Smart car

Abstract

The present invention provides an intelligent trolley, which includes a storage table, a base and a control module. The storage table and the base are stacked, and both are provided with a plurality of magnetic bodies. The control module controls the plurality of magnetic bodies on the storage table to cooperate with the plurality of magnetic bodies on the base, so that the storage table and the base maintain a suspended stable state. The present invention cleverly installs a four-quadrant photoelectric system for micro-displacement detection between the storage table and the base to detect the micro-displacement and motion acceleration of the storage table. In addition, the active control magnetic suspension between the storage table and the base gap in the horizontal and vertical directions is used to achieve high-frequency small-amplitude impact suppression, which is a breakthrough in the safe transportation of hazardous reagents.

Description

Technical Field

[0001] The invention belongs to the technical field of intelligent logistics and relates to an intelligent vehicle for the safe transportation of dangerous reagents. Background Art

[0002] With the continuous advancement of science and technology, the logistics system is increasingly restricting the development of the social industrialization process. Logistics and transportation are reflected in many aspects of production and life. Whether it is factory workshops, product storage warehouses, or the transportation and classification of express items, many fields have put forward higher and higher requirements for logistics navigation systems. At present, the transportation of hazardous reagents mostly uses materials such as buffer foam / sponge, or buffer structures to achieve the dispersion and release of the impact force caused by speed fluctuations and ground movement during transportation. Therefore, the above still remains in the passive way of reducing shock waves to improve the transportation safety of hazardous reagents.

[0003] At the same time, the buffering method used above is suitable for situations with large impact force and amplitude. However, the transportation of dangerous reagents or even extremely dangerous substances not only needs to be able to resist large impact force and amplitude, but also needs to pay attention to the hazards of small amplitude and high frequency oscillation. Because in the overshoot of the transportation of dangerous solutions or powdery substances, small amplitude and high frequency oscillation will accelerate the mutual movement of dangerous substances, which is extremely harmful to the transportation of extremely dangerous substances. Therefore, a new method for the safe transportation of dangerous reagents is needed here, so an intelligent car for the safe transportation of dangerous reagents is proposed. Summary of the invention

[0004] The purpose of the present invention is to propose an intelligent vehicle for the safe transportation of dangerous reagents, aiming to use active sensing motion detection in conjunction with the regulation of magnetic levitation technology to actively suppress high-frequency, small-amplitude impact interference, thereby achieving the function of safe transportation of dangerous reagents.

[0005] In order to achieve the above-mentioned purpose, the present invention provides an intelligent car.

[0006] A smart car includes a storage table, a base and a control module. The storage table and the base are stacked and both are provided with a plurality of magnetic bodies. The control module controls the plurality of magnetic bodies on the storage table to cooperate with the plurality of magnetic bodies on the base so that the storage table and the base maintain a suspended stable state.

[0007] Furthermore, the multiple magnetic bodies on the placement table are permanent magnets, including cylindrical permanent magnets and annular permanent magnets. The cylindrical permanent magnets are located on the outer sides of the placement table, and the annular permanent magnets are located on the bottom surface of the placement table; the multiple magnetic bodies on the base are electromagnets, including cylindrical electromagnets and annular electromagnets. The cylindrical electromagnets are located on the inner sides of the base, horizontally corresponding to the cylindrical permanent magnets on the outer sides of the placement table, and the annular electromagnets are located on the top surface of the base, vertically corresponding to the annular permanent magnets on the bottom surface of the placement table.

[0008] Further, the storage table includes a storage table body, which is roughly a flat cube, and the bottom surface is recessed toward the top surface to form a first accommodation space. The annular permanent magnet is roughly square ring-shaped and is located in the first accommodation space. The four side surfaces of the annular permanent magnet correspond one-to-one to the four side surfaces of the storage table body. There are eight cylindrical permanent magnets in total, and two cylindrical permanent magnets are provided on each outer side surface around the storage table body, and the eight cylindrical permanent magnets are symmetrically arranged; the base includes a base body, which is roughly a flat cube, and the top surface is recessed toward the bottom surface to form a second accommodation space. The annular electromagnet is roughly square ring-shaped and is located in the second accommodation space. The four side surfaces of the annular electromagnet correspond one-to-one to the four side surfaces of the base body. There are eight cylindrical electromagnets in total, and two cylindrical electromagnets are provided on each inner side surface around the base body, and the eight cylindrical electromagnets are symmetrically arranged.

[0009] Furthermore, the control module includes a photodetector and a semiconductor laser; the photodetector is located at the center of the bottom surface of the storage table body, and the annular permanent magnet is located at the periphery of the photodetector; the semiconductor laser is located at the center of the top surface of the base body, and the annular electromagnet is located at the periphery of the semiconductor laser.

[0010] Furthermore, the control module also includes an accelerometer, and the accelerometer is located at the center of the bottom surface of the storage table body.

[0011] Furthermore, the control module also includes a converter, an MCU, a first voltage driver and a second voltage driver, and the MCU is connected to the converter, the first voltage driver, the second voltage driver and the accelerometer; the converter is connected to the photodetector, converts the photocurrent signal into horizontal position information and sends it to the MCU, the MCU compares and calculates the horizontal position information, and outputs a first drive signal to the first voltage driver, the first voltage driver drives the cylindrical electromagnet to cooperate in realizing the magnetic levitation control force and buffer displacement between the cylindrical permanent magnet on the storage table and the cylindrical electromagnet on the base; the accelerometer detects the vertical position information and transmits it to the MCU for solution, and the MCU outputs a second drive signal to the second voltage driver, and the second voltage driver drives the annular electromagnet to cooperate in realizing the magnetic levitation control force and buffer displacement between the annular permanent magnet on the storage table and the annular electromagnet on the base.

[0012] Furthermore, the photodetector is a four-quadrant photodetector.

[0013] Further, the horizontal position information includes front and rear position information and left and right position information, the front and rear position information is quadrant four + quadrant three - quadrant one - quadrant two, and the left and right position information is quadrant four + quadrant one - quadrant two - quadrant three.

[0014] Furthermore, the base is provided with wheels, and the wheels are located on the outer sides of two opposite sides of the base body; the smart car also includes an item container, and the item container is placed on the storage table for accommodating items; the items include dangerous reagents.

[0015] The present invention cleverly installs the micro-displacement detection four-quadrant photoelectric system between the platform and the base to detect the micro-displacement and motion acceleration of the platform. It also cooperates with the active control magnetic suspension between the platform and the base in the horizontal and vertical directions to achieve high-frequency small-amplitude impact suppression, which is a breakthrough in the safe transportation of dangerous reagents.

[0016] The main features and beneficial effects of the present invention compared with the prior art are:

[0017] 1. The present invention cleverly installs a four-quadrant photoelectric system for micro-displacement detection between the storage table and the base to detect the micro-displacement and motion acceleration of the storage table.

[0018] 2. The magnetic levitation vibration suppression technology adopted by the present invention can greatly reduce the disturbance of high-frequency and low-amplitude to the storage platform, thereby improving the smooth transportation performance.

[0019] 3. The present invention adopts the combination of electromagnet and permanent magnet and controls the electromagnet in real time through a voltage driver to realize active motion buffering, which can greatly improve the transportation stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 The figure is a three-dimensional schematic diagram of an intelligent car according to the present invention.

[0021] Figure 2 The figure is a front schematic diagram of an intelligent car according to the present invention.

[0022] Figure 3 The figure is a top view schematic diagram of an intelligent vehicle according to the present invention.

[0023] Figure 4 The figure is a schematic diagram of the structure of a control module of an intelligent vehicle of the present invention.

[0024] Figure 5 The figure is a schematic diagram of the control process of a smart car of the present invention.

[0025] Figure 6 The present invention is a schematic diagram of the control process of a smart car moving smoothly in the front and rear directions.

[0026] In the figure: 1-item container; 2-storage table; 3-base; 4-control module;

[0027] 21-storage table body; 22-cylindrical permanent magnet; 23-annular permanent magnet; 24-first receiving space; 31-base body; 32-cylindrical electromagnet; 33-annular electromagnet; 34-second receiving space; 35-wheel;

[0028] 41 - photodetector; 42 - semiconductor laser; 43 - accelerometer; 44 - converter; 45 - MCU; 46 - first voltage driver; 47 - second voltage driver. DETAILED DESCRIPTION

[0029] The present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods, but the protection scope of the present invention is not limited to the following embodiments, and all technical solutions obtained by equivalent replacement or equivalent transformation are within the protection scope of the present invention.

[0030] As attached Figure 1 To Attachment Figure 3 As shown, a smart car of the present invention includes an article container 1, a storage table 2, a base 3 and a control module 4.

[0031] The article container 1 is a cylindrical cup-shaped container, which is placed above the center of the square storage table 2 and is used for short-term storage of dangerous reagents.

[0032] The storage table 2 includes a storage table body 21, a cylindrical permanent magnet 22, and an annular permanent magnet 23; the storage table 21 is a square box body without a bottom surface, that is, the bottom surface is recessed toward the top surface to form a first receiving space 24, the annular permanent magnet 23 is roughly square and annular, and is located in the first receiving space 24, and its four sides correspond to the four sides of the storage table body 21 one by one; the cylindrical permanent magnet 22 is cylindrical, and there are eight of them, and the eight cylindrical permanent magnets 22 are fixedly installed symmetrically on the outer side surfaces of the four circumferential surfaces of the storage table body 21; the control module 4 includes a photodetector 41, a semiconductor laser 42 and an accelerometer 43, the photodetector 41 is a four-quadrant photodetector, and the accelerometer 43 is located at the center below the bottom surface of the storage table body 21, that is, at the center of the first receiving space 24, and the square ring-shaped annular permanent magnet 23 is fixedly installed on the periphery of the photodetector 41 and the accelerometer 43,

[0033] The base 3 includes a base body 31, a cylindrical electromagnet 32, an annular electromagnet 33, and a wheel 35; the base body 31 is a square box body without an upper top surface, that is, the top surface is recessed toward the bottom surface to form a second accommodating space 34, and the semiconductor laser 42 is fixedly installed at the center of the inner bottom surface thereof, and an annular electromagnet 33 in the shape of a square ring is fixedly installed on the periphery of the semiconductor laser 42, corresponding to the annular permanent magnet 23 installed on the inner lower bottom surface of the storage table body 21; the cylindrical electromagnet 33 is cylindrical, and there are eight of them in total. The eight cylindrical electromagnets 32 are fixedly installed symmetrically on the inner side of the surrounding surfaces of the base body 31, corresponding one by one to the remaining cylindrical permanent magnets 22 fixed on the outer side surfaces of the surrounding surfaces of the storage table body 21; four wheels 3-5 are installed on the outer side of the surrounding surfaces of the base body 31 on two symmetrical outer sides.

[0034] The storage table 2 is stacked and suspended above the center of the base 3, and maintains a suspended stable state in the horizontal direction, the front and back direction, the left and right direction, and the vertical direction.

[0035] As attached Figure 4The figure is a schematic diagram of the structure of a control module 4 of a smart car designed by the present invention. The control module 4 also includes a converter 44, an MCU45, a first voltage driver 46 and a second voltage driver 47. The MCU45 is connected to the converter 44, the first voltage driver 46, the second voltage driver 47 and the accelerometer 43. The converter 44 is an IV converter, which is connected to the photodetector 41, converts the photocurrent signal sent by the photodetector 41 into horizontal position information and sends it to the MCU45. The MCU45 compares and calculates the horizontal position information, that is, compares the current position information with the previous position information, and outputs a first drive signal to the first accelerometer. The first voltage driver 46 drives the cylindrical electromagnet 32 ​​to cooperate with the realization of the magnetic suspension control force and buffer displacement between the cylindrical permanent magnet 22 on the storage table 2 and the cylindrical electromagnet 33 on the base 3; the accelerometer 43 detects the vertical position information and transmits it to the MCU45 for solution, and the MCU45 outputs a second drive signal to the second voltage driver 47, and the second voltage driver 47 drives the annular electromagnet 33 to cooperate with the realization of the magnetic suspension control force and buffer displacement between the annular permanent magnet 23 on the storage table 2 and the annular electromagnet 33 on the base 3. Of course, the control module 4 also includes a power management module 48, which manages the power supply of the photodetector 41, the semiconductor laser 42, the accelerometer 43, the converter 44, the MCU45, the first voltage driver 46 and the second voltage driver 47.

[0036] Among them, the horizontal position information includes front and rear position information and left and right position information. Assuming that the X direction in the figure is the front and rear direction, and the Y direction is the left and right direction, the front and rear position information is quadrant four + quadrant three - quadrant one - quadrant two, and the left and right position information is quadrant four + quadrant one - quadrant two - quadrant three.

[0037] As attached Figure 5 The figure shows a control flow diagram of the intelligent car of the present invention.

[0038] The control process of the intelligent car of the present invention is mainly to keep the storage table 2 in the center position relative to the base, mainly by using the photoelectric detector 41 in conjunction with the semiconductor laser 42 to achieve micro-displacement detection and maintain the center position control. Specifically, it includes: after the intelligent car starts, it is first initialized, and the initialization includes the initialization of the photoelectric detector 41, the semiconductor laser 42, the accelerometer 43 and the zeroing of the center position; then the photoelectric detector 41 detects the front-to-back position of the light spot sent by the semiconductor laser 42, and compares it with the center position after the previous zeroing. If there is a deviation, the cylindrical electromagnet 32 ​​in the front-to-back direction is controlled according to the deviation value to cooperate with the corresponding cylindrical permanent magnet 22 to adjust the position in the front-to-back direction and maintain the center position. If there is no deviation, the following content is carried out; further, the photoelectric detector 41 detects the semiconductor laser 42, and the accelerometer 43 is initialized, and the center position is zeroed; then the photoelectric detector 41 detects the position of the light spot sent by the semiconductor laser 42 in the front-to-back direction, and compares it with the center position after the previous zeroing. If there is a deviation, the cylindrical electromagnet 32 ​​in the front-to-back direction is controlled according to the deviation value to cooperate with the corresponding cylindrical permanent magnet 22 to achieve the front-to-back position adjustment and maintain the center position. If there is no deviation, the following content is carried out; further, the photoelectric detector 41 detects the semiconductor laser The left and right positions of the light spot sent by the device 42 are compared with the center position after zeroing. If there is a deviation, the cylindrical electromagnets 32 in the left and right directions are controlled to cooperate with the corresponding cylindrical permanent magnets 22 to adjust the position in the left and right directions according to the compared deviation value, and the center position is maintained. If there is no deviation, the following content is carried out; finally, the vertical jitter amount is detected according to the accelerometer 43. If the jitter amount is greater than the threshold, the vertical annular electromagnet 33 is controlled to cooperate with the corresponding annular permanent magnet 23 according to the jitter amount to adjust the position in the vertical direction and the center position is maintained. If the jitter amount is not greater than the threshold, the process ends.

[0039] Here we take the forward and backward direction motion smoothing control flow as an example to introduce the motion smoothing control flow. Figure 6 As shown, firstly, a photoelectric detector 41 is used in conjunction with a semiconductor laser 42 to detect the position information of the front-to-back direction of the storage platform, and the current position information is compared with the center position after zeroing to obtain the deviation dx in the front-to-back direction. The voltages U1' and U2' of the cylindrical electromagnet 32 ​​corresponding to the front-to-back direction are measured, and the impact acceleration Ax in the front-to-back direction is obtained through the accelerometer 32 to determine whether the storage platform 21 is in the center in the front-to-back direction. When an offset occurs, it is determined whether it is a positive offset. If it is positive, the front cylindrical electromagnet 32 ​​is controlled by the formula U1=-k1*Ax+ U1', and the rear cylindrical electromagnet 32 ​​is controlled by U2=k2*Ax+ U2'. Otherwise, the front cylindrical electromagnet 32 ​​is controlled by U1=k1*Ax+ U1', and the rear cylindrical electromagnet 32 ​​is controlled by U2=-k2*Ax+ U2'. And the table adjustment coefficients k1 and k2 are detected in real time to achieve flexible buffering.

[0040] The control in the vertical direction is slightly different from that in the front, back, left and right directions. First, based on the acceleration value Az in the vertical direction detected by the accelerometer 43, the vertical jitter L can be calculated by two integrations. If the absolute value of the jitter is greater than the threshold value Lt (always a positive value), the voltage U3' of the annular electromagnet 33 corresponding to the up and down directions is measured. When the jitter is greater than Lt, the annular electromagnet 33 is controlled by the formula U3=-k3*Az+U3'; conversely, when the jitter is less than -Lt, the annular electromagnet 33 is controlled by the formula U3=k3*Az+U3'. And the table adjustment coefficient K3 is detected in real time to achieve flexible buffering.

[0041] The present invention cleverly installs the micro-displacement detection four-quadrant photoelectric system between the platform and the base to detect the micro-displacement and motion acceleration of the platform. It also cooperates with the active control magnetic suspension between the platform and the base in the horizontal and vertical directions to achieve high-frequency small-amplitude impact suppression, which is a breakthrough in the safe transportation of dangerous reagents.

[0042] The main features and beneficial effects of the present invention compared with the prior art are:

[0043] 1. The present invention cleverly installs a four-quadrant photoelectric system for micro-displacement detection between the storage table and the base to detect the micro-displacement and motion acceleration of the storage table.

[0044] 2. The magnetic levitation vibration suppression technology adopted by the present invention can greatly reduce the disturbance of high-frequency and low-amplitude to the storage platform, thereby improving the smooth transportation performance.

[0045] 3. The present invention adopts the combination of electromagnet and permanent magnet and controls the electromagnet in real time through a voltage driver to realize active motion buffering, which can greatly improve the transportation stability.

[0046] The above is only an embodiment of the present invention, and its description is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention.

Claims

1. A smart car, characterized in that: The smart car includes a storage table, a base and a control module. The storage table and the base are stacked, and both are provided with a plurality of magnetic bodies. The control module controls the plurality of magnetic bodies on the storage table to cooperate with the plurality of magnetic bodies on the base so that the storage table and the base maintain a suspended stable state; the plurality of magnetic bodies on the storage table are permanent magnets, including cylindrical permanent magnets and annular permanent magnets, the cylindrical permanent magnets are located on the outer sides of the storage table, and the annular permanent magnets are located on the bottom surface of the storage table; the plurality of magnetic bodies on the base are electromagnets, including cylindrical electromagnets and annular electromagnets, the cylindrical electromagnets are located on the inner sides of the base, horizontally corresponding to the cylindrical permanent magnets on the outer sides of the storage table, and the annular electromagnets are located on the top surface of the base, vertically corresponding to the annular permanent magnets on the bottom surface of the storage table; The control module includes a converter, an MCU, a first voltage driver, a second voltage driver, a photodetector and a semiconductor laser; the photodetector is located at the center of the bottom surface of the storage table body, and the annular permanent magnet is located at the periphery of the photodetector; The semiconductor laser is located at the center of the top surface of the base body, and the annular electromagnet is located at the periphery of the semiconductor laser; the MCU is connected to the converter, the first voltage driver, the second voltage driver and the accelerometer; the converter is connected to the photodetector, converts the photocurrent signal into horizontal position information and sends it to the MCU, the MCU compares and calculates the horizontal position information, outputs a first drive signal to the first voltage driver, the first voltage driver drives the cylindrical electromagnet to cooperate with the realization of the magnetic suspension control force and buffer displacement between the cylindrical permanent magnet on the storage table and the cylindrical electromagnet on the base; the accelerometer detects the vertical position information and transmits it to the MCU for solution, the MCU outputs a second drive signal to the second voltage driver, the second voltage driver drives the annular electromagnet to cooperate with the realization of the magnetic suspension control force and buffer displacement between the annular permanent magnet on the storage table and the annular electromagnet on the base; The control method of the smart car includes: First, a photoelectric detector is used in conjunction with a semiconductor laser to detect the position information of the front-to-back direction of the storage platform, and the current position information is compared with the center position after zeroing to obtain the deviation dx in the front-to-back direction; the voltages U1' and U2' of the cylindrical electromagnets corresponding to the front-to-back directions are measured, and the impact acceleration Ax in the front-to-back directions is obtained through an accelerometer to determine whether the storage platform is in the center in the front-to-back direction. When an offset occurs, it is determined whether it is a positive offset. If it is positive, the formula U1=-k1*Ax+ U1' is used to control the cylindrical electromagnet in front, and U2=k2*Ax+ U2' is used to control the cylindrical electromagnet in the back; otherwise, U1=k1*Ax+ U1' is used to control the cylindrical electromagnet in front, and U2=-k2*Ax+ U2' controls the cylindrical electromagnet at the rear; and detects the table adjustment coefficients k1 and k2 in real time to achieve flexible buffering; the control method in the vertical direction is to first calculate the vertical jitter L by two integrations based on the vertical acceleration value Az detected by the accelerometer. If the absolute value of the jitter is greater than the threshold value Lt, measure the voltage U3' of the annular electromagnet corresponding to the up and down directions; when the jitter is greater than Lt, the annular electromagnet is controlled by the formula U3=-k3*Az+U3'; conversely, when the jitter is less than -Lt, the annular electromagnet is controlled by the formula U3=k3*Az+U3'; and detects the table adjustment coefficient K3 in real time to achieve flexible buffering.

2. The intelligent car according to claim 1, characterized in that: The storage table includes a storage table body, which is roughly a flat cube, and the bottom surface is recessed towards the top surface to form a first accommodation space. The annular permanent magnet is roughly square ring-shaped and is located in the first accommodation space. The four side surfaces of the annular permanent magnet correspond one-to-one to the four side surfaces of the storage table body. There are eight cylindrical permanent magnets in total. Two cylindrical permanent magnets are provided on each outer side surface around the storage table body, and the eight cylindrical permanent magnets are symmetrically arranged; the base includes a base body, which is roughly a flat cube, and the top surface is recessed towards the bottom surface to form a second accommodation space. The annular electromagnet is roughly square ring-shaped and is located in the second accommodation space. The four side surfaces of the annular electromagnet correspond one-to-one to the four side surfaces of the base body. There are eight cylindrical electromagnets in total. Two cylindrical electromagnets are provided on each inner side surface around the base body, and the eight cylindrical electromagnets are symmetrically arranged.

3. The intelligent car according to claim 2, characterized in that: The control module also includes an accelerometer, which is located at the center of the bottom surface of the storage table body.

4. The intelligent car according to claim 2, characterized in that: The photodetector is a four-quadrant photodetector.

5. The intelligent car according to claim 2, characterized in that: The base is also provided with wheels, and the wheels are located on the outer sides of the two opposite sides of the base body; the smart car also includes an item container, and the item container is placed on the storage table for accommodating items; the items include dangerous reagents.

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