CN115268347A - Remote control transfer trolley and control system and method thereof - Google Patents
Remote control transfer trolley and control system and method thereof Download PDFInfo
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- CN115268347A CN115268347A CN202211191344.6A CN202211191344A CN115268347A CN 115268347 A CN115268347 A CN 115268347A CN 202211191344 A CN202211191344 A CN 202211191344A CN 115268347 A CN115268347 A CN 115268347A
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- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
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- G05B2219/24215—Scada supervisory control and data acquisition
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Abstract
The invention provides a remote control transfer trolley and a control system and method thereof, belonging to the technical field of cargo handling; the technical problem that the existing remote control cars cannot be used for forming and carrying large-sized workpieces is solved; the trolley comprises a trolley frame and a trolley control system, wherein two driving wheels and two following wheels are arranged at the bottom of the trolley frame, and encoders are arranged on the traveling motors of the two driving wheels; a rotary supporting seat is fixed in the middle of the top of the trolley frame, a rotary support is arranged on the rotary supporting seat, an auxiliary supporting column and an upright column are fixed on the rotary support, a cross beam is fixed on the upright column and the auxiliary supporting column, a traveling mechanism is arranged at the extending end of the cross beam, and a lifting mechanism is arranged below the traveling mechanism; the trolley control system comprises a control box arranged at the bottom of a trolley frame, a trolley controller, a walking motor driver and a power supply module are arranged in the control box, and the trolley controller comprises a zigbee network controller and a trolley walking controller; the invention is applied to cargo handling.
Description
Technical Field
The invention provides a remote control transfer trolley and a control system and method thereof, belonging to the technical field of cargo handling.
Background
At present, when goods need to be carried in some special operation places, air pollution and dust pollution caused by toxic gas in the special places can be prevented from causing physical harm to operation personnel through remote control. The existing remote control car generally adopts a wireless network system to remotely control machinery in a harmful environment or a harmful operation place, avoids or reduces personnel operation in the harmful environment, and is widely applied in modern industry.
However, when large-sized workpieces are conveyed, the existing workplaces generally adopt beam cranes to convey the large-sized workpieces, but the beam cranes can only convey the goods into a work site first, so that the efficiency is low; and because the cargo capacity of the general design of telecar is less, can not carry large-scale work piece alone, need many telecars to cooperate, but the present telecar that utilizes wireless network can't realize carrying formation, can't realize the transport to large-scale work piece.
Disclosure of Invention
The invention provides a remote control transfer vehicle and a control system and method thereof, aiming at solving the technical problem that the existing remote control vehicle cannot form a formation to carry large-sized workpieces.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows: a remote control transfer trolley comprises a trolley frame and a trolley control system, wherein two driving wheels and two follow-up wheels are arranged at the bottom of the trolley frame, encoders are arranged on walking motors of the two driving wheels, and the walking motors and the encoders are respectively connected with a walking motor driver through leads;
a rotary supporting seat is fixed in the middle of the top of the trolley frame, a rotary support is arranged on the rotary supporting seat, an auxiliary supporting column and an upright column are fixed on the rotary support, a cross beam is fixed on the upright column and the auxiliary supporting column, a traveling mechanism is arranged at the extending end of the cross beam, a hoisting mechanism is arranged below the traveling mechanism, and the auxiliary supporting column and the upright column are positioned on a vertical central axis of the trolley frame;
the trolley control system comprises a control box arranged at the bottom of a trolley frame, a trolley controller, a walking motor driver and a power supply module are arranged in the control box, the trolley controller comprises a zigbee network controller and a trolley walking controller, the trolley walking controller is respectively connected with the zigbee network controller and the walking motor driver through CAN buses, and the trolley walking controller is also respectively connected with control ends of a lifting motor, a rotary motor and a lifting walking motor through relays;
the power supply module comprises a rechargeable battery pack and a mains supply power supply module.
The walking mechanism comprises walking wheels and walking motors, the walking wheels comprise driving wheels and driven wheels, the walking motors are lifted to drive the driving wheels arranged on one side of the cross beam to move, the driven wheels are arranged on the other side of the cross beam and move along with the driving wheels, and the gears are meshed on the racks fixed on one side of the cross beam.
The driving wheel adopts a gear which is meshed with a rack fixed on one side of the beam.
And a CAN communication interface is reserved on the control box and is connected with the environment monitoring equipment through the CAN communication interface.
A remote control transfer trolley control system comprises a remote control transfer trolley, a field control server, a field communication base station and a handheld operation terminal, wherein the field control server and the handheld operation terminal can be communicated with any one networked remote control transfer trolley through a zigbee network of the field communication base station, the field control server and the handheld operation terminal can be communicated through the field communication base station, the field control server and the handheld operation terminal can issue field commands and simultaneously receive operation data from a plurality of remote control transfer trolleys, a trolley controller receives the commands issued by the field server or the handheld operation terminal through a zigbee network controller, and simultaneously uploads trolley walking speed information fed back by an encoder to the field server and the handheld operation terminal.
The handheld operation terminal and the field server are integrated with an expert management system, the handheld operation terminal issues an event reminding function to the field server through the expert management system, and the field server controls a plurality of remote control transfer vehicles which are operated in marshalling through the expert management system.
A control method of a remote control transfer trolley adopts a remote control transfer trolley control system, and comprises the following steps:
s1: judging the number of the remote control transfer vehicles needed by the goods or the workpieces to be transported, determining a control mode according to the number of the remote control transfer vehicles needed, transporting the goods according to the control mode of the step S2 when only one remote control transfer vehicle is needed, and transporting the goods according to the control mode of the step S3 when more than one remote control transfer vehicle is needed;
s2: the remote control transfer trolley is characterized in that a field worker issues position information for carrying goods to the remote control transfer trolley through a handheld operation terminal, the remote control transfer trolley runs to the position of the goods to be carried, the goods are fixed on a lifting mechanism through a lifting appliance through the handheld operation terminal, the lifting mechanism lifts a workpiece, the remote control transfer trolley runs according to a set path according to a control instruction of the handheld operation terminal, and the goods are carried to a specified place;
s3: the site server issues position information for transporting goods to a plurality of remote control transfer vehicles which are accessed to the network, the plurality of remote control transfer vehicles run to the position of the goods to be transported, the handheld operation terminal respectively controls the hoisting mechanisms of the plurality of remote control transfer vehicles to fix the goods on the hoisting mechanisms of the plurality of remote control transfer vehicles through the lifting appliance, the site server issues a control instruction to enable the plurality of remote control transfer vehicles to simultaneously hoist the workpieces or the goods, the plurality of remote control transfer vehicles are formed into a team according to the same side or two sides of the workpieces or the goods, the plurality of remote control transfer vehicles on the same side are used as a first team to control the remote control transfer vehicles to synchronously move in the same direction through the site server, the plurality of remote control transfer vehicles on the other side are used as a second team to control the remote control transfer vehicles and the first team to form mirror image control, and the plurality of remote control transfer vehicles run according to a planned path;
in the running process of the remote control transfer vehicles running in formation, the direction and speed data of each remote control transfer vehicle are uploaded to the site server, the site server detects and calculates the running data fed back by the remote control transfer vehicles in real time, judges whether the running state of each remote control transfer vehicle is in a safe state, judges whether a path deviates or not, and corrects the deviation in real time.
And the expert management system in the field server sets the running modes of different marshalling fleets, and simultaneously controls a plurality of transfer vehicles in the marshalling through a zigbee network.
The judgment basis of the transfer vehicle needed for judging the workpiece or the goods to be transported in the step S1 is mainly judged according to the weight, the volume and the transportation distance of the workpiece or the goods to be transported, and if any parameter of the three exceeds a set value, the transfer vehicle needs to be formed and transported by a plurality of remote control transfer vehicles.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention utilizes the zigbee wireless network technology, can carry out independent remote control, can issue commands through the on-site server when facing large-scale workpieces, complete the carrying formation of unified commands of several transfer vehicles, and complete material carrying through unified control, thereby improving the operation capability of the trolley and solving the defect that the universal remote control vehicle can only operate on a single machine;
2. the invention utilizes the zigbee wireless network technology to control the transfer trolley to carry out remote control command in a certain range, and solves the problems that the operation efficiency is low when a beam crane is adopted in a workplace to carry goods, and the goods can be lifted and carried only when the goods are delivered into the workplace;
3. the invention adopts the event prompt function of an expert management system, realizes the information interaction between the field server and the handheld operation terminal by utilizing the zigbee wireless network technology, realizes the event management of each transfer vehicle and improves the efficiency;
4. the transfer trolley is provided with a CAN communication interface in advance, CAN be connected with environment monitoring equipment, CAN carry different detection instruments under special environment, not only finishes remote operation control through a zigbee wireless network technology, but also uploads environmental information acquired by the instruments to a field server.
Drawings
The invention is further described with reference to the accompanying drawings:
FIG. 1 is a schematic structural view of a remote control transfer vehicle according to the present invention;
FIG. 2 is a top view of FIG. 1;
FIG. 3 is a schematic structural view of a hoisting mechanism and a traveling mechanism of the remote control transfer trolley of the invention;
FIG. 4 is a top view of FIG. 3;
FIG. 5 is a schematic view of the construction of the site control operation of the remote control transfer car control system of the present invention;
FIG. 6 and FIG. 7 are control circuit diagrams of the remote control transfer trolley walking controller of the invention;
FIG. 8 is a schematic circuit diagram of a trolley controller of the remote-controlled transfer trolley of the invention;
FIG. 9 is a schematic circuit diagram of a zigbee network controller of the remote control transfer trolley according to the invention;
FIGS. 10 and 11 are schematic views of two vehicle formations in accordance with one embodiment of the present invention;
FIG. 12 is a schematic diagram of a four-car formation according to a second embodiment of the present invention;
in the figure: the system comprises a remote control transfer trolley 1, a field server 2, a handheld operation terminal 3 and a communication base station 4;
the device comprises a trolley frame 11, a driving wheel 12, a traveling wheel 13, a slewing bearing 14, a vertical column 15, an auxiliary bearing 16, a cross beam 17, a traveling mechanism 18, a hoisting mechanism 19 and a rack 20.
Detailed Description
As shown in fig. 1 and fig. 2, which are schematic structural diagrams of the remote control transfer vehicle of the present invention, the front driving wheel 12 with a traveling motor is installed on a trolley frame 11, and the forward and reverse movement is completed through remote control of a trolley controller, a traveling motor driver and a zigbee network, and the remote control transfer vehicle 1 is driven to move forward and backward, the driving wheel 12 is driven to move differentially by the left and right traveling motors to realize turning of the remote control transfer vehicle 1, the traveling motors with encoders can detect the rotating speeds of the motors and the wheels, and feed the rotating speeds back to the handheld control terminal 3 and the field server 2 to realize operation speed monitoring, and especially when a plurality of remote control transfer vehicles 1 are grouped and operated coordinately, the remote control transfer vehicle 1 is realized to cooperatively control; the walking wheels 13 are arranged on the trolley frame 11 and move along with the driving wheels 12; the power supply battery and the control system are arranged in a control box below the slewing bearing 14 of the trolley frame 11.
The remote control transfer vehicle is provided with the electric slewing mechanism, wherein a slewing bearing 14 of the electric slewing mechanism is arranged in the middle of a trolley frame 11, a gear is arranged on the inner wall of the slewing bearing 14 and is meshed with a fixed gear, and a slewing motor is connected with the fixed gear through a driving shaft and drives the slewing bearing 14 to rotate, so that an upright post 15, an auxiliary bearing 16, a cross beam 17, a lifting mechanism 19 and a travelling mechanism 18 are driven to rotate along the vertical middle axis of the trolley frame 11 together to finish the adjustment of the horizontal angle of operation; the beam 17 is fixed on the slewing bearing 14 through the upright post 15 and the auxiliary bearing 16, and a rack 20 is arranged on one side of the beam 17 to prevent the running mechanism 18 from skidding or sliding after parking when running along the beam 17; the travelling mechanism 18 is arranged on the cross beam 17, a lifting travelling motor drives travelling wheels to move back and forth along the cross beam 17, the travelling wheels are composed of gears and wheel configurations, the lifting travelling motor drives the gears arranged on one side of the cross beam 17 to serve as driving wheels, and the wheels serving as driven wheels are placed on the other side of the cross beam 17 to play a role in fixing and following; the lifting mechanism 19 is arranged below the travelling mechanism 18, and is driven by a lifting motor to lift and drive the lifting hook to operate, so that the goods are lifted and put down.
Fig. 3 and 4 are schematic structural diagrams of the hoisting mechanism and the traveling mechanism of the remote-control transfer vehicle of the invention, the hoisting mechanism 19 of the invention is a conventional electric hoist, and consists of a hoisting motor assembly, a hoisting motor, a hoisting steel wire rope and a lifting hook, and the electric hoisting motor rotates forwards and backwards to drive the hoisting motor assembly to receive and release the hoisting steel wire rope and the lifting hook so as to realize the hoisting or falling of goods or workpieces. The traveling mechanism 18 device comprises a lifting traveling motor assembly, a lifting traveling motor, traveling wheels, a support and the like, wherein the lifting traveling motor assembly, the lifting traveling motor and the traveling wheels are arranged on the cross beam 17 through the support, the lifting traveling motor drives the lifting traveling motor assembly to drive the lifting mechanism 19 to move back and forth, the lifting position adjustment is realized, and the driven wheel moves along with the driving wheel to play a supporting role.
Fig. 6 and 7 are control circuit diagrams of the remote control transfer trolley walking controller, a control system of the remote control transfer trolley 1 is used as a mobile power supply through a rechargeable battery pack, and can also be used as a power supply through commercial power, when the remote control transfer trolley 1 does not need to be moved, the commercial power can be used as the power supply, when the commercial power is connected electrically, an alternating current contactor KM0 is electrified, a normally closed contact is disconnected, loops at two ends of an inverter are cut off, the normally open contact is closed, an electrifying delay relay KT1 is electrified and started, the delay time is up, the normally open contact is closed, the alternating current contactor KM1 is electrified, the normally open contact is closed, and the system is electrified; QL0 is an air switch, and can provide overcurrent and short-circuit protection for a direct-current power supply electric appliance; QL2 is an air switch, and provides overcurrent and short-circuit protection for the alternating current electric loop; the rechargeable battery pack directly provides power for the direct current electric loop, simultaneously provides power for the alternating current electric loop through the inverter when no external commercial power exists, and provides power for the whole vehicle when remote mobile operation is carried out.
The trolley controller consists of a zigbee network controller and a trolley traveling controller, the zigbee network controller is mainly used for controlling information transmission and operation state information release, the trolley traveling controller is mainly used for controlling each action of the remote control transfer trolley 1, the zigbee network controller is used for receiving a control instruction released by the field server 2 or the handheld operation terminal 3, the control of actions such as traveling, hoisting and rotating of the remote control transfer trolley 1 is completed according to the instruction, and meanwhile, the traveling speed and direction information of the remote control transfer trolley 1 are sent to the field server 2 and the handheld operation terminal 3 through the zigbee network controller; the running motor of the remote control transfer trolley 1 is provided with an encoder, the running speed of the motor is fed back in real time, and especially the running speed of the remote control transfer trolley 1 can be ensured to be synchronous during marshalling operation; the walking motor driver mainly receives control information sent by the car controller and controls the forward rotation, the reverse rotation, the speed and the differential motion of the remote control transfer trolley 1 during the steering process; the lifting motor is mainly used for lifting and driving a lifting hook and can drive goods to lift or descend; the rotary motor is mainly used for driving the hoisting device to rotate; the lifting walking motor is mainly used for driving the lifting mechanism to move back and forth along the suspension arm, and can complete the position adjustment of the lifting hook by matching with the swing mechanism and simultaneously complete the cargo lifting and unloading operation.
Fig. 8 is a schematic circuit diagram of the car controller of the present invention. The MCU of the car controller adopts ARM V8 as a central controller, the controller is provided with one RS232 communication port and two CAN bus communication ports, the RS232 is used for programming and debugging, one CAN bus communication port is used for connecting a zigbee network controller, the controller receives a command issued by the field server 2 or the handheld operation terminal 3 through the zigbee network controller and uploads the travelling speed information of the car fed back by the encoder to the field server 2, the other CAN bus communication port CAN be expanded by a user as required and is connected with instrument equipment required by the user to carry on a transfer car, and data communication is completed through the car controller and uploaded to the field server 2 through the zigbee network controller.
FIG. 9 is a schematic circuit diagram of a zigbee network controller according to the present invention. The Zigbee network controller MCU adopts the ARM V8 as a central controller, and completes the transfer vehicle control system and other handheld operation terminals 3, field servers 2 and other Zigbee network devices which enter the effective area range covered by the Zigbee network through the Zigbee communication module, the Zigbee network is of a serverless network type, any device with a Zigbee network communication function enters the effective area range covered by the Zigbee network, the respective link manager finds the other side and automatically establishes a communication relationship to become one of the nodes, if one or more of the network nodes suddenly fails, the other Zigbee network devices automatically organize another communication path, so as to ensure that data and control commands are reliably and accurately transmitted, and meanwhile, an operator can designate several of the remote control transfer vehicles 1 as a cooperative operation group to perform formation control according to the needs of field operation, and issue a control command through the field server 2, thereby completing cooperative operation.
Fig. 5 is a schematic view of the site control operation structure of the remote control transfer car control system of the present invention, and the site server 2 is used as a general command and dispatch server of the operation site, and can issue site commands and receive information from all parties. The site server 2 can be communicated with any one networked remote control transfer trolley 1 on site, read related information and issue operation control instruction information, and control the trolley to walk, lift cargos, rotate and the like; the hand-held operation terminal 3 is equipped by field control personnel, can be communicated with any on-site remote control transfer trolley 1 which is accessed to the network, reads related information and issues operation control instruction information, and controls the trolley to walk, lift goods, rotate and the like; the field communication base station 4 can enlarge the coverage area; because each trolley bears different tasks during operation and needs to wait for some tasks, in order to avoid forgetting workers, the zigbee network controller is integrated with an expert reminding function, when each remote control transfer trolley 1 operates, the field server 2 can issue management reminding information to the remote control transfer trolley 1, and when the time is up, the expert management system can issue an event reminding function to the field server 2 to remind the operators to perform corresponding operation next step. The site server 2 has an expert management system built in to preset various marshalling and status controls. When a plurality of remote control transfer vehicles 1 are marshalled and operated, the field server 2 is used as a central control system for regulation and control, an expert management system of the field server 2 mainly aims at different marshalling, and the walking speed (forward and backward) and turning differential control and the like of each remote control transfer vehicle 1 can be simultaneously controlled through a field network in the process of controlling the running track of each remote control transfer vehicle 1.
The invention also provides a control method of the remote control transfer trolley, which comprises the following steps:
s1: judging the number of the remote control transfer vehicles 1 required by the goods or the workpieces to be carried, determining a control mode according to the number of the required remote control transfer vehicles 1, carrying the goods according to the control mode of the step S2 when only one remote control transfer vehicle 1 is required, and carrying the goods according to the control mode of the step S3 when more than one remote control transfer vehicle 1 is required;
s2: the site worker issues position information for transporting goods to the remote control transfer trolley 1 through the handheld operation terminal 3, the remote control transfer trolley 1 runs to the position of the goods to be transported, the goods are fixed on the lifting mechanism 19 through the lifting appliance through the handheld operation terminal 3, the lifting mechanism 19 lifts the work piece, the remote control transfer trolley 1 runs according to a set path according to a control instruction of the handheld operation terminal 3, and the goods are transported to a specified place;
s3: the site server 2 issues position information of transported goods to a plurality of networked remote control transfer vehicles 1, the remote control transfer vehicles 1 run to the positions of the transported goods, the lifting mechanisms 19 of the remote control transfer vehicles 1 are respectively controlled by a handheld operation terminal 3 to respectively fix the goods on the lifting mechanisms 19 of the remote control transfer vehicles 1 through lifting appliances, the site server 2 issues control instructions to enable the remote control transfer vehicles 1 to simultaneously lift workpieces or goods, the remote control transfer vehicles 1 are formed into a team according to the same side or two sides of the workpieces or goods, the remote control transfer vehicles 1 on the same side are used as a first team to be controlled to synchronously move in the same direction through the site server 2, the remote control transfer vehicles 1 on the other side are used as a second team to be controlled to form mirror image control with the first team through the site server 2, and the remote control transfer vehicles 1 run according to a planned path;
in the running process of the remote control transfer vehicles 1 which run in formation, the direction and speed data of each remote control transfer vehicle 1 are uploaded to the site server 2, the site server 2 detects and calculates the running data fed back by the remote control transfer vehicles 1 in real time, and judges whether the running state of each remote control transfer vehicle 1 is in a safe state, whether the path deviates or not and corrects the deviation in real time.
And the expert management system in the field server 2 sets the running modes of different marshalling fleets, and simultaneously controls a plurality of transfer vehicles in the marshalling through a zigbee network.
The judgment basis of the transfer vehicle needed for judging the workpiece or the goods to be transported in the step S1 is mainly judged according to the weight, the volume and the transportation distance of the workpiece or the goods to be transported, and if any parameter of the three exceeds a set value, the remote control transfer vehicles 1 need to be formed and transported.
The formation control of the remote-controlled transfer car according to the invention is explained in detail in the following two embodiments.
Example one
As shown in fig. 10 and fig. 11, which are schematic diagrams of two vehicles forming a formation to perform cargo operation, the site server 2 is used as a general command and dispatch server of an operation site, an operator controls two networked remote-controlled transfer vehicles 1 to a workpiece hoisting position according to the cargo or workpiece to be transported, the hoisting mechanism 19 is adjusted to fix the cargo on the hoisting mechanism 19 through a hoisting tool (the hoisting tool is replaced according to the cargo or the workpiece), the hoisting mechanism 19 is a standard electric hoisting machine, the operator simultaneously issues control instructions to the two remote-controlled transfer vehicles 1 through a zigbee network, the hoisting mechanism 19 hoists the workpiece or the cargo, and the remote-controlled transfer vehicle 1 travels according to the required path according to the control instructions. The formation 1 and the formation 2 are respectively controlled to be suitable for different paths and needs, the formation 1 is controlled to be synchronous and equidirectional control, the formation 2 is controlled to be mirror image control, an expert management system in the field server 1 is provided with different formation operation modes according to different formations, and the control of two remote control transfer vehicles 1 in different formations can be simultaneously completed through a zigbee network. The running speed and running direction of the remote control transfer trolley 1 are controlled by an operator in real time, the direction control and the running speed of the remote control transfer trolley 1 are uploaded to the site server 1 by each remote control transfer trolley 1, and the site server 1 judges whether the running states of the two trolleys are in a safe state and whether the paths of the two trolleys deviate according to real-time detection and calculation, corrects the deviation in real time and ensures safe and reliable running.
Example two
As shown in fig. 12, which is a schematic diagram of four-car formation for cargo operation, the site server 2 is used as a general command and dispatch server in an operation site, an operator can control four networked remote-controlled transfer cars 1 to a workpiece hoisting position according to the cargo or workpiece to be transported, the hoisting mechanism 19 is adjusted to fix the cargo on the hoisting mechanism 19 through a hoisting tool (the hoisting tool is replaced according to the cargo or the workpiece), the hoisting mechanism 19 is a standard electric hoisting machine, the operator can simultaneously issue control instructions to the four remote-controlled transfer cars 1 through a zigbee network, the hoisting mechanism 19 hoists the workpiece or the cargo, and the remote-controlled transfer car 1 can travel according to the required path according to the control instructions. The four remote control transfer vehicles 1 have the same-speed and same-direction control and mirror image control, the expert management system in the field server 2 is provided with different marshalling operation modes, and the control of different remote control transfer vehicles 1 in a formation can be completed simultaneously through a zigbee network. The running speed and running direction of the remote control transfer trolley 1 are controlled by an operator in real time, the direction control and walking speed of the remote control transfer trolley 1 are uploaded to a control server computer by each remote control transfer trolley 1, and the field server 2 judges whether the running state of the four vehicles is in a safe state or not and whether the paths of the four vehicles deviate or not according to real-time detection and calculation and corrects the deviation in real time to ensure safe and reliable running. And the other multi-vehicle groups are controlled basically in the same way.
It should be noted that, regarding the specific structure of the present invention, the connection relationship between the modules adopted in the present invention is determined and can be realized, except for the specific description in the embodiment, the specific connection relationship can bring the corresponding technical effect, and the technical problem proposed by the present invention is solved on the premise of not depending on the execution of the corresponding software program.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (9)
1. A remote control transfer trolley is characterized in that: the trolley comprises a trolley frame and a trolley control system, wherein two driving wheels and two following wheels are arranged at the bottom of the trolley frame, encoders are arranged on walking motors of the two driving wheels, and the walking motors and the encoders are respectively connected with a walking motor driver through leads;
a rotary supporting seat is fixed in the middle of the top of the trolley frame, a rotary support is arranged on the rotary supporting seat, an auxiliary supporting column and an upright column are fixed on the rotary support, a cross beam is fixed on the upright column and the auxiliary supporting column, a traveling mechanism is arranged at the extending end of the cross beam, and a lifting mechanism is arranged below the traveling mechanism, wherein the auxiliary supporting column and the upright column are positioned on a vertical central axis of the trolley frame;
the trolley control system comprises a control box arranged at the bottom of a trolley frame, a trolley controller, a walking motor driver and a power supply module are arranged in the control box, the trolley controller comprises a zigbee network controller and a trolley walking controller, the trolley walking controller is respectively connected with the zigbee network controller and the walking motor driver through a CAN bus, and the trolley walking controller is also respectively connected with control ends of a lifting motor, a rotary motor and a lifting walking motor through a relay;
the power supply module comprises a rechargeable battery pack and a mains supply power supply module.
2. The remote-controlled transfer trolley according to claim 1, characterized in that: running gear includes walking wheel and walking motor, the walking wheel includes action wheel and follower, wherein plays to rise walking motor and drives the action wheel motion of installing in crossbeam one side, and the follower is installed at the opposite side of crossbeam, moves along with the action wheel, and wherein gear engagement is on the fixed rack on crossbeam one side.
3. A remote-controlled transfer car (buggy) according to claim 2, characterized in that: the driving wheel adopts a gear which is meshed with a rack fixed on one side of the beam.
4. A remote-controlled transfer car (buggy) according to claim 1, characterized in that: and a CAN communication interface is reserved on the control box and is connected with the environment monitoring equipment through the CAN communication interface.
5. A remote-controlled transfer car-riage control system comprising a remote-controlled transfer car-riage according to any one of claims 1-4, characterized in that: the system comprises a field control server, a field communication base station and a handheld operation terminal, wherein the field control server and the handheld operation terminal can be communicated with any one networked remote control transfer trolley through a zigbee network of the field communication base station, the field control server and the handheld operation terminal can be communicated through the field communication base station, the field control server and the handheld operation terminal can issue field commands and simultaneously receive running data from a plurality of remote control transfer trolleys, and the trolley controller receives the commands issued by the field server or the handheld operation terminal through a zigbee network controller and uploads trolley walking speed information fed back by an encoder to the field server and the handheld operation terminal.
6. The remote-controlled transfer car control system of claim 5, wherein: the handheld operation terminal and the field server are integrated with an expert management system, the handheld operation terminal issues an event reminding function to the field server through the expert management system, and the field server controls a plurality of remote control transfer vehicles which are operated in marshalling through the expert management system.
7. A control method of a remote-controlled transfer vehicle using a remote-controlled transfer vehicle control system according to claim 6, characterized in that: the method comprises the following steps:
s1: judging the number of the remote control transfer vehicles needed by the goods or the workpieces to be transported, determining a control mode according to the number of the remote control transfer vehicles needed, transporting the goods according to the control mode of the step S2 when only one remote control transfer vehicle is needed, and transporting the goods according to the control mode of the step S3 when more than one remote control transfer vehicle is needed;
s2: the remote control transfer trolley is characterized in that a field worker issues position information for carrying goods to the remote control transfer trolley through a handheld operation terminal, the remote control transfer trolley runs to the position of the goods to be carried, the goods are fixed on a lifting mechanism through a lifting appliance through the handheld operation terminal, the lifting mechanism lifts a workpiece, the remote control transfer trolley runs according to a set path according to a control instruction of the handheld operation terminal, and the goods are carried to a specified place;
s3: the site server issues position information for transporting goods to a plurality of networked remote control transfer vehicles, the remote control transfer vehicles run to the positions of the goods to be transported, the lifting mechanisms of the remote control transfer vehicles are respectively controlled by a handheld operation terminal, the goods are respectively fixed on the lifting mechanisms of the remote control transfer vehicles through lifting appliances, the site server issues control instructions to enable the remote control transfer vehicles to simultaneously lift workpieces or goods, the remote control transfer vehicles are formed into a team according to the same side or two sides of the workpieces or goods, the remote control transfer vehicles on the same side are used as a first team to control the remote control transfer vehicles to synchronously move in the same direction through the site server, the remote control transfer vehicles on the other side are used as a second team to be controlled by the site server to form mirror image control with the first team, and the remote control transfer vehicles run according to a planned path;
and in the running process of the remote control transfer vehicles which are operated in formation, the direction and speed data of each remote control transfer vehicle are uploaded to a field server, the field server detects and calculates the running data fed back by the remote control transfer vehicles in real time, judges whether the running state of each remote control transfer vehicle is in a safe state, judges whether a path deviates or not, and corrects the deviation in real time.
8. The control method of a remote-controlled transfer car as claimed in claim 7, wherein: and the expert management system in the field server sets the running modes of different marshalling fleets, and simultaneously controls a plurality of transfer vehicles in the marshalling through a zigbee network.
9. The control method of a remote-controlled transfer vehicle according to claim 7, characterized in that: the judgment basis of the transfer vehicle needed for judging the workpiece or the goods to be transported in the step S1 is mainly judged according to the weight, the volume and the transportation distance of the workpiece or the goods to be transported, and if any parameter of the three exceeds a set value, the transfer vehicle needs to be formed and transported by a plurality of remote control transfer vehicles.
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