CN106185151A - A kind of intelligent warehousing system - Google Patents

Abstract

The present invention provides an intelligent storage system, which includes a plurality of rotating shelves, an intelligent obstacle-tracking vehicle, a central processing unit, and an LED lamp group. The system adopts a three-dimensional rotating shelf, which greatly improves the storage space of the goods, intelligently controls the operation of the shelf, and facilitates stock picking. The barrier car is positioned more accurately, and a position sensor is set on the robotic arm so that the robotic arm can more accurately correspond to the edge of the cargo. The system is capable of remote remote control and automatic intelligent operation, as well as wireless video surveillance, making automatic cargo handling more intelligent, safe and convenient.

Description

An intelligent storage system

technical field

The invention relates to the field of logistics storage, in particular to an automatic control logistics storage system.

Background technique

In the storage system in the prior art, ordinary shelves are bulky, and the height and dimension of the shelf design are fixed, and there are many unreasonable and inhumane features. The goods are stored on ordinary shelves, and the goods are placed in a disorderly manner. The logistics personnel must search for the goods on the shelves many times when they choose to carry them, which requires a lot of energy for the staff. For the shelves used in large and medium-sized logistics transfer stations, the upper layer of goods needs to be picked up by ladders, which is prone to safety accidents and causes more hidden dangers. Its two is not convenient for the operation of the staff. Waste a lot of time and manpower. The goods on the lower floor need the courier workers to bend down to pick and carry them, which causes a lot of inconvenience and troubles for the courier staff, and virtually increases the labor load and labor cost. The overall warehousing system management is not systematic and intelligent enough, and some automated control warehousing systems are not perfect in the convenience of operation and the fineness of control.

Contents of the invention

In order to improve the modern logistics storage system, the present invention proposes an automatic control logistics storage system with lower manual participation, finer control and more convenient operation. The present invention specifically adopts the following technical solutions:

The storage system includes: a plurality of rotating shelves, each of which includes a first vertical stand and a second vertical stand; The first circular guide rail and the second circular guide rail on the stand; drive chains are respectively arranged on the first circular guide rail and the second circular guide rail, and the first vertical stand and the second vertical stand A plurality of loading platforms are arranged between the racks, and the two ends of each loading platform are provided with support frames for fixedly connecting the transmission chain, and the transmission chain is connected with a gear set; it also includes a driving motor, and the driving motor By driving the gear set to rotate and then drive the transmission chain to move, so as to realize the vertical reciprocation of multiple loading platforms between the first vertical stand and the second vertical stand along the first circular guide rail and the second circular guide rail Movement; it also includes a shelf control unit, which is equipped with a wireless communication module for receiving instructions and controlling the operation of the drive motor;

Intelligent tracking obstacle-blocking vehicle, its front is equipped with obstacle detection sensor, light sensor and camera, the body is equipped with accommodating frame, the inside of the car body is equipped with battery, starting motor, steering motor, single-chip microcomputer, charging interface, charging protection device, wireless signal Receiving module, wireless video sending module, image processing module; the left and right sides of the car body are respectively equipped with retractable left and right mechanical arms, and the left and right mechanical arms are respectively equipped with position sensors for detecting the edge position of goods , the left mechanical arm and the right mechanical arm are used to grab the left and right sides of the goods respectively, and there are telescopic motors inside the car body to control the expansion and contraction of the left and right mechanical arms;

The identification image is set at the bottom of each rotating shelf close to the pick-up area. The identification image includes a black rectangular area, and two groups of white squares of different sizes are placed inside this area, including 3 large squares and 6 small squares , 3 large squares are located at the three corners of the rectangular area, one small square is located at the center of the black rectangular area, the other small square is located at the remaining corner of the rectangular area, and the rest of the small squares are located at the center of the black rectangular area. Around the small square, all the big and small squares have no overlap with each other;

The central processing unit has a wireless communication module, a display module, and a storage module inside, and it communicates wirelessly with the shelf control unit and the intelligent tracking obstacle vehicle, and can transmit control instructions to the shelf control unit and the intelligent tracking obstacle vehicle, The storage module stores each preset route from the starting point of the intelligent tracking obstacle vehicle to the pick-up place of each shelf, and each route has no repeated parts;

The LED lamp groups are evenly arranged on each preset circuit, and the central processing unit controls the LED lamp groups to be turned on or off.

Preferably, when there are goods that need to be picked up, the central processing unit sends a pick-up instruction to the shelf control unit of the shelf to be picked up through the wireless communication module, and the shelf control unit controls the operation of the drive motor to make the loading platform of the goods to be picked up Run to pickup.

Preferably, when there are goods that need to be picked up, the central processing unit controls the LED light group along the way from the starting point of the intelligent tracking obstacle vehicle to the shelf pick-up place to be picked up, and keeps the starting point of the intelligent tracking obstacle vehicle The LED lights along the way to the rest of the pick-up areas that do not require pick-up shelves are turned off.

Preferably, after the LED light group is lit, the central processing unit sends a starting command to the intelligent tracking obstacle vehicle through the wireless communication module, and after the wireless signal receiving module of the intelligent tracking obstacle vehicle receives the starting instruction, the wireless signal The receiving module converts the starting command into an electrical signal and transmits it to the single-chip microcomputer, and the single-chip microcomputer controls the starting of each component in the vehicle.

Preferably, the starter motor of the intelligent tracking obstacle vehicle drives the wheels to rotate, the light sensor senses the light emitted by the LED light group, and the intelligent tracking obstacle vehicle arrives at the target pick-up place along the light path illuminated by the LED light group.

Preferably, when the obstacle detection sensor detects an obstacle in front of the vehicle, the single-chip microcomputer controls the starter motor to stop, and takes a front image through the camera, and then sends the captured front image to the central processing unit through the wireless video transmission module, and the central processing unit will The front image is displayed on the display module, and the staff performs corresponding obstacle removal according to the image situation of the display module.

Preferably, after the intelligent tracking obstacle vehicle arrives at the target pick-up place, the camera is started, and the camera transmits the shooting data to the image processing unit, and when the image processing unit detects that the identification image exists in the shooting data, the single-chip computer calculates the intelligent tracking The horizontal position deviation between the barrier vehicle and the recognition image is controlled, and the start motor is controlled according to the horizontal position deviation to drive the intelligent tracking barrier vehicle to move, and the vehicle stops when the horizontal position deviation is zero.

Preferably, after the intelligent tracking obstacle vehicle stops, the position sensors on the left mechanical arm and the right mechanical arm respectively detect the edges on both sides of the goods, and when the positions of the edges on both sides of the goods are confirmed, the single-chip microcomputer controls the operation of the telescopic motor, so that The left mechanical arm and the right mechanical arm stretch to the edges on both sides of the goods and grasp the edges on both sides, and then the single-chip microcomputer controls the left mechanical arm and the right mechanical arm to put the goods into the storage box.

Preferably, the method for the image processing unit to detect whether there is an identification image in the photographed data is as follows: first, carry out external contour recognition on the photographed data, and judge whether there is a quadrilateral area; If there is a quadrilateral area with 9 inner contours, it is determined that the identification image exists.

Preferably, when the battery reaches a saturated state during charging, the single-chip microcomputer controls the charging protection device to cut off the charging circuit.

The present invention has following beneficial effects:

(1) The three-dimensional rotating shelf is adopted, which greatly improves the storage space of goods, intelligently controls the operation of the shelf, and facilitates the retrieval of goods from stock.

(2) Use LED lights to navigate the intelligent tracking obstacle vehicle, and then use the recognition image to more accurately position the intelligent tracking obstacle vehicle, and install a position sensor on the robotic arm so that the robotic arm can more accurately correspond to the edge of the cargo .

(3) The system is capable of remote remote control and automatic intelligent operation, as well as wireless video surveillance, making it more intelligent, safe and convenient to automatically carry goods.

Description of drawings

Fig. 1 is a schematic diagram of the shelf structure of the present invention.

Fig. 2 is a structural schematic diagram of the intelligent tracking obstacle avoidance vehicle of the present invention.

Figure 3 is a guide map for picking up goods for an intelligent tracking and obstacle avoidance vehicle.

Figure 4 is a flow chart of image recognition analysis.

detailed description

As shown in Figure 1, the rotating shelf comprises a first vertical stand 1 and a second vertical stand 2; also includes ring guide rails 4 which are respectively arranged on the first vertical stand and the second vertical stand; There is a transmission chain on the guide rail. The chain is composed of a chain piece, a chain frame, a gasket, a roller, and a chain cap. The chain frame: the chain frame is fixed with the chain piece. There are 3 holes on the gasket, and the holes in the center are connected in pairs symmetrically. shelves. A steel connecting rod is added in the middle to fix the two symmetrical chain frames. Make the shelves hang and secure. Spacers: Protect and fasten the entire ring outer chain. Roller: rolling on the entire circular guide rail after being fixed by spacers.

A plurality of loading platforms 3 are arranged between the first vertical stand 1 and the second vertical stand 2 , and each loading platform 3 is connected to the transmission chain by a support frame 5 . The transmission chain is connected with a gear set; the gears are divided into main gears and auxiliary gears: main gear: connected with the auxiliary gears in the lower part on the same circular shaft. Pinion gear: divided into upper and lower parts, consisting of pinion gears, every two pinion gears are connected and fixed with steel round shafts. The upper and lower parts are connected by chains to realize transmission.

It also includes a drive motor, the drive motor drives the transmission chain to move by driving the gear set to rotate, so as to realize the movement of multiple loading platforms along the circular guide rail between the first vertical stand and the second vertical stand Vertical reciprocating motion; also includes a shelf control unit, which is equipped with a wireless communication module for receiving instructions and controlling the operation of the drive motor. The motor used in the shelf model is an electric variable speed motor commonly used in the market. The ideal physical motor is a safe, high-power variable AC motor. The motor is placed on the outside of the rack and connected to the converter. As the power source of the whole system. The motor transmits power to the chain through the gear, and the chain drives the rack to rotate.

As shown in Figure 2, the front of the intelligent tracking obstacle-blocking car is provided with an obstacle detection sensor 9, an optical sensor 11 and a camera 10, and the vehicle body is provided with an accommodation frame 8, and the interior of the vehicle body is provided with a storage battery, a starter motor, a steering motor, a single-chip microcomputer, Charging interface, charging protection device, wireless signal receiving module, wireless video sending module, image processing module, the internal circuit is composed of control circuit, power supply and charging management circuit, light source detection and tracking circuit, infrared barrier circuit and motor drive circuit. The system control circuit uses ARM as the main control unit, which is responsible for the resource allocation of the entire circuit and the collection, analysis and processing of each circuit signal. Equipped with external crystal oscillator and buzzer. At the same time, a port for function expansion is also configured.

ARM reset circuit and capacitor decoupling circuit. The reset circuit is RC reset, that is, the CPU will be reset once when it is powered on. The decoupling capacitors all use ceramic chip capacitors, which have good decoupling effect and improve the anti-interference ability of ARM.

Design of power supply and charging management unit: The power supply and charging management unit integrates battery charging, voltage boosting and external power input. Charging part: It can intelligently identify the battery voltage and adjust the appropriate current to charge the battery, and stop charging when the battery is fully charged (4.2V). Boosting part: It can boost the output voltage of the battery to a constant 5 volt voltage for use by the device. The boost efficiency reaches over 90%. In addition, the circuit can intelligently and seamlessly switch the voltage of the battery or external power.

After the car is powered, it detects the light emitted by the LED on the ground, converts it into an electrical signal through the light sensor 11, transmits it to the single-chip microcomputer, and then processes it by the single-chip microcomputer, and finally completes the tracking function.

When the obstacle detection sensor 9 detects that there is an obstacle in front of the car, the single-chip microcomputer controls the starting motor to stop, and the front image is taken by the camera 10, and then the front image of the shooting is sent to the central processing unit through the wireless video transmission module, and the central processing unit sends the front image to the central processing unit. The display module shows that the staff performs corresponding obstacle removal according to the image situation of the display module.

The motor drive circuit mainly uses the chip L293 to directly drive the motor. L293 is a monolithic integrated circuit high voltage, high current, four-channel driver, its rated operating current is 1A, and the maximum can reach 1.5A. The motor can be directly controlled without isolation circuit. L293 receives instructions from ARM to directly control the working state of the motor. The motor can be operated forward, reverse, and stopped, which is very simple.

The left and right sides of the car body are respectively provided with retractable left and right mechanical arms 6, and the left mechanical arm and the right mechanical arm are respectively provided with position sensors 7 for detecting the edge position of the goods. Take the left and right edges of the cargo, and the interior of the car body is equipped with telescopic motors for controlling the telescopic movement of the left and right mechanical arms. The main work of the mechanical arm 6 is to grab the goods on the designated shelf and put them on the trolley according to the instructions received, or grab the goods from the trolley and put them on the designated shelf. This robotic arm uses a 32-way servo servo controller and an embedded main control unit as the control system. Each joint can move within a specified range. By sending action instructions to the embedded main control unit, the servo steering gear can be controlled. The controller sends control command signals, so as to realize the precise operation of the robotic arm in the space. Now the robotic arm is placed in the warehouse and express delivery industry, which can replace manual labor to complete some fast, frequent, and mechanized actions. Greatly improve work efficiency and save labor costs. Control instructions can be modified in real time to precisely complete each task.

The identification image is set at the bottom of each rotating shelf close to the pick-up area. The identification image includes a black rectangular area, and two groups of white squares of different sizes are placed inside this area, including 3 large squares and 6 small squares , 3 large squares are distributed in the three corners of the black rectangular area, and the center points of the squares are marked as M1, M2, and M3 respectively. A small square is located in the remaining corner of the black area and its center point is marked as m2. The square is located in the center of the black rectangular area and its center point is marked as m1, and the remaining four small squares are arranged symmetrically around m1, the connection line between M2 and M3 and the connection line between M1 and m2 all pass through m1, and the nine squares do not overlap each other Part, as shown in Figure 4(a).

The central processing unit has a wireless communication module, a display module, and a storage module inside, and it communicates wirelessly with the shelf control unit and the intelligent tracking obstacle vehicle, and can transmit control instructions to the shelf control unit and the intelligent tracking obstacle vehicle, The storage module stores each preset route from the starting point of the intelligent tracking obstacle vehicle to the pick-up place of each shelf, and each route has no repeated parts;

The main function of the LED component is to complete the ground LED path indication function. If the goods to be picked up are stored on the No. 2 shelf, the central control unit controls the LED component to light up the LED lights on the route from the smart car to the No. 2 shelf, as shown in Figure 3.

After the intelligent obstacle-tracking vehicle arrives at the target pick-up place, the camera is started, and the camera transmits the shooting data to the image processing unit, and the image processing unit detects whether the recognition image exists in the shooting data. The method is: first, the shooting data is externally Contour recognition, judging whether there is a quadrilateral area, if so, then performing internal contour recognition on all quadrilateral areas, and further judging whether there is a quadrilateral area with 9 internal contours, and if so, determining the existence of the identified image. The single-chip computer calculates the horizontal position deviation between the intelligent tracking obstacle vehicle and the recognition image, and the calculation method is to first determine 3 positioning points , , , in the comparison vector , , The modulus of , determine the coordinates of the two points with the largest modulus as , , as shown in Figure 4(b). By identifying the characteristics of the image, we can know the vector The determined line equation passes through the center point of the image , as shown in Figure 4(c) to determine the coordinates of the center . vector The determined equation of the straight line goes through point, as shown in Figure 4(d), the coordinates of key points in the lower right corner of the recognition image are determined , by point The coordinates determine the horizontal position deviation between the intelligent tracking obstacle vehicle and the recognition image. And according to the position deviation in the horizontal direction, the starting motor is controlled to drive the intelligent tracking obstacle vehicle to move, and the vehicle is stopped when the position deviation in the horizontal direction is zero.

After the intelligent obstacle tracking vehicle stops, the position sensors on the left mechanical arm and the right mechanical arm respectively detect the edges on both sides of the goods. After confirming the positions of the edges on both sides of the goods, the single-chip microcomputer controls the operation of the telescopic motor to make the left mechanical arm And the right mechanical arm stretches to the edge of both sides of the goods and grasps the edges of both sides, and the single-chip microcomputer controls the telescopic motor to make the left mechanical arm and the right mechanical arm put the goods into the accommodation frame 8.

Claims (10)

1. an intelligent warehousing system, it is characterised in that this system includes:

Multiple rotation shelf, each described rotation shelf include the first vertical stand and the second vertical stand；Also include setting respectively Put the ring-shaped guide rail in the described first vertical stand and the described second vertical stand；Driving-chain it is respectively arranged with on ring-shaped guide rail Bar, is provided with multiple loading platform, each loading platform and driving-chain between the described first vertical stand and the described second vertical stand Being connected by bracing frame between bar, described driving chain connects gear train；Also including driving motor, described driving motor is by driving Dynamic described gear train rotates and then drives described driving chain to move, thus realizes multiple loading platform in the first vertical stand and the Annularly guide rail up-and-down movement between two vertical stands；Also include shelf control unit, be internally provided with wireless telecommunications mould Block, is used for receiving instruction, controls to drive motor rotation；

Intelligent tracking keeps in obscurity car, and its headstock is provided with obstacle detecting sensor, optical sensor and photographic head, and vehicle body is provided with receiving Frame, vehicle body is provided with accumulator, starts motor, steer motor, single-chip microcomputer, charging inlet, charge protection device, wireless communication Number receiver module, wireless video sending module, image processing module；Car body is respectively arranged on the left side and the right side the left machinery that can stretch The position sensor of detection goods marginal position it is respectively provided with on arm and right mechanical arm, left mechanical arm and right mechanical arm, left Mechanical arm and right mechanical arm are respectively used to capture the edge, the left and right sides of goods, and vehicle body is provided with for controlling left and right machinery The telescope motor that arm is flexible；

Identifying image, it is arranged at each described rotation bottom shelf at picking, and described identification image includes a black square Shape region, this intra-zone places two groups of white square varied in size, including 3 big squares, 6 little squares, 3 Big square lays respectively at three angles of rectangular area, and wherein a little square is positioned at black rectangle regional center, and another is little Square is positioned at a remaining angle, rectangular area, and remaining little square is arranged in the little just of black rectangle regional center Around square, all size squares do not have mutually lap；

CPU, has wireless communication module, display module, memory module inside it, itself and shelf control unit, intelligence Can communicate wirelessly by the tracking car that keeps in obscurity, and can keep in obscurity car transmission control instruction to shelf control unit, Intelligent tracking, store mould Block storage has and keeps in obscurity the circuit that car starting point presets to each bar at each shelf picking from Intelligent tracking, and each bar circuit does not all have Repeating part；

LED group, its be evenly arranged in each bar preset circuit on, described in central processing unit controls, LED group is lighted or is closed Close.

2. intelligent warehousing system as claimed in claim 1, it is characterised in that when there being goods to need picking, described centre Reason unit sends pick-up instruction to by wireless communication module the shelf control unit treating picking shelf, and shelf control unit controls Drive motor rotation, make the loading platform treating picking thing operate to picking.

3. intelligent warehousing system as claimed in claim 1, it is characterised in that when there being goods to need picking, described centre Reason unit controls the Intelligent tracking car starting point that keeps in obscurity to treating that the group of LED on the way at the shelf picking of picking is lighted, and keeps intelligence Can the tracking car starting point that keeps in obscurity close to the group of LED on the way at the picking of remaining failed call picking shelf.

4. intelligent warehousing system as claimed in claim 3, it is characterised in that after LED group is lighted, described central authorities process single Unit is kept in obscurity car transmission enabled instruction to Intelligent tracking by wireless communication module, and Intelligent tracking keeps in obscurity the reception of wireless signals mould of car After block receives enabled instruction, enabled instruction is converted into the signal of telecommunication and passes to single-chip microcomputer, single-chip microcomputer by reception of wireless signals module In controlling car, each parts start.

5. intelligent warehousing system as claimed in claim 4, it is characterised in that the keep in obscurity startup motor of car of Intelligent tracking drives car Wheel rotates, the optical sensor sensing light that sends of LED group, and Intelligent tracking keeps in obscurity the opticpath that car is lighted along LED group Arrive at target picking.

6. intelligent warehousing system as claimed in claim 5, it is characterised in that described obstacle detecting sensor detects front side When having obstacle, Single-chip Controlling starts motor and stops, and shoots forward image by photographic head, is then sent by wireless video The forward image of shooting is sent to CPU by module, and forward image is shown by CPU at display module, Staff removes obstacles process accordingly according to the image conditions of display module.

7. intelligent warehousing system as claimed in claim 5, it is characterised in that Intelligent tracking keeps in obscurity at car arrival target picking After, starting photographic head, photographed data is passed to graphics processing unit by photographic head, when graphics processing unit detects photographed data In when there is described identification image, single-chip microcomputer computational intelligence tracking keeps in obscurity car and the horizontal direction position deviation identifying image, and Controlling to start motor according to horizontal direction position deviation drives the Intelligent tracking car that keeps in obscurity to move, when horizontal direction position deviation is zero Time make car stop.

8. intelligent warehousing system as claimed in claim 7, it is characterised in that Intelligent tracking keeps in obscurity after car stopping, left mechanical arm Respectively goods both sides of the edge are detected with the position sensor on right mechanical arm, after confirming position, goods both sides of the edge, Telescope motor operating described in Single-chip Controlling, makes left mechanical arm and right mechanical arm extend at goods both sides of the edge and promptly both sides Edge, single-chip microcomputer controls telescope motor again makes left mechanical arm and right mechanical arm that goods to be put into receiving frame.

9. intelligent warehousing system as claimed in claim 7 or 8, it is characterised in that in graphics processing unit detection photographed data The method of existence identification image is: first photographed data is carried out exterior contour identification, it may be judged whether there is tetragon district Territory, if it has, then all quadrilateral areas are carried out in-profile identification, further judges whether in-profile number Amount is the quadrilateral area of 9, if it has, then it is determined that the presence of described identification image.

10. the intelligent warehousing system as described in claim 1-9, it is characterised in that when electricity in described battery charging process When arriving saturation, Single-chip Controlling charge protection device cuts off charging circuit.