Intelligent connection system of remains transfer equipment and cremation kang platform and operation method

Abstract

The invention discloses an intelligent connection system for remains transfer equipment and a cremation kang platform and an operation method. The intelligent connection system comprises a cremation kang platform motion control device, a transfer device, a communication device and a storage device. The cremation kang platform motion control device controls the remain transfer process and the operation of the cremation kang platform; the communication device comprises a mobile wireless communication device and a Bluetooth or WiFi device. The memory stores an operation program of the connection system and the whole process of remains transfer and cremation; after receiving the remains, the remains transfer AGV travels to an appointed cremation kang platform entrance along a preset route, and the transfer device is in butt joint with the remains transfer AGV at the appointed cremation kang platform entrance; and the transfer device moves according to an instruction of the cremation kang platform motion control device so as to connect the remains conveyed by the remains transfer AGV. Hardware equipment is controlled through an artificial intelligence control software system. Through on-site feedback information and data, the motion fault of the intelligent remains transfer equipment and the motion fault of the cremation machine are remotely analyzed.

Description

Technical Field

[0001] The present invention relates to the technical field of funeral automation equipment, and particularly relates to an intelligent connection system and an operation method between a body transfer device and a cremation hearth. Background Art

[0002] The transfer of bodies in the funeral industry is a very important link in an actual funeral home, which involves the public health safety and work efficiency of the funeral home staff. At present, the connection between body transfer equipment mainly relies on manual operation, without a systematic automated operation tool, resulting in low efficiency of body transfer operations.

[0003] The current body transfer operation process is as follows: The body is loaded into a paper coffin, and the paper coffin containing the body is transported to the cremator by an Automated Guided Vehicle (AGV). The self-owned control system of the AGV controls the operation of this AGV, and transmits the running position and status of the AGV to the cremator through a communication signal. The control system of the cremator controls the operation of the hearth of the cremator, including: accepting the paper coffin containing the body and transporting it into the furnace of the cremator for cremation. The disadvantages of the prior art are: The running faults when the AGV is connected to the cremator cannot be remotely processed, and manual on-site analysis and processing of equipment faults are required. Transporting the body by a paper coffin takes a longer cremation time, and the body in the paper coffin may not be fully burned during cremation, which is likely to cause the generation of harmful gases. Using a paper coffin to transport the body increases the cost of cremation, and a paper coffin is required to connect to other equipment, which is not conducive to body transfer.

[0004] Chinese Patent Publication No. CN111412465A discloses an AGV intelligent cremation system, including: a central control device, an AGV transport vehicle, and a cremation chamber; the cremation chamber includes a body inlet, an intelligent cremator, and an ash picking area. At least one body receiving position is provided at the body inlet, and a hearth surface is placed at each body receiving position; the central control device controls the AGV transport vehicle to travel between the body inlet, the intelligent cremator, and the ash picking area; the AGV transport vehicle is used to grab the hearth surface with the body placed thereon and transport the hearth surface with the body placed thereon to the lower end of the furnace of the intelligent cremator; the intelligent cremator is used to grab the hearth surface with the body placed thereon into the furnace body and cremate the body; the AGV transport vehicle transports the cremated hearth surface and ashes to the ash picking area so that the family members of the deceased can complete the ash picking. The whole process is completed by the AGV transport vehicle in a closed space.

[0005] This published document only mentions the automated control of AGV transportation, and does not involve the overall body treatment process. Most of the treatment processes are still completed manually, which is difficult to ensure the absolute safety of cremation personnel, and it is also very easy to have problems with body treatment errors. Moreover, cremation personnel need to wear protective clothing for relevant work, and the automation level is relatively low.

[0006] There is a need for a control system to intelligently connect the body transfer system with the cremator system, and use an artificial intelligence system to dynamically control the parameters of the body transfer system and the movement system parameters of the cremator, so as to solve the AGV operation control and the movement parameters of the cremator during the actual integrated transfer process. Remotely solve the unmanned operation system for integrated cremation. This system must have the unmanned operation control of the AGV body transfer vehicle and the movement fault analysis of the AGV body transfer equipment and the movement fault analysis of the cremator. Summary of the Invention

[0007] The first aspect of the present invention provides an intelligent connection system between a body transfer device and a cremation platform. The connection system includes: a cremation platform movement control device, a transfer device, a communication device, and a storage device;

[0008] The cremation platform movement control device controls the body transfer process and the operation of the cremation platform;

[0009] The communication device includes: a mobile wireless communication device, a Bluetooth or WiFi device;

[0010] The storage device stores the operation program of the connection system and the entire process of body transfer and cremation;

[0011] After receiving the body, the body transfer AGV travels along a predetermined route to the entrance of the designated cremation platform, and the transfer device docks with the body transfer AGV at the entrance of the designated cremation platform;

[0012] The transfer device moves according to the instructions of the cremation platform movement control device to connect and transfer the body transported by the body transfer AGV.

[0013] As for the connection system described in the first aspect of the present invention, the cremation platform includes a plurality of cremation platforms, and each cremation platform has an entrance for a body.

[0014] As for the connection system described in the first aspect of the present invention, the body transfer AGV can use a special or general paper coffin to transfer the body; the transfer device receives the control instruction of the cremation platform movement control device and transfers the general paper coffin together with the body into the entrance of the cremation platform;

[0015] Or, the transfer device receives the control instruction of the cremation platform movement control device, removes the special paper coffin, and then transfers the body into the entrance of the cremation platform.

[0016] As for the connection system described in the first aspect of the present invention, at least one camera is arranged on the transfer device to generate multiple multi-angle images of the AGV and the transfer device, and upload the multiple multi-angle images to the cremation platform movement control device through the communication device.

[0017] The connection system according to the first aspect of the present invention, the camera includes; a visible light camera and / or an infrared camera.

[0018] The second aspect of the present invention provides an operation method for an intelligent connection system between a body transportation device and a cremation hearth as described in any one of the above, the method comprising the following steps:

[0019] Step 1, the cremation hearth motion control device obtains various information of the cremation hearth intelligent connection system through the communication device, the information includes; whether the cremation hearth is executing the cremation process, the arrival information of the body transportation AGV, and the connection device status information captured and uploaded by the camera;

[0020] Step 2, the cremation hearth motion control device plans and calculates the operation mode of the connection device according to the received various information according to a predetermined partial differential equation system; the operation mode includes: the pitch of the connection device, the extension or retraction of the connection device, the horizontal deflection of the connection device, and the removal of the special paper coffin by the connection device;

[0021] The partial differential equation system is expressed as follows:

[0022]

[0023] Among them, a k is a dependent variable containing the influence distance variable x j ; x jk is the connection system device moving distance variable x j corresponding to the corresponding item data of the a k parameter; y j function for calculating the connection system moving displacement data error; and satisfying:

[0024]

[0025]

[0026] Among them, η is a coefficient; n is the number of running steps in the transfer process, corresponding to the motion control process of m step timings, the total number of linear motion components and rotary motion components that can be adjusted and controlled is k, t j is the motion multi-axis coordination step sequence and time sequence motion control system time variable between the connection system devices; j, k, m, n are all natural numbers;

[0027] Step 3, the connection device transfers the body into the cremation hearth to execute the cremation process.

[0028] As the method described in the second aspect of the present invention, the arrival information of the body transportation AGV includes: the running speed, direction of the AGV, and the type of paper coffin carried;

[0029] The transfer device status information includes: the entrance status, entrance position and direction of the transfer device.

[0030] According to the method of the second aspect of the present invention, step 1 comprises the sub-steps of:

[0031] Step 1.1, if the cremation platform motion control device determines that a cremation platform is performing a cremation process, the body transport AGV is notified through the communication device to modify the driving route;

[0032] The cremation platform motion control device records the image information of the transfer device uploaded by the communication device camera;

[0033] Step 1.2, if the cremation platform motion control device determines that a cremation platform is in an idle state, the specific driving route of the body transfer AGV will be issued through the communication device; and the arrival information of the body transfer AGV will be received using the communication device;

[0034] Step 1.3, the specific driving route of the body transport AGV is controlled by the cremation platform motion control device, and the cremation platform motion control device receives the information of the body transport AGV and uses the partial differential equation model to calculate the optimal driving path or the driving route with the shortest running time of the body transport AGV;

[0035] Step 1.4, the body transfer AGV receives the driving route sent by the cremation platform motion control device and operates according to the driving route. If the body transfer AGV receives a revised driving route sent by the cremation platform motion control device during operation, it drives according to the revised driving route.

[0036] According to the method of the second aspect of the present invention, step 2 comprises the sub-steps of:

[0037] Step 2.1, the cremation platform motion control device receives the image information captured by the camera, converts the image information into image data through analog-to-digital conversion and stores it in a storage device;

[0038] Step 2.2, the cremation platform motion control device extracts the image data stored in the storage device and extracts the calculation process in the storage device to calculate the state information of the transfer device, and calculates the motion form of the transfer device and the body transfer AGV docking according to the state information of the transfer device;

[0039] Step 2.3, after the transfer device is docked with the body transfer AGV, the cremation platform motion control device issues a body transfer instruction to control the transfer device to deliver the body to the cremation platform.

[0040] As for the method described in the second aspect of the present invention, the calculation process described in step 2.2 includes a motion model constructed by partial differential equations, and the partial derivative of a with respect to the error E is taken to calculate the error slope of the data of the transfer system and the image parameters: k The motion model generates the motion form for controlling the transfer device; the motion form includes: the pitch of the transfer device, the extension or retraction of the transfer device, the horizontal deflection of the transfer device, and the removal of the special paper coffin by the transfer device.

[0041]

[0042] The motion model generates the motion form for controlling the transfer device; the motion form includes: the pitch of the transfer device, the extension or retraction of the transfer device, the horizontal deflection of the transfer device, and the removal of the special paper coffin by the transfer device.

[0043] As for the method described in the second aspect of the present invention, the AGV arrival information includes: the running speed, direction of the AGV, and the type of the carried paper coffin; the transfer device status information includes: the entrance status of the transfer device, the entrance position, and the direction.

[0044] The present invention has the following advantages: The connection system between the intelligent body transfer device and the intelligent cremation platform can automatically transfer the body of the body transfer device to the surface of the cremation platform, and transport the body to the main furnace of the cremator for cremation through the transfer connection device. The body can be automatically transported to the platform without using a paper coffin to carry the body. The hardware device is controlled by an artificial intelligence control software system. Through the on-site feedback information and data, the motion faults of the intelligent body transfer device and the motion faults of the cremation pit platform are analyzed remotely.

[0045] The above description is only an overview of the technical solution of the present invention. In order to be able to understand the technical means of the present invention more clearly, it can be implemented according to the content of the description. And in order to make the above and other purposes, features and advantages of the present invention more obvious and understandable, the following preferred embodiments are specifically given and described in detail in conjunction with the drawings as follows. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 It is a block diagram of the intelligent connection system between the body transfer device and the cremation platform of the present invention;

[0047] Figure 2 The connection operation flow chart of the body transfer device and the cremation platform of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0048] The present invention provides an intelligent connection system for a body transfer device and a cremation platform. Through the algorithm of the artificial intelligence system, the motion speed data model, video data, and image processing data of the AGV body transfer and the cremator are input into the artificial intelligence program system for analysis, to judge the faults of the intelligent body AGV and the cremator, and output the data of the corrective solution, so as to remotely solve the problem of motion faults. The present invention solves the optimization of the AGV operation path in the artificial intelligence system by solving differential equations, and graphically executes the optimized operation path data, realizes the remote dynamic AGV motion parameters, and plans the motion trajectory of the device.

[0049] The technical solutions of the present invention will be clearly and completely described below in conjunction with specific implementation embodiments. However, those skilled in the art should understand that the implementation embodiments described below are only used to illustrate the present invention and should not be regarded as limiting the scope of the present invention. Based on the implementation embodiments of the present invention, all other implementation embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the scope protected by the present invention.

[0050] Embodiment 1

[0051] Appendix Figure 1 is a block diagram of the intelligent connection system for the body transfer device and the cremation platform of the present invention.

[0052] The first aspect of the present invention provides an intelligent connection system for a body transfer device and a cremation platform. The connection system includes: a cremation platform motion control device, a transfer device, a communication device, and a storage device;

[0053] The cremation platform motion control device controls the body transfer process and the operation of the cremation platform;

[0054] The communication device includes: a mobile wireless communication device, a Bluetooth or WiFi device;

[0055] The storage device stores the operation program of the connection system and the entire process of body transfer and cremation;

[0056] After receiving the body, the body transfer AGV travels along a predetermined route to the entrance of the designated cremation platform, and the transfer device docks with the body transfer AGV at the entrance of the designated cremation platform;

[0057] The transfer device moves according to the instructions of the cremation platform motion control device to connect the body transported by the body transfer AGV.

[0058] For the connection system as described in the first aspect of the present invention, the cremation platform includes a plurality of cremation tables, and each cremation table has an entrance for a body.

[0059] The present invention provides a system for intelligently transporting a body to a cremation platform, including an intelligent docking system for automatically transporting a body to a cremation platform for cremation. The system can intelligently and dynamically control the operation of the body transport equipment and the cremation platform. The movement route and operation process of the docking AGV can be intelligently and dynamically controlled. The AGV can use tracks for operation. Alternatively, any navigation technology can be used to locate and perform trackless operation. The AGV intelligently and automatically transports the body to the cremation platform, and the cremation platform motion control device, various camera devices, the body transport automatic transfer vehicle AGV, the transfer device and the cremation platform are connected through Internet of Things communication. The communication system includes WiFi, 4G or 5G communication system.

[0060] The body is loaded into a paper coffin for transportation and placed on an AGV vehicle. The body transportation AGV includes multiple AGVs, each of which can use a special or general paper coffin to transport the body. Most of the general paper coffins now have an openable upper panel to allow family members to view the body being transported, or forensic doctors and hospice care personnel to perform medical treatment on the body. This general paper coffin is basically sent to the cremator for cremation together. The special paper coffin described in the present invention can have an open upper panel, and can also be opened on the side or bottom. When the transfer device sends the body into the crematorium entrance, the special paper coffin is removed to reduce the cremation cost.

[0061] As in the docking system of the first aspect of the present invention, the body transfer AGV can use a dedicated or universal paper coffin to transfer the body; the transfer device receives the control instruction of the cremation platform motion control device to transfer the universal paper coffin together with the body to the entrance of the cremation platform;

[0062] Alternatively, the transfer device receives the control instruction of the cremation platform motion control device to remove the special paper coffin and then transfer the body to the entrance of the cremation platform.

[0063] As described in the first aspect of the present invention, the docking system is provided with at least one camera on the transfer device to generate multiple multi-angle images of the AGV and the transfer device, and upload the multiple multi-angle images to the cremation platform motion control device via a communication device.

[0064] Automated Guided Vehicle (AGV), AGV refers to a transport vehicle equipped with electromagnetic or optical automatic guidance devices, capable of traveling along a specified guidance path, with safety protection and various transfer functions, and does not require a driver. It uses a rechargeable battery as its power source. Its route can generally be controlled by a computer. The AGV transport vehicle includes a vehicle body and a navigation device. The navigation device is arranged on the vehicle body, and the navigation device is communicatively connected with the cremation platform motion control device. The navigation device is used to obtain the current position of the vehicle body. The cremation platform motion control device plans the vehicle body's travel path according to the current position to complete the transportation of the placed body.

[0065] The cremation platform comprises a plurality of cremation platforms, each of which can independently complete the cremation of the remains and use a mechanical device to load the ashes into the ashes storage container;

[0066] The transfer device is arranged at the entrance of the cremation platform, and transfers the universal paper coffin together with the remains to the entrance of the cremation platform according to the control instruction received from the cremation platform motion control device;

[0067] Alternatively, the transfer device removes the special paper coffin and transfers the body to the entrance of the crematorium according to the control instruction received from the cremation platform motion control device.

[0068] As in the docking system described in the first aspect of the present invention, the camera includes: a visible light camera and / or an infrared camera.

[0069] Attached Figure 2 It is an operation flow chart of the docking system of the present invention.

[0070] A second aspect of the present invention provides an operating method of the intelligent connection system between the body transfer equipment and the cremation platform as described in any one of the above, the method comprising the following steps:

[0071] Step 1, the cremation platform motion control device obtains various information of the cremation platform docking system through the communication device, and the information includes: whether the cremation platform is executing the cremation process, AGV arrival information, and transfer device status information recorded and uploaded by the camera;

[0072] Step 2, the cremation platform motion control device plans the operation mode of the transfer device according to the received multiple information and a predetermined group of partial differential equations; the operation mode includes: pitching of the transfer device, extension or retraction of the transfer device, horizontal deflection of the transfer device, and withdrawal of the transfer device from the special paper coffin;

[0073] The partial differential equations are expressed as follows:

[0074]

[0075] Among them, a k is the variable x that affects the distance j The dependent variable is x jk is the distance variable x of the docking system equipment movement j Corresponding to a k The corresponding item data of the parameter; y j Is a function for calculating the displacement data error of the docking system; and satisfies:

[0076]

[0077]

[0078] Where η is the coefficient; n is the number of operation steps in the transfer process, corresponding to the motion control process with m step timings, the total number of linear motion components and rotary motion components that can be adjusted and controlled is k, t j It is the time variable of the motion control system that coordinates the multi-axis steps and timings of the motion between the devices in the docking system; j, k, m, n are all natural numbers;

[0079] Step 3: the transfer device transfers the body to the cremation table to perform the cremation process.

[0080] The present invention ensures the movement of the motion module in the core components and controls the movement speed through the three major system data and signal visualization and programmable control steps of the cremation platform motion control device, servo motor and communication module system, so as to achieve the coordination of the travel of the intelligent cremator and the intelligent transfer equipment, ensure that the equipment motion error is controlled within the range of + / -0.1mm, and the equipment motion error control accuracy can be adjusted according to user needs, and the high accuracy can reach 0.02mm.

[0081] If the actual error range of the equipment movement exceeds the set accuracy value, the system will send out a radar signal or video and audio alarm signal processing, and issue the equipment adjustment operation and maintenance status to ensure the safe and stable operation of the equipment.

[0082] Example 2

[0083] The present invention can be used in Hongmeng system, Anaconda, and WinCC system through partial differential equation model calculation and software programming to establish an intelligent motion control system, combine the motion controller of the motion control system and the motion motor connected to the servo motor system, and the 4G or above communication module of the communication module system, and use the intelligent processor for data and image processing of the system input and output to realize the control of multi-axis coordinated step sequences and motion timing between devices.

[0084] The cremation platform motion control device of the present invention controls multiple cremation platforms, a transfer device, and a body transfer AGV of the cremation platform. The cremation platform motion control device receives the motion data of the body transfer AGV by communicating with the motion control module of the intelligent body transfer AGV. In the cremation platform motion control device, through the motion data technology of the artificial intelligence programming software calculation module, the transfer operation data is described by a system of partial differential equations in the software.

[0085] In the software of the cremation platform motion control device, considering the moving distance of the linear motion component, the distance x controlled by the cremation platform motion control device for the linear motion component is the x corresponding to the equation. j The independent variable, and the system of partial differential equations is expressed as follows:

[0086]

[0087] Where, a k is a dependent variable containing variables affecting the distance x j ; x jk is the variable x of the moving distance of the connection system equipment, j corresponding to the corresponding item data of the parameter a k ; y j is a function for calculating the error of the moving displacement data of the connection system; and satisfies:

[0088]

[0089] Where, η is a coefficient; n is the number of operation steps in the transfer process, corresponding to the motion control process of m step timings in the steps, and the total number of linear motion components and rotary motion components that can be adjusted and controlled is k, t j is the time variable of the motion control system for the multi-axis coordination steps and timings of the motion between the connection system equipment; j, k, m, n are all natural numbers. X j is a parameter affecting the motion distance, including factors affecting the frictional resistance of the motion and the power of the linear motion motor. a k represents the parameters of each component of the linear motion component and the rotary motion component, including: factors affecting the frictional resistance of the motion and the power of the linear motion motor. The value range of j is 1...n. b is the electrical parameter or mechanical parameter of the connection motion system including the cremation platform and the body transfer motion equipment. The electrical parameters include: rated voltage, rated current, rated power, rated efficiency, load current, no-load current, idle running current. The mechanical parameters include: rotational speed, torque, load rotational speed, load torque, idle running torque, reduction ratio.

[0090] By calculating through partial differential equations and software programming to optimize the parameters of the input data by machine learning, the operation parameter error of the transfer device is minimized. Its error value can be calculated by summing the error E through the following partial differential equation:

[0091]

[0092] t j is the motion control system time variable for the multi-axis coordinated motion sequence and timing between the connection system devices.

[0093] Take the partial derivative of a with respect to the error E to calculate the error slope of the connection system data and image parameters: k

[0094]

[0095] The connection system needs m sample numbers for artificial intelligence deep learning. Through the forward propagation of the artificial neural network for machine deep learning, training and testing are carried out to achieve intelligent connection of the fully automatic control of the remains transfer equipment and the cremation hearth. The training and testing process controls the movement control process of the total number of steps n and the corresponding step timings m for the corpse feeding and ash picking processes of the cremation hearth movement control device, involving adjusting and controlling a total of k linear motion components and rotational motion components. The neuron network model is constructed through the following equation for data analysis and judgment, and then the logistic regression classification data:

[0096] As described in the second aspect of the present invention, the AGV arrival information includes: the running speed, direction of the AGV, and the type of the carried paper coffin.

[0097] The state information of the transfer device includes: the entrance state of the transfer device, the entrance position, and the direction.

[0098] As described in the second aspect of the present invention, step 1 includes sub-steps:

[0099] Step 1.1, if the cremation hearth movement control device determines that a cremation table is executing the cremation process, it will notify the AGV to modify the driving route through the communication device;

[0100] The cremation hearth movement control device captures and uploads the image information of the transfer device through the communication device camera.

[0101] Step 1.2, if the cremation hearth movement control device determines that a cremation table is in an idle state, it will notify the AGV of the specific driving route through the communication device; and receive the AGV arrival information using the communication device.

[0102] Step 1.3, the specific driving route of the AGV is calculated by the cremation hearth movement control device based on the received AGV arrival information using the partial differential equation model to calculate the optimal driving path or the driving route with the shortest running time of the AGV.

[0103] ​Step 1.4: The AGV receives the driving route sent by the cremation platform movement control device and runs according to the route. If the AGV receives a corrected driving route sent by the cremation platform movement control device during operation, it will run according to the corrected driving route.

[0104] As for the method described in the second aspect of the present invention, step 2 includes sub-steps:

[0105] Step 2.1: The cremation platform movement control device receives the image information, converts the image information into image data through analog-to-digital conversion, and stores it in the storage device.

[0106] Step 2.2: The cremation platform movement control device extracts the image data stored in the storage device and extracts the calculation process in the storage device to calculate the state information of the transfer device. According to the state information of the transfer device, the movement form of the docking between the transfer device and the AGV is calculated.

[0107] Step 2.3: After the transfer device is docked with the AGV, the cremation platform movement control device issues a body transfer instruction to control the transfer device to send the body into the cremation table.

[0108] As for the method described in the second aspect of the present invention, the calculation process in step 2.2 includes a motion model constructed by partial differential equations. The partial derivative of a with respect to the error E is calculated to obtain the error slope of the connection system data and image parameters, and the error slope of the connection system data and image parameters is obtained: k Take the partial derivative of a with respect to the error E, calculate the error slope of the connection system data and image parameters, and obtain the error slope of the connection system data and image parameters:

[0109]

[0110] The motion model generates the motion form for controlling the transfer device. The motion form includes: the pitch of the transfer device, the extension or retraction of the transfer device, the horizontal deflection of the transfer device, and the removal of the special paper coffin by the transfer device.

[0111] The 4G communication module sends out the relevant electrical technical parameters of the relevant motion motors of the cremator, the key output and input electrical signals inside the controller system, and the relevant data and images.

[0112] In the HarmonyOS, Anaconda, and WinCC systems, through artificial intelligence partial differential equation calculation, a system program of the intelligent motion control processor is established to achieve multi-axis coordinated step sequence and timing motion control between devices, and achieve precise and safe motion control.

[0113] A neural network model is constructed through the following equation for data analysis and judgment, and then the logistic regression classification data: The data is classified by the following formula:

[0114]

[0115] x of the formula 1 ,x 2 ,…,x n are the data input amounts, a 1 ,a 2 ,...a n and b are parameters.

[0116] The data that conforms to the connection motion control is stored in the database. The component data that does not meet the motion requirements is processed through the neural network backpropagation RNN cyclic machine learning until the neural network model adjusts the data to meet the motion requirements and then enters the database.

[0117] The module main board of the motion control system of the transfer system: can output module motion data, servo system data, and communication data.

[0118] The transfer system calculates the servo system data and communication data through artificial intelligence programming software and partial differential equations.

[0119] Although the present invention has been described in detail with general descriptions and specific embodiments above, based on the present invention, some modifications or improvements can be made, which are obvious to those skilled in the art. Therefore, these modifications or improvements made without departing from the spirit of the present invention all fall within the scope of protection required by the present invention.

Claims

1. An intelligent connection system between a body transport device and a cremation platform, characterized in that: The docking system includes: a cremation platform motion control device, a transfer device, a communication device and a storage device; The cremation platform motion control device controls the body transfer process and the operation of the cremation platform; the communication device includes: a mobile wireless communication device, a Bluetooth or WiFi device; the storage device stores the operation program of the docking system and the entire process of body transfer and cremation; after the body transfer AGV receives the body, it travels along a predetermined route to the designated cremation platform entrance, and the transfer device docks with the body transfer AGV at the designated cremation platform entrance; the transfer device moves according to the instructions of the cremation platform motion control device to dock the body transported by the body transfer AGV.

2. The intelligent docking system according to claim 1, characterized in that: The cremation platform comprises a plurality of cremation platforms, each of which has an entrance for the remains.

3. The intelligent docking system according to claim 1, characterized in that: The body transfer AGV can use a special or universal paper coffin to transfer the body; the transfer device receives the control instruction of the cremation platform motion control device to transfer the universal paper coffin together with the body to the entrance of the cremation platform; Alternatively, the transfer device receives the control instruction of the cremation platform motion control device to remove the special paper coffin and then transfer the body to the entrance of the cremation platform.

4. The intelligent docking system according to claim 3, characterized in that: At least one camera is arranged on the transfer device to generate multiple multi-angle images of the AGV and the transfer device, and the multiple multi-angle images are uploaded to the cremation platform motion control device through a communication device.

5. The intelligent docking system according to claim 4, characterized in that: The camera includes a visible light camera and / or an infrared camera.

6. An operating method of the intelligent connection system between the body transport equipment and the cremation platform according to any one of claims 1 to 5, characterized in that: The method comprises the following steps: Step 1, the cremation platform motion control device obtains various information of the cremation platform intelligent docking system through the communication device, and the information includes: whether the cremation platform is executing the cremation process, the arrival information of the body transfer AGV, and the state information of the transfer device recorded and uploaded by the camera; Step 2, the cremation platform motion control device calculates the operation mode of the transfer device according to the received multiple information and a predetermined partial differential equation group; the operation mode includes: the pitch of the transfer device, the extension or retraction of the transfer device, the horizontal deflection of the transfer device, and the removal of the special paper coffin of the transfer device; The partial differential equations are expressed as follows: Among them, a k is the variable x that affects the distance j The dependent variable is x jk is the distance variable x of the docking system equipment movement j Corresponding to a k The corresponding item data of the parameter; y j Is a function for calculating the displacement data error of the docking system; and satisfies: Where v is the coefficient; n is the number of operation steps in the transfer process, corresponding to the motion control process with m step timings, the total number of linear motion parts and rotary motion parts that can be adjusted and controlled is k, t j It is the time variable of the motion control system that coordinates the multi-axis steps and timings of the motion between the devices in the docking system; j, k, m, n are all natural numbers; Step 3, the transfer device transfers the body to the cremation platform to carry out the cremation process.

7. The operating method according to claim 6, characterized in that: The body transfer AGV arrival information includes: the running speed, direction and type of paper coffin carried by the AGV; The transfer device status information includes: the entrance status, entrance position and direction of the transfer device.

8. The operating method according to claim 7, characterized in that: The step 1 comprises the following sub-steps: Step 1.1, if the cremation platform motion control device determines that a cremation platform is performing a cremation process, the body transport AGV is notified through the communication device to modify the driving route; The cremation platform motion control device records the image information of the transfer device uploaded by the communication device camera; Step 1.2, if the cremation platform motion control device determines that a cremation platform is in an idle state, the specific driving route of the body transfer AGV will be issued through the communication device; and the arrival information of the body transfer AGV will be received using the communication device; Step 1.3, the specific driving route of the body transport AGV is controlled by the cremation platform motion control device, and the cremation platform motion control device receives the information of the body transport AGV and uses the partial differential equation model to calculate the optimal driving path or the driving route with the shortest running time of the body transport AGV; Step 1.4, the body transfer AGV receives the driving route sent by the cremation platform motion control device and operates according to the driving route. If the body transfer AGV receives a revised driving route sent by the cremation platform motion control device during operation, it drives according to the revised driving route.

9. The operating method according to claim 7, characterized in that: The step 2 includes the following sub-steps: Step 2.1, the cremation platform motion control device receives the image information recorded by the camera, converts the image information into image data through analog-to-digital conversion and stores it in a storage device; Step 2.2, the cremation platform motion control device extracts the image data stored in the storage device and extracts the calculation process in the storage device to calculate the state information of the transfer device, and calculates the motion form of the transfer device and the body transfer AGV docking according to the state information of the transfer device; Step 2.3, after the transfer device is docked with the body transfer AGV, the cremation platform motion control device issues a body transfer instruction to control the transfer device to deliver the body to the cremation platform.

10. The operating method according to claim 9, characterized in that: The calculation process described in step 2.2 includes a motion model constructed by partial differential equations, which uses the error E to a k Find the partial derivative and find the slope of the error between the docking system data and the image parameters: The motion model generates a motion pattern for controlling the transfer device; The operation modes include: the pitching of the transfer device, the extension or retraction of the transfer device, the horizontal deflection of the transfer device and the removal of the special paper coffin of the transfer device.

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