of the second NMOS transistor Q2 and the cathode of the second Zener diode D2 at the same time, and the gate of the second NMOS transistor Q2 is connected to one end of the resistor R21 and one end of the resistor R28 at the same time, and the resistor R21 The other end of the resistor R28 is connected to pin 42 of the single-chip microcomputer U1 whose model is MC9S12ZVL764, and the other end of the resistor R28 is simultaneously connected to the source of the second NMOS transistor Q2, the anode of the second Zener diode D2 and the power ground.

Embodiment 8: This embodiment will be described in detail with reference to FIG. 8 . This embodiment is a further description of the intelligent transfer vehicle described in Embodiment 1. In this embodiment, the alarm module 10 includes a resistor R2 and a resistor R3 , capacitor C6, transistor KT1, diode RD1, resistor R13 and LED light PS1,

The No. 50 pin of the single-chip microcomputer U1 whose model is MC9S12ZVL764 is connected to one end of the resistor R3, and the other end of the resistor R3 is connected to one end of the resistor R2, the base of the transistor KT1 and one end of the capacitor C6 at the same time.

The collector of the triode KT1 is connected to one end of the LED lamp PS1 and the anode of the diode RD1 at the same time, and the emitter of the triode KT1 is connected to the other end of the capacitor C6, the other end of the resistor R2 and the power ground at the same time.

The cathode of the diode RD1 is simultaneously connected to the other end of the LED lamp PS1 and one end of the resistor R13, and the other end of the resistor R13 is connected to the power supply.

Ninth specific embodiment: This embodiment will be described in detail with reference to FIG. 9. This embodiment is a further description of the intelligent transfer vehicle described in the first specific embodiment.

The switch unit 14 is arranged on the transfer vehicle, and the switch unit 14 is used to drive the drive motor module 11 to work,

The switch unit 14 includes a button S1, a capacitor C1, a capacitor C2 and a resistor R1,

The No. 61 pin of the single-chip microcomputer U1 whose model is MC9S12ZVL764 is connected to one end of the capacitor C2 and one end of the resistor R1 at the same time, and the other end of the capacitor C2 is connected to the power ground, one end of the capacitor C1 and one end of the button S1 at the same time.

The other end of the button S1 is simultaneously connected to the other end of the resistor R1 and the other end of the capacitor C1.

Embodiment 10: A transportation method realized by an intelligent transfer vehicle described in Embodiment 1, which includes the following steps:

Step 1. The workpiece is placed on the transfer vehicle. After stabilization, the weight of the workpiece is measured by the single-chip microcomputer system 1. When the weight of the workpiece reaches the threshold set by the single-chip computer system 1, the transfer vehicle runs automatically. During the operation, the GPS module 6 real-time Locate the position information of the transfer vehicle, and at the same time, the radar module 4 scans whether there is an obstacle ahead in real time, if yes, then perform step 2, if not, then perform step 3;

Step 2, the single-chip microcomputer system 1 adjusts the movement direction of the transfer vehicle, and actively avoids obstacles. If the obstacle cannot be avoided, the alarm module 5 will give an alarm and perform step 3;

Step 3: The infrared sensor 2 senses the delivery position of the transfer vehicle, and transports the workpiece on the transfer vehicle to the designated position.

In this embodiment, the workpiece is placed on the transfer car. After stabilization, the weight is measured to obtain the weight value. When the set threshold is reached, the car automatically runs to the designated position. During the operation, the radar scans in real time whether there are obstacles ahead and whether to avoid it. When running to the designated position, since the GPS accuracy cannot reach the millimeter level, infrared positioning is adopted at this time. An infrared sensor is placed at the designated position, and it is completed together with the ranging radar and the control software to reach the designated position. to millimeter accuracy. The control part uses an external battery for power supply, and two-way PWM controls the motor to realize forward and backward, left and right steering.

Claims (9)

1. An intelligent transfer vehicle, which comprises a single-chip microcomputer system (1), an infrared sensor (2), an infrared sensor interface unit (3), a radar module (4), a radar interface unit (5), a GPS module (6), GPS module interface unit (7), power supply module (8), storage module (9), alarm module (10), driving motor module (11) and motor (12), The front end of the transfer vehicle is provided with a radar module (4) and a radar interface unit (5), a single-chip microcomputer system (1), a GPS module (6), a GPS module interface unit (7), an infrared sensor (2), and an infrared sensor interface unit (3), alarm module (10), storage module (9), power supply module (8), driving motor module (11) and motor (12) are all arranged on the transfer vehicle, The positioning signal input/output end of the single-chip microcomputer system (1) is connected to the positioning signal output/input end of the GPS module interface unit (7), and the GPS module interface unit (7) is used to connect the GPS module (6), The infrared signal input/output end of the single-chip microcomputer system (1) is connected to the infrared signal output/input end of the infrared sensor interface unit (3), and the infrared sensor interface unit (3) is used to connect the infrared sensor (2), The radar signal input/output end of the single-chip microcomputer system (1) is connected to the radar signal output/input end of the radar interface unit (5), and the radar interface unit (5) is used to connect the radar module (4), The alarm signal output end of the single-chip microcomputer system (1) is connected with the alarm signal input end of the alarm module (10), The storage signal output end of the single-chip microcomputer system (1) is connected to the storage signal input end of the storage module (9), The power signal input end of the single-chip microcomputer system (1) is connected to the power signal output end of the power supply module (8), The processing signal output end of the single-chip microcomputer system (1) is connected to the processing signal input end of the drive motor module (11), The drive signal output end of the drive motor module (11) is connected to the drive signal input end of the motor (12), The drive signal output end of the motor (12) is connected to the drive signal input end of the transfer vehicle wheel (13); It is characterized in that, Infrared sensor interface unit (3) comprises resistor R5, resistor R6, resistor R14, resistor R15, resistor R16, resistor R17, resistor R18, resistor R19, capacitor C3, capacitor C4 and No. 1 interface terminal (XS1), The first interface terminal (XS1) is used to connect the infrared sensor (3), The No. 21 pin of the single-chip microcomputer (U1) of model MC9S12ZVL764 is connected to one end of the resistor R19 and one end of the capacitor C4 at the same time, and the other end of the resistor R19 is connected to one end of the resistor R17, one end of the resistor R15, the other end of the capacitor C4 and the power ground , the other end of the resistor R15 is simultaneously connected to one end of the resistor R6 and the No. 2 pin of the No. 1 interface terminal (XS1), The No. 3 pin of the No. 1 interface terminal (XS1) is connected to one end of the resistor R5 and one end of the resistor R14 at the same time, The other end of the resistor R5 is connected to the power supply, the other end of the resistor R14 is connected to one end of the resistor R16 and one end of the resistor R18 at the same time, the other end of the resistor R16 is connected to the power ground and one end of the capacitor C3 at the same time, and the other end of the capacitor C3 is connected to the resistor R18 at the same time The other end and the 22nd pin of the single-chip microcomputer (U1) whose model is MC9S12ZVL764. 2. A kind of intelligent transfer vehicle according to claim 1, characterized in that the single-chip system (1) comprises a single-chip microcomputer (U1) whose model is MC9S12ZVL764, capacitor C2, capacitor C3, capacitor C11 and capacitor C12, The No. 17 pin of the single-chip microcomputer (U1) whose model is MC9S12ZVL764 is connected to the power supply and one end of the capacitor C11 at the same time, and the other end of the capacitor C11 is connected to the power supply ground and the No. 19 pin of the single-chip microcomputer (U1) whose model is MC9S12ZVL764. Pin No. 18 of the single-chip microcomputer (U1) whose model is MC9S12ZVL764, pin No. 31 of the single-chip microcomputer (U1) whose model is MC9S12ZVL764, pin No. 65 of the single-chip microcomputer (U1) whose model is MC9S12ZVL764, and single-chip microcomputer (U1) whose model is MC9S12ZVL764 The 57 pins are connected to the power ground, The No. 20 pin of the microcontroller (U1) of model MC9S12ZVL764 is connected to one end of the capacitor C12, and the other end of the capacitor C12 is connected to the power ground. The No. 30 pin of the single-chip microcomputer (U1) whose model is MC9S12ZVL764 and the No. 64 pin of the single-chip microcomputer (U1) of the MC9S12ZVL764 are connected to the power supply, The No. 63 pin of the single-chip microcomputer (U1) whose model is MC9S12ZVL764 is connected to the power ground and one end of the capacitor C2 at the same time, and the other end of the capacitor C2 is connected to the power supply and the No. 62 pin of the single-chip microcomputer (U1) whose model is MC9S12ZVL764. The No. 58 pin of the single-chip microcomputer (U1) whose model is MC9S12ZVL764 is connected to one end of the capacitor C3, and the other end of the capacitor C3 is connected to the power ground. The No. 3 pin of the single-chip microcomputer (U1) that the model is MC9S12ZVL764 connects the No. 15 pin of the GPS module interface unit (7), and the No. 4 pin of the single-chip microcomputer (U1) that the model is MC9S12ZVL764 connects the No. 14 pin of the GPS module interface unit (7). Pin No. 19 of the GPS module interface unit (7), No. 21 pins of the GPS module interface unit (7) and No. 23 pins of the GPS module interface unit (7) are all connected to the power ground, and the GPS module interface No. 25 pins of unit (7) and No. 27 pins of GPS module interface unit (7) are all connected to power supply, No. 22 pins of the GPS module interface unit (7) and No. 24 pins of the GPS module interface unit (7) are all connected to the power supply ground, No. 26 pins of the GPS module interface unit (7) and No. 28 pins of the GPS module interface unit (7) are connected to the power supply. 3. A kind of intelligent transfer vehicle according to claim 1, characterized in that the power supply module (8) comprises a 5V power supply module (8-1) and a 12V power supply module (8-2), 5V power supply module (8-1), is used for providing the power supply of 5V for single-chip microcomputer system (1), 12V power supply module (8-2), is used for providing the power supply of 12V for single-chip microcomputer system (1), The 5V power supply module (8-1) includes a diode (RD3), a step-down switching regulator (KU1) of type AE2576-125, a capacitor C5, a capacitor C14, a capacitor C15, a capacitor C16, a capacitor C22, a capacitor C23, and a capacitor C24 and capacitor C25, The No. 16 pin of the microcontroller (U1) of model MC9S12ZVL764 is connected to the anode of the diode (RD3), and the cathode of the diode (RD3) is connected to one end of the capacitor C5 and the step-down switching regulator (KU1) of the model AE2576-125 pin 1 of the The other end of the capacitor C5 is simultaneously connected to the No. 3 pin of the step-down switching regulator (KU1) of the model AE2576-125, one end of the capacitor C14, one end of the capacitor C15, one end of the capacitor C16, one end of the capacitor C22, and the capacitor One end of C23, one end of capacitor C24 and one end of capacitor C25, The No. 5 pin of the step-down switching regulator (KU1) of the model AE2576-125 is connected to the other end of the capacitor C14, the other end of the capacitor C15, the other end of the capacitor C16, the other end of the capacitor C22, and the other end of the capacitor C23. The other end, the other end of the capacitor C24, the other end of the capacitor C25 and the power supply, Pin 0 of the step-down switching regulator (KU1) of model AE2576-125 is connected to the power ground; 12V power supply module (7-2) includes No. 3 interface terminal (XS3), resistor R11, resistor R9, resistor R7, resistor R12, resistor R10, resistor R8, bidirectional voltage regulator diode (FT1), transformer (K1), capacitor C11, Diode (RD2), Capacitor C12, Capacitor C13, Zener Diode (RD4), Inductor L1, Capacitor C19, Capacitor C20, Capacitor C21 and Low Dropout Voltage Regulator (KU2) Model TLE-4275, No. 3 interface terminal (XS3), used to connect external power supply, The No. 16 pin of the single-chip microcomputer (U1) whose model is MC9S12ZVL764 is connected to one end of capacitor C21, one end of capacitor C20, one end of capacitor C19, one end of inductor L1 and No. 4 of the low-dropout voltage regulator of model TLE-4275 pin, The other end of the inductor L1 is simultaneously connected to the negative pole of the Zener diode (RD4) and the No. 2 pin of the low-dropout voltage regulator (KU2) of the model TLE-4275, The other end of capacitor C21 is simultaneously connected to the other end of capacitor C20, the other end of capacitor C19, the anode of Zener diode (RD4), the No. 5 pin of TLE-4275 low-dropout voltage regulator, and one end of capacitor C13 , one end of the capacitor C12, one end of the capacitor C11 and one end of the secondary winding of the transformer (K1), and the other end of the secondary winding of the transformer (K1) is simultaneously connected to one end of the bidirectional voltage regulator diode (FT1) and the power ground, The No. 1 pin of the low-dropout voltage regulator (KU2) of the model TLE-4275 is connected to the other end of the capacitor C13, the other end of the capacitor C12 and the cathode of the diode (RD2). The anode of the diode (RD2) is simultaneously connected to the other end of the capacitor C11 and one end of the primary winding of the transformer (K1), The other end of the primary winding of the transformer (K1) is connected to the other end of the bidirectional voltage regulator diode (FT1), one end of the resistor R12, one end of the resistor R10 and one end of the resistor R8, and the other end of the resistor R12 is connected to one end of the resistor R11 at the same time , one end of resistor R9, one end of resistor R7, the other end of resistor R10 and the other end of resistor R8, The other end of the resistor R11 is simultaneously connected to the other end of the resistor R9, the other end of the resistor R7 and the No. 1 pin of the third interface terminal (XS3), and the No. 2 pin of the third interface terminal (XS3) is connected to the power ground. 4. A kind of intelligent transfer vehicle according to claim 1, characterized in that the radar module interface unit (5) includes a third interface terminal (XS2) and a fourth interface terminal (XS6), The third interface terminal (XS2) and the fourth interface terminal (XS6) are both used to connect the radar module (4), The No. 1 pin of the No. 3 interface terminal (XS2) is connected to the power supply, The No. 4 pin of the No. 3 interface terminal (XS2) is connected to the power ground, The No. 2 pin of the third interface terminal (XS2) is connected to the No. 55 pin of the single-chip microcomputer (U1) whose model is MC9S12ZVL764, and the No. 3 pin of the third interface terminal (XS2) is connected to the No. 7 pin of the single-chip microcomputer (U1) of the No. number pin, The No. 1 pin of the No. 4 interface terminal (XS6) is connected to the power supply, The 4th pin of the 4th interface terminal (XS6) is connected to the power ground, The No. 2 pin of the No. 4 interface terminal (XS6) is connected to the No. 5 pin of the single-chip microcomputer (U1) whose model is MC9S12ZVL764, The No. 2 pin of the No. 4 interface terminal (XS6) is connected to the No. 6 pin of the single-chip microcomputer (U1) whose model is MC9S12ZVL764. 5. A kind of intelligent transfer vehicle according to claim 1, characterized in that, the storage module (9) includes a serial interface electric erasable memory (KU4) whose model is 24C04, resistor R42, resistor R43 and resistor R44 , The No. 60 pin of the single-chip microcomputer (U1) whose model is MC9S12ZVL764 is connected to the No. 2 pin of the serial interface EEPROM (KU4) of the model 24C04, and the No. 59 pin of the single-chip microcomputer (U1) whose model is MC9S12ZVL764 is connected to the model It is the No. 3 pin of the serial interface EEP memory (KU4) of 24C04, and the No. 4 pin of the serial interface EEP memory (KU4) of the model 24C04 is connected to the power ground, The No. 8 pin of the serial interface EEPROM (KU4) of the model 24C04 is connected to the power supply, one end of the resistor R42, one end of the resistor R43 and one end of the resistor R44 at the same time. The other end of the resistor R42 is simultaneously connected to the No. 7 pin of the serial interface EEPROM (KU4) of the model 24C04 and the No. 53 pin of the single-chip microcomputer (U1) of the model MC9S12ZVL764, The other end of the resistor R43 is connected to the No. 6 pin of the serial interface EEPROM (KU4) of the model 24C04 and the No. 52 pin of the single-chip microcomputer (U1) of the model MC9S12ZVL764, The other end of the resistor R44 is connected to the No. 5 pin of the serial interface EEPROM (KU4) whose model is 24C04 and the No. 51 pin of the single-chip microcomputer (U1) whose model is MC9S12ZVL764. 6. An intelligent transfer vehicle according to claim 1, characterized in that the drive motor module (11) includes resistors R26, R36, R22, R31, R24, R34, R20, R29 , resistor R37, resistor R27, resistor R30, resistor R23, resistor R35, resistor R25, resistor R28, resistor R21, the first NMOS transistor (Q1), the second NMOS transistor (Q2), the third NMOS transistor (Q3), the first Four NMOS transistors (Q4), fifth NMOS transistors (Q5), sixth NMOS transistors (Q6), seventh NMOS transistors (Q7), eighth NMOS transistors (Q8), first Zener diodes (D1), second The Zener diode (D2), the third Zener diode (D3), the fourth Zener diode (D4), the fifth Zener diode (D5), the sixth Zener diode (D6), the seventh Zener diode (D7 ), the eighth Zener diode (D8), the interface terminal M1 and the interface terminal M2, Both the interface terminal M1 and the interface terminal M2 are used to connect the drive signal input end of the motor (9), One end of the resistor R26 is connected to pin 48 of the microcontroller (U1) of the model MC9S12ZVL764, the other end of the resistor R26 is connected to one end of the resistor R36 and the gate of the seventh NMOS transistor (Q7), and the other end of the resistor R36 is connected to the model The No. 29 pin of the single-chip microcomputer (U1) of MC9S12ZVL764 and the No. 1 interface of the interface terminal M2, and the No. 2 interface of the interface terminal M2 are simultaneously connected to one end of the resistor R37 and the No. 26 pin of the single-chip microcomputer (U1) of the model MC9S12ZVL764, and the resistance The other end of R37 is connected to the gate of the eighth NMOS transistor (Q8) and one end of resistor R27 at the same time, and the other end of resistor R27 is connected to the No. 25 pin of the single-chip microcomputer (U1) whose model is MC9S12ZVL764, The drain of the eighth NMOS transistor (Q8) is simultaneously connected to the +12V power supply of the power supply, the drain of the seventh NMOS transistor (Q7), the cathode of the seventh zener diode (D7) and the eighth zener diode (D8) negative electrode, The anode of the seventh zener diode (D7) is simultaneously connected to the source of the seventh NMOS transistor (Q7), the drain of the third NMOS transistor (Q3) and the cathode of the third zener diode (D3), and the third NMOS transistor ( The gate of Q3) is connected to one end of the resistor R22 and one end of the resistor R31 at the same time, the other end of the resistor R22 is connected to the 45th pin of the MC9S12ZVL764 chip, and the other end of the resistor R31 is connected to the single chip microcomputer (U1) of the model MC9S12ZVL764 Pin 43, the source of the third NMOS transistor (Q3), the anode of the third Zener diode (D3) and the power ground, The source of the eighth NMOS transistor (Q8) is simultaneously connected to the drain of the fourth NMOS transistor (Q4) and the cathode of the fourth Zener diode (D4), and the gate of the fourth NMOS transistor (Q4) is simultaneously connected to one end of the resistor R30 and one end of the resistor R23, the other end of the resistor R23 is connected to the No. 27 pin of the microcontroller (U1) whose model is MC9S12ZVL764, and the other end of the resistor R30 is connected to the source of the fourth NMOS transistor (Q4) and the fourth Zener diode ( D4) positive pole and power ground, One end of the resistor R24 is connected to pin 36 of the microcontroller (U1) of the model MC9S12ZVL764, the other end of the resistor R24 is connected to one end of the resistor R34 and the gate of the sixth NMOS transistor (Q6), and the other end of the resistor R34 is connected to the model The No. 37 pin of the single-chip microcomputer (U1) of MC9S12ZVL764 and the No. 1 interface of the interface terminal M1, and the No. 2 interface of the interface terminal M1 are simultaneously connected to one end of the resistor R35 and the No. 38 pin of the single-chip microcomputer (U1) of the model MC9S12ZVL764, and the resistance The other end of R35 is connected to the gate of the fifth NMOS transistor (Q5) and one end of resistor R25 at the same time, and the other end of resistor R25 is connected to pin 39 of the single-chip microcomputer (U1) whose model is MC9S12ZVL764. The drain of the fifth NMOS transistor (Q5) is simultaneously connected to the +12V power supply of the power supply, the drain of the sixth NMOS transistor (Q6), the cathode of the sixth zener diode (D6) and the fifth zener diode (D5) negative electrode, The anode of the sixth zener diode (D6) is simultaneously connected to the source of the sixth NMOS transistor (Q6), the drain of the first NMOS transistor (Q1) and the cathode of the first zener diode (D1), and the first NMOS transistor ( The gate of Q1) is connected to one end of resistor R20 and one end of resistor R29 at the same time, the other end of resistor R20 is connected to pin 33 of the single-chip microcomputer (U1) of model MC9S12ZVL764, and the other end of resistor R29 is connected to the single-chip microcomputer of model MC9S12ZVL764 ( pin 32 of U1), the source of the first NMOS transistor (Q1), the anode of the first Zener diode (D1) and the power ground, The source of the fifth NMOS transistor (Q5) is simultaneously connected to the drain of the second NMOS transistor (Q2) and the cathode of the second Zener diode (D2), and the gate of the second NMOS transistor (Q2) is simultaneously connected to one end of the resistor R21 and one end of the resistor R28, the other end of the resistor R21 is connected to the No. 42 pin of the single-chip microcomputer (U1) whose model is MC9S12ZVL764, and the other end of the resistor R28 is connected to the source of the second NMOS transistor (Q2) and the second Zener diode ( D2) positive pole and power ground. 7. A kind of intelligent transfer vehicle according to claim 1, characterized in that the alarm module (10) includes a resistor R2, a resistor R3, a capacitor C6, a triode KT1, a diode RD1, a resistor R13 and an LED lamp (PS1), The No. 50 pin of the single-chip microcomputer (U1) whose model is MC9S12ZVL764 is connected to one end of the resistor R3, and the other end of the resistor R3 is connected to one end of the resistor R2, the base of the transistor KT1 and one end of the capacitor C6 at the same time. The collector of the triode KT1 is connected to one end of the LED lamp (PS1) and the anode of the diode RD1 at the same time, and the emitter of the triode KT1 is connected to the other end of the capacitor C6, the other end of the resistor R2 and the power ground at the same time. The cathode of the diode RD1 is simultaneously connected to the other end of the LED lamp (PS1) and one end of the resistor R13, and the other end of the resistor R13 is connected to the power supply. 8. A kind of intelligent transfer vehicle according to claim 1, characterized in that it also comprises a switch unit (14), The switch unit (14) is arranged on the transfer vehicle, and the switch unit (14) is used to drive the drive motor module (11) to work, The switch unit (14) includes a button S1, a capacitor C1, a capacitor C2 and a resistor R1, The No. 61 pin of the single-chip microcomputer (U1) whose model is MC9S12ZVL764 is connected to one end of the capacitor C2 and one end of the resistor R1 at the same time, and the other end of the capacitor C2 is connected to the power ground, one end of the capacitor C1 and one end of the button S1 at the same time. The other end of the button S1 is simultaneously connected to the other end of the resistor R1 and the other end of the capacitor C1. 9. The delivery method realized by a kind of intelligent transfer vehicle according to claim 1, characterized in that it comprises the following steps: Step 1. The workpiece is placed on the transfer vehicle. After stabilization, the weight of the workpiece is measured by the single-chip microcomputer system (1). When the weight of the workpiece reaches the threshold set by the single-chip computer system (1), the transfer vehicle runs automatically. During the operation The GPS module (6) locates the position information of the transfer vehicle in real time, and simultaneously the radar module (4) scans whether there is an obstacle ahead in real time, if yes, then execute step two, if not, then execute step three; Step 2, the single-chip microcomputer system (1) adjusts the movement direction of the transfer vehicle, and actively avoids obstacles. If the obstacle cannot be avoided, the alarm module (5) will report to the police and perform step 3; Step 3: The infrared sensor (2) senses the delivery position of the transfer vehicle, and transports the workpiece on the transfer vehicle to the designated position.