Intelligent sorting and carrying control system

Abstract

The invention belongs to a sorting and carrying control system, and particularly relates to an intelligent sorting and carrying control system which comprises a carrying vehicle body and a control system, and the control system controls the carrying vehicle body to carry a target object to a designated position along a trajectory. The carrier body is provided with a plurality of sensors, so that a target object can be transported to a specified position according to a specific track, and the target object can be conveniently carried and processed in the next step; meanwhile, the control system further comprises an energy recovery module which is used for converting mechanical energy generated in the carrying process of the carrying vehicle into electric energy, so that efficient energy optimization management is achieved; by means of the intelligent sorting and carrying control system, labor force can be greatly liberated, the production efficiency of enterprises can be improved, cost reduction and efficiency improvement are achieved, and the intelligent sorting and carrying control system has important practical significance in promoting transformation of the manufacturing industry towards the intelligent manufacturing direction.

Description

Technical Field

[0001] The present application relates to a sorting and handling control system, and specifically to an intelligent sorting and handling control system. Background Art

[0002] Sorting and handling of materials is an indispensable part of the production line. At the beginning, the sorting and handling of materials was done manually, which required a large number of workers to work at the same time and to ensure the workers' health and work and rest time. Therefore, the efficiency of manual sorting was low, and it was subject to many interference factors, which might cause incorrect sorting or damage to materials. With the development of automation technology, robots have gradually replaced manpower and started to complete repetitive tasks such as material stacking, assembly, sorting and handling on automated production lines, greatly improving the efficiency of sorting and handling and extending working hours; however, robots are only suitable for short-distance handling, and long-distance cargo handling still requires manual intervention, resulting in low efficiency of long-distance handling. Summary of the invention

[0003] In order to solve the problem of low efficiency in long-distance transportation in the prior art, an intelligent sorting and transportation control system is provided. The system can transport the target object along the trajectory line to the designated position. At the same time, the system has a built-in high-efficiency energy recovery device, so as to achieve efficient energy optimization management, improve the production efficiency of the enterprise, and achieve cost reduction and efficiency improvement. An intelligent sorting and transportation control system includes a transport vehicle body, a control system and a mobile terminal. The control system is used to control the transport vehicle body to transport the target object along the trajectory line to the designated position; the transport vehicle body includes a transport compartment, the target object is placed in the transport compartment, and an electronic tag is set on the target object; the trajectory line is a colored line set on the ground, and the rest of the ground except the trajectory line is different in color from the trajectory line;

[0004] The control system includes a weighing module, a data acquisition module, a tracking module, an energy recovery module, a drive module, a main control module and a power supply module;

[0005] The weighing module, data acquisition module, energy recovery module, tracking module, driving module and power supply module are arranged on the transport vehicle body; the weighing module is used to obtain the weight information in the transport compartment at fixed intervals, and send the weight information to the main control module and the mobile terminal. When the received weight information reaches the set range, the main control module controls the data acquisition module to collect the electronic tags on all the target objects, and the data acquisition module obtains the target object information corresponding to the electronic tags according to the electronic tags on the target objects, and sends the target object information to the main control module and the mobile terminal; after receiving the target object information, the main control module controls the tracking module to collect the colored trajectory line, and the tracking module sends the colored trajectory line to the main control module; the main control module controls the driving module to drive the transport vehicle body to move or stop along the trajectory line according to the received colored trajectory line, until the target object is transported to the set designated position along the trajectory line;

[0006] The main control module is also used to control the energy recovery module to convert the mechanical energy generated by the transport vehicle body into electrical energy and generate conversion information. The energy recovery module stores the generated electrical energy in the power supply module and sends the conversion information to the main control module. The main control module adjusts the conversion efficiency of the energy recovery module according to the received conversion information. The power supply module is used to supply power to the main control module, weighing module, tracking module, drive module and data acquisition module.

[0007] The mobile terminal is used to display the received target weight information and target information.

[0008] Beneficial Effects

[0009] The present application discloses an intelligent sorting and handling control system, comprising a transport vehicle body and a control system. The control system controls the transport vehicle body to transport the target object to a designated position along a trajectory. The transport vehicle body is provided with a plurality of sensors which can realize the transportation of the target object to the designated position along a specific trajectory, so as to facilitate the handling and further processing of the target object. Meanwhile, the control system also comprises an energy recovery module, which converts the mechanical energy generated by the transport vehicle during the handling process into electrical energy, so as to achieve efficient energy optimization management. The intelligent sorting and handling control system can not only greatly liberate labor, but also improve the production efficiency of the enterprise, realize cost reduction and efficiency improvement, and has important practical significance for promoting the transformation of the manufacturing industry towards intelligent manufacturing. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 This is a schematic diagram of the structure of an intelligent sorting and handling control system according to a specific implementation method of this application;

[0011] Figure 2 This is a flow chart of driving the transport vehicle body to move or stop according to the color of the track line according to a specific implementation of the present application. DETAILED DESCRIPTION

[0012] The following will be combined Figure 1 , describing this embodiment, an intelligent sorting and handling control system, including a transport vehicle body, a control system and a mobile terminal, the control system is used to control the transport vehicle body to transport the target object to a designated position along a trajectory line; the transport vehicle body includes a transport compartment, the target object is placed in the transport compartment, and an electronic tag is set on the target object; the trajectory line is a colored line set on the ground, and the other positions on the ground except the trajectory line are different in color from the trajectory line;

[0013] The control system includes a weighing module, a data acquisition module, a tracking module, an energy recovery module, a drive module, a main control module and a power supply module;

[0014] The weighing module, data acquisition module, energy recovery module, tracking module, driving module and power supply module are arranged on the transport vehicle body; the weighing module is used to obtain the weight information in the transport compartment at fixed intervals, and send the weight information to the main control module and the mobile terminal. When the received weight information reaches the set range, the main control module controls the data acquisition module to collect the electronic tags on all the target objects, and the data acquisition module obtains the target object information corresponding to the electronic tags according to the electronic tags on the target objects, and sends the target object information to the main control module and the mobile terminal; after receiving the target object information, the main control module controls the tracking module to collect the colored trajectory line, and the tracking module sends the colored trajectory line to the main control module; the main control module controls the driving module to drive the transport vehicle body to move or stop along the trajectory line according to the received colored trajectory line, until the target object is transported to the set designated position along the trajectory line;

[0015] The main control module is also used to control the energy recovery module to convert the mechanical energy generated by the transport vehicle body into electrical energy and generate conversion information. The energy recovery module stores the generated electrical energy in the power supply module and sends the conversion information to the main control module. The main control module adjusts the conversion efficiency of the energy recovery module according to the received conversion information. The power supply module is used to supply power to the main control module, weighing module, tracking module, drive module and data acquisition module.

[0016] The mobile terminal is used to display the received target weight information and target information.

[0017] The target object information includes the product name and the corresponding designated location information;

[0018] The energy recovery module can generally convert mechanical energy into electrical energy and store it. When working with the main control module, the main control module can monitor and control the energy recovery process. For example, the voltage, current and other parameters of the recovery are monitored through its built-in ADC (analog-to-digital converter). The parameters of the energy recovery circuit are adjusted by connecting a light sensor to achieve the best energy conversion efficiency. And the timer of the main control module can be used to regularly wake up the relevant circuits for energy detection and storage operations to ensure that the energy recovery process runs stably and efficiently. At the same time, when the energy storage part (such as a battery or supercapacitor) is close to full power, the main control module can control the charging circuit to stop charging to play a protective role.

[0019] The obstacle avoidance module is used to obtain the distance between the transport vehicle body and the obstacle, and send the distance between the transport vehicle body and the obstacle to the main control module. The main control module generates an alarm signal according to the received distance between the transport vehicle body and the obstacle, and sends the alarm signal to the drive module, the alarm module and the mobile terminal. The drive module stops driving the transport vehicle body to move according to the alarm signal; the alarm module sounds an alarm according to the alarm signal; and the mobile terminal displays the received alarm signal.

[0020] Specifically, in order to avoid accidents caused by collisions when the car is unattended, and based on ultrasonic ranging, measuring the distance to the obstacle can avoid such accidents, an ultrasonic obstacle avoidance module is added to this design to meet this requirement. The module uses a voltage of 5V, a static current of less than 2mA, a sensing angle of no more than 15 degrees, and a sufficient detection distance. The module has a total of 4 pins, two power pins, and 2 control pins, and the pins are plugged into the main control module.

[0021] In this design, the alarm module can be used for sound prompts. The alarm module is a buzzer. Since the driving current output of the I / O pin of the microcontroller is small, it cannot be used to directly drive the sound of the buzzer. Therefore, a transistor is used in this design to control the sound of the buzzer. The transistor acts as a switch. The transistor model used in this design is the NPN transistor S8550. The buzzer is an active self-excitation type buzzer, and its sound can be controlled by high and low levels.

[0022] Furthermore, the data acquisition module is an RFID reader, and the electronic tag on the target object is an RFID electronic tag.

[0023] Specifically, since RFID has different functional requirements for applications, its middleware design is very important, which determines the efficiency and reliability of data processing. In RFID design, it is required to have functions such as device management, data analysis and security mechanisms to ensure the accurate operation of the system.

[0024] Furthermore, the main control module controls the data collection module to collect the electronic tag on the target object according to the received weight information, including: the main control module determines whether the received weight information is greater than a set weight threshold, and if so, controls the data collection module to collect the electronic tag on the target object.

[0025] Further, the tracking module includes a left tracking module and a right tracking module; the track line includes a driving line and a guide line, the driving line and the guide line are arranged closely and in parallel, and the driving line and the guide line have different colors;

[0026] After receiving the target object information, the main control module controls the tracking module to collect the colored track line, including: after receiving the target object information, the main control module controls the left tracking module and the right tracking module to respectively obtain the first track line color and the second track line color;

[0027] The main control module controls the driving module to drive the transport vehicle body to move or stop according to the received colored trajectory line, including: the main control module respectively determines whether the first trajectory line color and the second trajectory line color are the guide line color and the driving line color; if the first trajectory line color and the second trajectory line color are both the guide line color, the main control module controls the driving module to drive the transport vehicle body to stop; if the first trajectory line color is the guide line color and the second trajectory line color is the driving line color, the main control module controls the driving module to drive the transport vehicle body to turn right; if the first trajectory line color and the second trajectory line color are both the driving line color, the main control module controls the driving module to drive the transport vehicle body to move along the driving line; if the first trajectory line color is the driving line color and the second trajectory line color is the guide line color, the main control module controls the driving module to drive the transport vehicle body to turn left.

[0028] Specifically, when the guide line is black and the driving line is white, the car starts to move on the white driving line. When the left tracking module detects white and the right tracking module also detects white, the car continues to drive according to the trajectory; when the left tracking module detects black and the right tracking module detects white, the car will drive to the right according to the detected signal; when the left tracking module detects white and the right tracking module detects black, the car will drive to the left according to the detected signal.

[0029] Furthermore, the main control module generates an alarm signal according to the received distance between the transport vehicle body and the obstacle, including: the main control module determines whether the received distance between the transport vehicle body and the obstacle is less than a safety threshold, and generates an alarm signal if so.

[0030] Furthermore, the left tracking module and the right tracking module are infrared color sensors.

[0031] Furthermore, the driving module includes a DC electrode and a motor driver. The motor driver is used to drive the DC electrode. The DC motor is used to move the transport vehicle body. The motor driver is an SDC9150SP-E1 full-bridge PWM motor driver.

[0032] Specifically, the SDC9150SP-E1 is a DC motor driver with pulse width modulation (PWM) function, with a peak output current of 3.5A and an upper operating voltage limit of 40V. By applying a PWM signal to the corresponding input pin, the speed and direction of the DC motor can be controlled, and the internal synchronous rectification circuit will reduce the chip power consumption. Internal circuit protection includes overcurrent protection, motor lead short circuit to ground or power supply protection thermal shutdown protection, undervoltage monitoring and cross-current protection. The SDC9150 is a SOP8-PP package. There is an exposed thermal pad on the bottom of the package and it is lead-free. The SDC9150 is a chip designed to control DC motors. The output drivers all have low on-resistance DMOS drivers and synchronous rectification function to reduce power consumption. The output current is regulated by PWM with a fixed off time. The IN1 and IN2 inputs allow two-wire control of the output. The protection circuit includes internal overtemperature shutdown, as well as protection against load short circuit, output short circuit to ground or power supply. The undervoltage shutdown will keep the output off until the operating voltage returns to normal. In this design, 4 DC motors are used to complete the control of the car drive part, and the DC motors are driven by SDC9150.

[0033] Furthermore, the main control module is an STM32 single-chip microcomputer.

[0034] Furthermore, the intelligent sorting and handling control system also includes a voice broadcast module, which is used to collect voice information and convert the voice information into a voice signal, and send the voice signal to the main control module. The main control module stores the voice signal and converts the voice signal into text information, and sends the text information to the mobile terminal, and the mobile terminal displays the received text information.

[0035] Specifically, the voice broadcast module includes a microphone, through which the voice content to be recorded is input. During the recording process, the chip will digitize the collected voice signal and store the processed digital signal in the memory inside the chip. When voice broadcast is required, the voice broadcast module will first perform voice recognition on the voice signal stored in the internal memory. During the voice recognition process, the module will use an algorithm based on voice recognition technology to analyze and process the input voice signal, and finally convert the voice signal into a text signal.

[0036] Furthermore, the intelligent sorting and handling control system also includes a communication module, and the weighing module and the data acquisition module respectively send the weight information and the target object information in the handling compartment to the mobile terminal through the communication module.

[0037] In this system, the communication module uses a WiFi module to achieve data upload and wireless transmission. It has very powerful functions, a long communication distance, low price, small size, easy to embed, powerful functions, and uses the LWIP protocol internally. It supports three modes: AP, STA, and AP+STA, and simple and efficient AT commands. The operating voltage of the ESP8266 wireless module is 3.3V, and the 5V voltage of the microcontroller meets its operating voltage requirements. It is also very small and very cheap. This module is used for wireless communication between the microcontroller and the mobile terminal. Through the WIFI module, the control system sends the relevant information to the mobile terminal, and finally displays it on the mobile terminal.

[0038] The control system includes a weighing module, a data acquisition module, a tracking module, an energy recovery module, a drive module, a main control module, an alarm module, a power supply module and a mobile terminal. The intelligent sorting and handling system based on the single-chip microcomputer adopts the STM32 single-chip microcomputer as the controller. Combined with the work applications of cargo decomposition and handling in industrial and logistics scenarios, a trolley is used to simulate the work of the sorting and handling system. It can automatically complete operations such as going straight, retreating, turning left and turning right. At the same time, it can be remotely controlled by remote control, tracked by the tracking module, and guaranteed by the ultrasonic module. If the car encounters an obstacle during its movement, the controller will drive the buzzer to sound an alarm, set the receiving point location information corresponding to the target object, and send a signal through the Web or App to let the car go to that point. The car can automatically complete the path planning, use RFID to record product information and send it to the specified location information, such as card 1 contains product 1 and destination 1, card 2 contains product 2 and destination 2, etc., use a mobile terminal to display information such as the car's operating status, and use a WiFi communication module to upload data and remote control. Through continuous optimization and user feedback, this system is expected to become a leading solution in the industrial field, promote the transformation of manufacturing to intelligence, and have significant economic and social value.

Claims

1. An intelligent sorting and handling control system, characterized in that: It includes a transport vehicle body, a control system and a mobile terminal. The control system is used to control the transport vehicle body to transport the target object to a designated position along a track line. The transport vehicle body includes a transport compartment. The target object is placed in the transport compartment. An electronic tag is set on the target object. The track line is a colored line set on the ground. The other positions on the ground except the track line are different in color from the track line. The control system includes a weighing module, a data acquisition module, a tracking module, an energy recovery module, a drive module, a main control module and a power supply module; The weighing module, data acquisition module, energy recovery module, tracking module, driving module and power supply module are arranged on the transport vehicle body; the weighing module is used to obtain the weight information in the transport compartment at fixed intervals, and send the weight information to the main control module and the mobile terminal. When the received weight information reaches the set range, the main control module controls the data acquisition module to collect the electronic tags on all the target objects, and the data acquisition module obtains the target object information corresponding to the electronic tags according to the electronic tags on the target objects, and sends the target object information to the main control module and the mobile terminal; after receiving the target object information, the main control module controls the tracking module to collect the colored trajectory line, and the tracking module sends the colored trajectory line to the main control module; the main control module controls the driving module to drive the transport vehicle body to move or stop along the trajectory line according to the received colored trajectory line, until the target object is transported to the set designated position along the trajectory line; The main control module is also used to control the energy recovery module to convert the mechanical energy generated by the transport vehicle body into electrical energy and generate conversion information. The energy recovery module stores the generated electrical energy in the power supply module and sends the conversion information to the main control module. The main control module adjusts the conversion efficiency of the energy recovery module according to the received conversion information. The power supply module is used to supply power to the main control module, weighing module, tracking module, drive module and data acquisition module. The mobile terminal is used to display the received target weight information and target information.

2. An intelligent sorting and handling control system according to claim 1, characterized in that: It also includes obstacle avoidance module. The obstacle avoidance module is used to obtain the distance between the transport vehicle body and the obstacle, and send the distance between the transport vehicle body and the obstacle to the main control module. The main control module generates an alarm signal according to the received distance between the transport vehicle body and the obstacle, and sends the alarm signal to the drive module, the alarm module and the mobile terminal. The drive module stops driving the transport vehicle body to move according to the alarm signal; the alarm module sounds an alarm according to the alarm signal; and the mobile terminal displays the received alarm signal.

3. The intelligent sorting and handling control system according to claim 1 is characterized in that: The data acquisition module is an RFID reader, and the electronic tag on the target object is an RFID electronic tag.

4. The intelligent sorting and handling control system according to claim 1 is characterized in that: The tracking module includes a left tracking module and a right tracking module; the track line includes a driving line and a guide line, the driving line and the guide line are arranged closely and in parallel, and the driving line and the guide line have different colors; After receiving the target object information, the main control module controls the tracking module to collect the colored track line, including: after receiving the target object information, the main control module controls the left tracking module and the right tracking module to respectively obtain the first track line color and the second track line color; The main control module controls the driving module to drive the transport vehicle body to move or stop according to the received colored trajectory line, including: the main control module respectively determines whether the first trajectory line color and the second trajectory line color are the guide line color and the driving line color; if the first trajectory line color and the second trajectory line color are both the guide line color, the main control module controls the driving module to drive the transport vehicle body to stop; if the first trajectory line color is the guide line color and the second trajectory line color is the driving line color, the main control module controls the driving module to drive the transport vehicle body to turn right; if the first trajectory line color and the second trajectory line color are both the driving line color, the main control module controls the driving module to drive the transport vehicle body to move along the driving line; if the first trajectory line color is the driving line color and the second trajectory line color is the guide line color, the main control module controls the driving module to drive the transport vehicle body to turn left.

5. The intelligent sorting and handling control system according to claim 1 is characterized in that: The main control module generates an alarm signal according to the received distance between the transport vehicle body and the obstacle, including: the main control module determines whether the received distance between the transport vehicle body and the obstacle is less than a safety threshold, and generates an alarm signal if so.

6. The intelligent sorting and handling control system according to claim 4 is characterized in that: The left tracking module and the right tracking module are infrared color sensors.

7. The intelligent sorting and handling control system according to claim 1 is characterized in that: The main control module is an STM32 single-chip microcomputer; the drive module includes a DC motor and a motor driver, the motor driver is used to drive the DC motor, and the DC motor is used to move the transport vehicle body; the motor driver is an SDC9150SP-E1 full-bridge PWM motor driver.

8. An intelligent sorting and handling control system according to claim 1, characterized in that: It also includes a voice broadcast module, which is used to collect voice information and convert the voice information into voice signals, and send the voice signals to the main control module. The main control module stores the voice signals and converts the voice signals into text information, and sends the text information to the mobile terminal, which displays the received text information.

9. An intelligent sorting and handling control system according to claim 1, characterized in that: It also includes a communication module, and the weighing module and the data acquisition module respectively send the weight information and the target object information in the transport compartment to the mobile terminal through the communication module.

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