1. The utility model provides an intelligent trolley, its characterized in that, intelligent trolley is including putting thing platform, base and control module, it is range upon range of setting to put thing platform and base, the two all is equipped with a plurality of magnetic substances on it, control module control put a plurality of magnetic substances on the thing platform with a plurality of magnetic substances on the base cooperate jointly for it keeps the suspension steady state to put between thing platform and the base.

2. The intelligent trolley according to claim 1, wherein the plurality of magnetic bodies on the object placing table are permanent magnets and comprise cylindrical permanent magnets and annular permanent magnets, the cylindrical permanent magnets are located on the outer peripheral side surfaces of the object placing table, and the annular permanent magnets are located on the bottom surface of the object placing table; the plurality of magnetic bodies on the base are electromagnets and comprise cylindrical electromagnets and annular electromagnets, the cylindrical electromagnets are located on the inner side surfaces of the periphery of the base and horizontally correspond to cylindrical permanent magnets on the outer side surfaces of the periphery of the object placing table, and the annular electromagnets are located on the top surface of the base and vertically correspond to the annular permanent magnets on the bottom surface of the object placing table.

3. The intelligent trolley according to claim 2, wherein the object placing table comprises an object placing table body, the object placing table body is substantially a flat square body, the bottom surface of the object placing table body is recessed towards the top surface to form a first accommodating space, the annular permanent magnet is substantially in a square ring shape and is located in the first accommodating space, four side surfaces of the annular permanent magnet correspond to four side surfaces of the object placing table body one by one, the number of the cylindrical permanent magnets is eight, two cylindrical permanent magnets are arranged on each outer side surface of the periphery of the object placing table body, and the eight cylindrical permanent magnets are symmetrically arranged; the base comprises a base body, the base body is roughly a flat square body, a second accommodating space is formed by the concave of the top surface towards the bottom surface, the annular electromagnet is roughly in the shape of a square ring and is located in the second accommodating space, four side surfaces of the annular electromagnet correspond to four side surfaces of the base body one to one, the cylindrical electromagnets are eight in total, two cylindrical electromagnets are arranged on each inner side surface of the base body, and the eight cylindrical electromagnets are symmetrically arranged.

4. The intelligent trolley according to claim 3, wherein the control module comprises a photoelectric detector and a semiconductor laser; the photoelectric detector is positioned in the center of the bottom surface of the object placing table body, and the annular permanent magnet is positioned on the periphery of the photoelectric detector; the semiconductor laser is located at the center of the top surface of the base body, and the annular electromagnet is located on the periphery of the semiconductor laser.

5. The intelligent trolley according to claim 4, wherein the control module further comprises an accelerometer, and the accelerometer is located at the center of the bottom surface of the object placing table body.

6. The intelligent trolley according to claim 5, wherein the control module further comprises a converter, an MCU, a first voltage driver and a second voltage driver, the MCU is connected with the converter, the first voltage driver, the second voltage driver and the accelerometer; the converter is connected with the photoelectric detector, converts a photocurrent signal into position information in the horizontal direction and sends the position information to the MCU, the MCU compares and calculates the position information in the horizontal direction and outputs a first driving signal to the first voltage driver, and the first voltage driver drives the cylindrical electromagnet to be matched with the cylindrical permanent magnet on the object placing table and the cylindrical electromagnet on the base to realize magnetic suspension regulation and control force and buffer displacement; the accelerometer detects position information in the vertical direction and transmits the position information to the MCU for resolving, the MCU outputs a second driving signal to the second voltage driver, and the second voltage driver drives the annular electromagnet to realize magnetic suspension regulation and control force and buffer displacement between the annular permanent magnet on the object placing table and the annular electromagnet on the base in a matching manner.

7. The intelligent trolley according to claim 4, wherein the photoelectric detector is a four-quadrant photoelectric detector.

8. The intelligent trolley according to claim 7, wherein the horizontal position information comprises front-back position information and left-right position information, the front-back position information is quadrant four + quadrant three-quadrant one-quadrant two, and the left-right position information is quadrant four + quadrant one-quadrant two-quadrant three.

9. The intelligent trolley according to claim 3, wherein wheels are further arranged on the base and located on the outer sides of two opposite side faces of the base body; the intelligent trolley also comprises a goods container, and the goods container is arranged on the object placing table and used for containing goods; the item includes a hazardous agent.

Background

With the continuous advance of science and technology and the proposal of industry 4.0, the logistics system increasingly restricts the development of the social industrialization process. Logistics transportation is embodied in many aspects of production and life, and various fields such as factory workshops, product storage warehouses, transportation and classification of express delivery objects and the like all put higher and higher requirements on a logistics navigation system. At present, materials such as buffer foam/sponge are mostly adopted for transportation of dangerous reagents, or a buffer structure realizes dispersion and release of impact acting force caused by speed change fluctuation and movement between the ground in the transportation process. The above description thus remains in a passive way of reducing shock waves to improve the safety of the transport of hazardous agents.

Meanwhile, the buffering mode is suitable for the condition of large impact force, and the transportation of dangerous reagents and even extremely dangerous substances not only needs to resist the impact with large amplitude and large force, but also needs to pay attention to the damage of small-amplitude high-frequency oscillation, because the small-amplitude high-frequency oscillation can accelerate the mutual movement of the dangerous substances in the transportation overshoot of dangerous solutions or powder substances, the transportation of the extremely dangerous substances is extremely dangerous. Therefore, a novel mode for safely transporting the hazardous reagents is needed, and an intelligent trolley for safely transporting the hazardous reagents is provided.

Disclosure of Invention

The invention aims to provide an intelligent trolley, which is used for safe transportation of hazardous reagents and aims to realize the function of actively inhibiting impact interference with high frequency and small amplitude by using an active sensing motion detection and regulating magnetic suspension technology and realize the safe transportation of the hazardous reagents.

In order to achieve the purpose, the invention provides an intelligent trolley.

The utility model provides an intelligent trolley, intelligent trolley is including putting thing platform, base and control module, it is range upon range of setting to put thing platform and base, the two all is equipped with a plurality of magnetic substances on it, control module control put a plurality of magnetic substances on the thing platform with a plurality of magnetic substances on the base cooperate jointly for it keeps the suspension steady state to put between thing platform and the base.

Furthermore, the plurality of magnetic bodies on the object placing table are permanent magnets and comprise cylindrical permanent magnets and annular permanent magnets, the cylindrical permanent magnets are positioned on the outer side surfaces of the periphery of the object placing table, and the annular permanent magnets are positioned on the bottom surface of the object placing table; the plurality of magnetic bodies on the base are electromagnets and comprise cylindrical electromagnets and annular electromagnets, the cylindrical electromagnets are located on the inner side surfaces of the periphery of the base and horizontally correspond to cylindrical permanent magnets on the outer side surfaces of the periphery of the object placing table, and the annular electromagnets are located on the top surface of the base and vertically correspond to the annular permanent magnets on the bottom surface of the object placing table.

The article placing table comprises an article placing table body, the article placing table body is approximately a flat square body, the bottom surface of the article placing table body is recessed towards the top surface to form a first accommodating space, the annular permanent magnet is approximately square annular and is positioned in the first accommodating space, four side surfaces of the annular permanent magnet correspond to four side surfaces of the article placing table body one by one, the number of the cylindrical permanent magnets is eight, two cylindrical permanent magnets are arranged on each outer side surface of the periphery of the article placing table body, and the eight cylindrical permanent magnets are symmetrically arranged; the base comprises a base body, the base body is roughly a flat square body, a second accommodating space is formed by the concave of the top surface towards the bottom surface, the annular electromagnet is roughly in the shape of a square ring and is located in the second accommodating space, four side surfaces of the annular electromagnet correspond to four side surfaces of the base body one to one, the cylindrical electromagnets are eight in total, two cylindrical electromagnets are arranged on each inner side surface of the base body, and the eight cylindrical electromagnets are symmetrically arranged.

Further, the control module comprises a photoelectric detector and a semiconductor laser; the photoelectric detector is positioned in the center of the bottom surface of the object placing table body, and the annular permanent magnet is positioned on the periphery of the photoelectric detector; the semiconductor laser is located at the center of the top surface of the base body, and the annular electromagnet is located on the periphery of the semiconductor laser.

Further, the control module further comprises an accelerometer, and the accelerometer is located at the center of the bottom surface of the object placing table body.

Furthermore, the control module also comprises a converter, an MCU, a first voltage driver and a second voltage driver, wherein the MCU is connected with the converter, the first voltage driver, the second voltage driver and the accelerometer; the converter is connected with the photoelectric detector, converts a photocurrent signal into position information in the horizontal direction and sends the position information to the MCU, the MCU compares and calculates the position information in the horizontal direction and outputs a first driving signal to the first voltage driver, and the first voltage driver drives the cylindrical electromagnet to be matched with the cylindrical permanent magnet on the object placing table and the cylindrical electromagnet on the base to realize magnetic suspension regulation and control force and buffer displacement; the accelerometer detects position information in the vertical direction and transmits the position information to the MCU for resolving, the MCU outputs a second driving signal to the second voltage driver, and the second voltage driver drives the annular electromagnet to realize magnetic suspension regulation and control force and buffer displacement between the annular permanent magnet on the object placing table and the annular electromagnet on the base in a matching manner.

Further, the photodetector is a four-quadrant photodetector.

Further, the position information in the horizontal direction 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.

Furthermore, wheels are arranged on the base and positioned on the outer sides of the two opposite side surfaces of the base body; the intelligent trolley also comprises a goods container, and the goods container is arranged on the object placing table and used for containing goods; the item includes a hazardous agent.

The invention skillfully installs the micro-displacement detection four-quadrant photoelectric system between the object placing table and the base to realize the detection of the micro-displacement and the motion acceleration of the object placing table. And the active regulation type magnetic suspension between the object placing table and the base in the horizontal and vertical directions is matched to realize the impact suppression of high frequency and small amplitude, and the method has breakthrough progress in the aspect of safe transportation of dangerous reagents.

Compared with the prior art, the invention has the characteristics and beneficial effects that:

1. the invention skillfully installs the micro-displacement detection four-quadrant photoelectric system between the object placing table and the base to realize the detection of the micro-displacement and the motion acceleration of the object placing table.

2. The magnetic suspension vibration suppression technology adopted by the invention can greatly reduce the disturbance of high frequency and low amplitude to the object placing table, and improves the stable transportation performance.

3. The invention realizes active motion buffering by matching the electromagnet and the permanent magnet and controlling the electromagnet in real time through the voltage driver, and can greatly improve the transportation stability.

Drawings

Fig. 1 is a schematic perspective view of an intelligent vehicle according to the present invention.

Fig. 2 is a schematic front view of an intelligent trolley according to the invention.

Fig. 3 is a schematic top view of an intelligent trolley according to the present invention.

Fig. 4 is a schematic structural diagram of a control module of the intelligent vehicle.

Fig. 5 is a schematic control flow diagram of the intelligent vehicle according to the present invention.

FIG. 6 is a schematic diagram of a control flow of the intelligent vehicle for stable movement in the front-rear direction.

In the figure: 1-a product container; 2-placing the object table; 3-a base; 4-a control module;

21-a platform body; 22-cylindrical permanent magnet; 23-a ring-shaped permanent magnet; 24-a first housing space; 31-a base body; 32-cylindrical electromagnets; 33-a ring-shaped electromagnet; 34-a second accommodating space; 35-a wheel;

41-a photodetector; 42-a semiconductor laser; 43-an accelerometer; 44-a converter; 45-MCU; 46-first voltage driver; 47-second Voltage driver.

Detailed Description

The present invention is described in further detail with reference to the drawings and the detailed description, but the scope of the present invention is not limited to the following embodiments, and all technical solutions obtained by equivalent substitution or equivalent transformation are within the scope of the present invention.

As shown in fig. 1 to 3, the intelligent cart of the present invention includes an article container 1, a placing table 2, a base 3 and a control module 4.

The article container 1 is a cylindrical cup-shaped container, is arranged above the center of the square object placing table 2 and is used for containing dangerous reagents for a short time.

The object placing table 2 comprises an object placing table body 21, a cylindrical permanent magnet 22 and an annular permanent magnet 23; the object placing table 21 is a square box body lacking a bottom surface, namely, the bottom surface is recessed towards the top surface to form a first accommodating space 24, the annular permanent magnet 23 is roughly in a square ring shape and is positioned in the first accommodating space 24, and four side surfaces of the annular permanent magnet correspond to four side surfaces of the object placing table body 21 one by one; the eight cylindrical permanent magnets 22 are cylindrical, and the eight cylindrical permanent magnets 22 are symmetrically and fixedly arranged on the outer side surfaces of the four peripheral surfaces of the object placing table body 21 in the circumferential direction; the control module 4 comprises a photoelectric detector 41, a semiconductor laser 42 and an accelerometer 43, the photoelectric detector 41 is a four-quadrant photoelectric detector, the accelerometer 43 is located at the center of the bottom surface of the object placing table body 21, namely, at the center of the first accommodating space 24, the square annular permanent magnet 23 is fixedly arranged at the periphery of the photoelectric detector 41 and the accelerometer 43,

the base 3 comprises a base body 31, a cylindrical electromagnet 32, an annular electromagnet 33 and wheels 35; the base body 31 is a square box without an upper top surface, that is, the top surface is recessed towards the bottom surface to form a second accommodating space 34, the semiconductor laser 42 is fixedly installed at the upper center of the inner bottom surface, and the annular electromagnet 33 in a square ring shape is fixedly installed at the periphery of the semiconductor laser 42 and corresponds to the annular permanent magnet 23 installed at the inner lower bottom surface of the object placing table body 21; the eight cylindrical electromagnets 33 are cylindrical and eight in total, the eight cylindrical electromagnets 32 are symmetrically and fixedly arranged on the inner side of the four peripheral surfaces of the base body 31 and correspond to the rest cylindrical permanent magnets 22 fixed on the outer side surfaces of the four peripheral surfaces of the object placing table body 21 one by one; four wheels 3-5 are arranged on two symmetrical outer side surfaces on the outer sides of the four peripheral surfaces of the base body 31.

The object placing table 2 is arranged above the center of the base 3 in a stacked and suspended manner, and maintains a suspended stable state in the horizontal direction, front, rear, left and right, and a suspended stable state in the vertical direction.

As shown in fig. 4, a schematic structural diagram of a control module 4 of an intelligent vehicle designed according to the present invention is shown. The control module 4 further comprises a converter 44, an MCU45, a first voltage driver 46 and a second voltage driver 47, wherein the MCU45 is connected with the converter 44, the first voltage driver 46, the second voltage driver 47 and the accelerometer 43; the converter 44 is an IV converter, and is connected to the photodetector 41, and converts a photocurrent signal sent by the photodetector 41 into horizontal position information, and sends the horizontal position information to the MCU45, the MCU45 compares the horizontal position information, that is, compares the current position information with the previous position information, and outputs a first driving signal to the first voltage driver 46, and the first voltage driver 46 drives the cylindrical electromagnet 32 to cooperate with each other to realize magnetic suspension regulation and control strength and buffer displacement between the cylindrical permanent magnet 22 on the object placing table 2 and the cylindrical electromagnet 33 on the base 3; the accelerometer 43 detects position information in the vertical direction and transmits the position information to the MCU45 for calculation, the MCU45 outputs a second driving signal to the second voltage driver 47, and the second voltage driver 47 drives the annular electromagnet 33 to cooperate with the annular permanent magnet 23 on the object placing table 2 and the annular electromagnet 33 on the base 3 to realize magnetic suspension regulation and control force and buffer displacement. Of course, the control module 4 further includes a power management module 48 for managing power supply to 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.

The horizontal position information includes front and rear position information and left and right position information, and it is assumed that the X direction in the drawing is the front and rear direction, 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.

As shown in fig. 5, is a schematic control flow diagram of the intelligent vehicle of the present invention.

The control flow of the intelligent trolley mainly aims to keep the object placing table 2 at a central position relative to the base, and mainly realizes micro-displacement detection and central position control by using the photoelectric detector 41 and the semiconductor laser 42. The method specifically comprises the following steps: after the intelligent trolley starts to be started, initialization is firstly carried out, wherein the initialization comprises the initialization of the photoelectric detector 41, the semiconductor laser 42 and the accelerometer 43 and the zero setting of the central position; then the photoelectric detector 41 detects the position of the light spot in the front-back direction from the semiconductor laser 42, compares the position with the center position after the previous zero setting, if there is a deviation, controls the cylindrical electromagnet 32 in the front-back direction to match with the corresponding cylindrical permanent magnet 22 to realize the position adjustment in the front-back direction according to the deviation value of the comparison, keeps the center position, if there is no deviation, performs the following content; further, the photodetector 41 detects the position of the light spot emitted from the semiconductor laser 42 in the left-right direction, compares the detected position with the center position after the previous zero setting, and controls the cylindrical electromagnet 32 in the left-right direction to match with the corresponding cylindrical permanent magnet 22 to realize the position adjustment in the left-right direction according to the deviation value of the comparison if the deviation exists, so as to keep the center position, and if the deviation does not exist, the following contents are carried out; and finally, detecting the shaking amount in the vertical direction according to the accelerometer 43, if the shaking amount is greater than the threshold value, controlling the annular electromagnet 33 in the vertical direction to be matched with the corresponding annular permanent magnet 23 according to the shaking amount to realize position adjustment in the vertical direction, keeping the central position, and if the shaking amount is not greater than the threshold value, ending the process.

Here, the motion stability adjustment control flow will be described by taking the motion stability adjustment in the forward and backward directions as an example. Referring to fig. 6, first, the photo detector 41 is used to detect the position information of the front-back direction in cooperation with the semiconductor laser 42, and the current position information is compared with the center position after the zero adjustment to obtain the deviation dx in the front-back direction. And the voltages U1 'and U2' of the cylindrical electromagnets 32 correspondingly controlled in the front and back directions are measured, the impact acceleration Ax in the front and back directions is obtained through the accelerometer 32, whether the object placing table 21 is at the center in the front and back directions is judged, whether the object placing table is in positive deviation is judged when the object placing table is deviated, if the object placing table is in the positive direction, the front cylindrical electromagnet 32 is controlled through a formula U1= -k 1= -U1 ', and the rear cylindrical electromagnet 32 is controlled through a formula U2= k2 × + U2'. On the contrary, 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 real-time detection of the table look-up adjustment coefficients k1 and k2 realizes flexible buffering.

It is conceivable that the control in the left-right direction is similar to the control in the front-rear direction described above. And the control in the vertical direction is slightly different from the control in the front-rear, left-right directions. First, the vertical shake amount L can be calculated by twice integration based on the vertical acceleration value Az detected by the accelerometer 43, and if the absolute value of the shake amount is larger than the threshold Lt (always positive), the voltage U3' of the ring magnet 33 corresponding to the up-down direction is measured. When the jitter amount is greater than Lt, the ring-shaped electromagnet 33 is controlled through a formula U3= -k3 × Az + U3'; on the contrary, when the jitter amount is smaller than-Lt, the ring electromagnet 33 is controlled by the formula U3= k3 Az + U3'. And the table look-up adjustment coefficient K3 is detected in real time to realize flexible buffering.

The invention skillfully installs the micro-displacement detection four-quadrant photoelectric system between the object placing table and the base to realize the detection of the micro-displacement and the motion acceleration of the object placing table. And the active regulation type magnetic suspension between the object placing table and the base in the horizontal and vertical directions is matched to realize the impact suppression of high frequency and small amplitude, and the method has breakthrough progress in the aspect of safe transportation of dangerous reagents.

Compared with the prior art, the invention has the characteristics and beneficial effects that:

1. the invention skillfully installs the micro-displacement detection four-quadrant photoelectric system between the object placing table and the base to realize the detection of the micro-displacement and the motion acceleration of the object placing table.

2. The magnetic suspension vibration suppression technology adopted by the invention can greatly reduce the disturbance of high frequency and low amplitude to the object placing table, and improves the stable transportation performance.

3. The invention realizes active motion buffering by matching the electromagnet and the permanent magnet and controlling the electromagnet in real time through the voltage driver, and can greatly improve the transportation stability.

The above are merely embodiments of the present invention, which are described in detail and with particularity, and therefore should not be construed as limiting the scope of the invention. It should be noted that, for those skilled in the art, various changes and modifications can be made without departing from the spirit of the present invention, and these changes and modifications are within the scope of the present invention.