CN106940563A - Intelligent carrier loader and its operating method - Google Patents
Intelligent carrier loader and its operating method Download PDFInfo
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- CN106940563A CN106940563A CN201710254417.4A CN201710254417A CN106940563A CN 106940563 A CN106940563 A CN 106940563A CN 201710254417 A CN201710254417 A CN 201710254417A CN 106940563 A CN106940563 A CN 106940563A
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- carrier loader
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- intelligent carrier
- arithmetic element
- car body
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- 238000011017 operating method Methods 0.000 title abstract description 4
- 230000004888 barrier function Effects 0.000 claims abstract description 25
- 238000001514 detection method Methods 0.000 claims abstract description 19
- 230000000694 effects Effects 0.000 claims abstract description 3
- 238000000034 method Methods 0.000 claims description 17
- 238000004364 calculation method Methods 0.000 claims description 6
- 238000004140 cleaning Methods 0.000 claims description 6
- 230000000249 desinfective effect Effects 0.000 claims description 4
- 230000001954 sterilising effect Effects 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000004891 communication Methods 0.000 claims description 3
- 238000004659 sterilization and disinfection Methods 0.000 claims description 3
- 230000002123 temporal effect Effects 0.000 claims description 3
- 230000004807 localization Effects 0.000 claims description 2
- 238000003032 molecular docking Methods 0.000 claims 1
- 230000000149 penetrating effect Effects 0.000 claims 1
- 230000035939 shock Effects 0.000 abstract description 2
- 230000032258 transport Effects 0.000 description 7
- 238000009826 distribution Methods 0.000 description 3
- 238000007726 management method Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000007405 data analysis Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000002045 lasting effect Effects 0.000 description 1
- 230000011664 signaling Effects 0.000 description 1
- 239000012780 transparent material Substances 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention belongs to logistics transportation field, a kind of intelligent carrier loader and its operating method are specifically provided.Present invention seek to address that existing small rail car only has mechanical lock; it cannot be guaranteed that the safety of small in-car transport article; and existing small rail car just stops after being collided with barrier; it cannot be guaranteed that the problem of transport article is smoothly transported; the intelligent carrier loader of the present invention includes mechanical locking device, less radio-frequency locking device and closed solution lid arrangement, so that intelligent carrier loader has mechanical lock plus electronic lock duplicate protection.And the intelligent carrier loader also uses avoidance detection means so that the intelligent carrier loader can just slow down stoppings when not in contact with to barrier, it is to avoid the shock of dolly and barrier, so as to serve good safeguard protection effect to transport article.The intelligent carrier loader is also equipped with position detecting device and gesture stability frame so that the intelligent carrier loader can be accurately positioned and can adjust automatically attitude so as to holding level.
Description
Technical field
The invention belongs to logistics transportation field, a kind of intelligent carrier loader and its operating method are specifically provided.
Background technology
At present, small rail car is commonplace one of by way of in logistics, traffic.Because its is pollution-free, it is low noise, fixed
Level is true, speed variation is big, it is applied widely the features such as, be widely used in automobile making, motorcycle manufacture, low pressure
The various fields such as electrical equipment manufacture, postal service.
But, traditional small rail car generally only has mechanical lock, it is impossible to ensure the safety of transport article, and traditional rail
Road dolly can just be stopped after the barrier generally only on track is touched so that small in-car transport article can not be put down
Quietly transport.
Correspondingly, this area needs a kind of new carrier loader to solve the above problems.
The content of the invention
It has been that the existing small rail car of solution only has mechanical lock, it is impossible to protect to solve above mentioned problem of the prior art
The small in-car of card transports the safety of article, and existing small rail car just stops after being collided with barrier so that transport article
The problem of can not smoothly being transported, the invention provides a kind of intelligent carrier loader, the intelligent carrier loader includes small underbody
It is provided with that carriage body is closed to cover tightly device in seat and the small car body that is connected in the trolley base, the small car body, it is described
Carriage body is closed cover tightly device include it is closed cover tightly door and locking device, the locking device is used to making that described closed to cover tightly door relative
Closed in the small car body, and open after unlocking request is received and described closed to cover tightly door.
In the optimal technical scheme of above-mentioned intelligent carrier loader, the intelligent carrier loader also includes vehicle intelligent computing
Unit, the locking device includes being arranged on the closed mechanical locking device covered tightly on door, door lock inductor, closed Xie Gai
Device and less radio-frequency locking device；The door lock inductor is used to receive wireless unlocking request signal and sent it to described
Vehicle intelligent arithmetic element, the vehicle intelligent arithmetic element judges whether the unlocking request is legal and decides whether hair accordingly
Go out unlocking command；The less radio-frequency locking device receives unlocking command from the vehicle intelligent arithmetic element and therefore opens institute
State and closed cover tightly door；The mechanical locking device allows operator to be utilized in the case where the less radio-frequency locking device fails
Key opens the mechanical locking device；The closed solution lid arrangement allows operator to open after the mechanical locking device, leads to
Cross the manually operated closed solution lid arrangement and described closed cover tightly door to open.
In the optimal technical scheme of above-mentioned intelligent carrier loader, the intelligent carrier loader also includes less radio-frequency and modulated
Module, the less radio-frequency modulation module is connected with the vehicle intelligent arithmetic element, and the less radio-frequency modulation module is used for
The wireless unlocking request signal received to the door lock inductor is modulated and the signal after modulation is transmitted into the car
Carry intelligent arithmetic element.
In the optimal technical scheme of above-mentioned intelligent carrier loader, the intelligent carrier loader is also described small including being arranged on
Position detecting device in underbody seat or the small car body, the position detecting device is small by scanning and the intelligence delivery
The position mark on intelligent track that car is used cooperatively determines the position of the intelligent carrier loader, and optionally by institute
The positional information for stating intelligent carrier loader is sent to the vehicle intelligent arithmetic element.
In the optimal technical scheme of above-mentioned intelligent carrier loader, the intelligent carrier loader also includes anticollision device, collision-prevention device, institute
State the connection that anticollision device, collision-prevention device is arranged on the small car body or the trolley base or the small car body and the trolley base
Position, the anticollision device, collision-prevention device is used to detect the barrier in front of the intelligent carrier loader operation and is sent to obstacle information
The vehicle intelligent arithmetic element, so that the vehicle intelligent arithmetic element can control the fortune of the intelligent carrier loader
Scanning frequency degree, prevents that the intelligent carrier loader from bumping against with the barrier.
In the optimal technical scheme of above-mentioned intelligent carrier loader, the anticollision device, collision-prevention device includes avoidance detection means and spacing
Switch, the avoidance detection means is connected with the vehicle intelligent arithmetic element, described for lasting detection in the process of running
The distance is simultaneously sent to the vehicle intelligent arithmetic element by the distance between intelligent carrier loader and front obstacle, described
Vehicle intelligent arithmetic element can be less than predetermined threshold time control in the distance between the intelligent carrier loader and front obstacle
Make the intelligent carrier loader to slow down, the limit switch is used for when the avoidance detection means fails by connecing with barrier
Touch to make the intelligent carrier loader stop in emergency.
In the optimal technical scheme of above-mentioned intelligent carrier loader, the intelligent carrier loader is also described small including being arranged on
Gesture stability frame in car body, the gesture stability frame can detect the horizontality of the small car body and can be in institute
The gradient for stating small car body makes the small car body return to horizontal attitude when exceeding predetermined threshold.
In the optimal technical scheme of above-mentioned intelligent carrier loader, the gesture stability frame is included transverse to the small compartment
The control frame body of body setting, the first range sensor and the first gesture stability for being arranged on the first end for controlling frame body
Device and be arranged on it is described control frame body the second end second distance sensor and the second attitude controller, described first away from
All connected from sensor and the second distance sensor with the vehicle intelligent arithmetic element, first range sensor is used
In detecting first distance of the small car body side relative to the trolley base, the second distance sensor is used to detect
The small car body opposite side relative to the trolley base second distance, when first distance and the second distance it
Between difference when exceeding predetermined threshold, the vehicle intelligent arithmetic element controls first attitude controller and/or described the
Two attitude controllers adjust the attitude of the small car body.
In the optimal technical scheme of above-mentioned intelligent carrier loader, first attitude controller and the second attitude control
Device processed is flexible cylinder body, and the piston rod of the flexible cylinder body can abut to the bottom of the trolley base in the expanded state；
And/or it is provided with the side wall of the small car body and inspects forms and display panel, it is described to inspect forms so that operator
Member is it can be seen that the article that the small car body internal memory is put, the display panel is used for the operation for showing the intelligent carrier loader
Information and the operation information that operating personnel can be made changed by being manually entered the intelligent carrier loader；And/or
Carriage body disinfecting cleaning device is installed, the vehicle intelligent arithmetic element connects and controls the carriage body to disappear in the small car body
Malicious cleaning apparatus is so as to sterilization inside the small car body.
On the other hand, the invention provides a kind of method for operating above-mentioned intelligent carrier loader, this method includes：
Localization method：When the intelligent carrier loader is in running status, the position detecting device scans the intelligent rail
Position mark in road and the positional information for determining therefrom that the intelligent carrier loader, the position detecting device is also optionally
The positional information is sent to the vehicle intelligent arithmetic element；
Attitude control method：When the intelligent carrier loader is in running status, the gesture stability frame detects the dolly
The angle of inclination of carriage body, and the vehicle intelligent arithmetic element is given by the angle of inclination information transfer, when the angle of inclination
During more than predetermined threshold, the vehicle intelligent arithmetic element controls the first attitude controller and/or the of the attitude retainer
Two attitude controllers, so that the small car body returns to horizontal attitude；
Avoiding collision：When the intelligent carrier loader is run and front has barrier, the avoidance detection means will be detected
To the range information of barrier be sent to the vehicle intelligent arithmetic element, it is described when the distance exceedes predetermined threshold
The vehicle intelligent arithmetic element control intelligent carrier loader slows down until stopping, so as to prevent that the intelligent carrier loader from hitting
The barrier；After barrier in front of the intelligent carrier loader operation is eliminated, the vehicle intelligent arithmetic element control
The intelligent carrier loader is made to continue to run with；When the avoidance detection means fails, the limit switch by with barrier
Collide and send collision information to the vehicle intelligent arithmetic element and make it that the vehicle intelligent arithmetic element disconnects the intelligence
The power supply of energy carrier loader, so that the intelligent carrier loader stops in emergency；
Locking means：When the intelligent carrier loader is in halted state, the vehicle intelligent arithmetic element is opened and wirelessly penetrated
Frequency communication channel, the door lock inductor receives the unlocking request of operator's transmission and is sent to the less radio-frequency modulation mould
Block, the less radio-frequency modulation module is sent to the vehicle intelligent arithmetic element, the vehicle-mounted intelligence after unlocking request is modulated
Energy arithmetic element will send unlocking command to the less radio-frequency locking device, institute after the unlocking request calculation process received
State less radio-frequency locking device and to receive open after unlocking command and described closed cover tightly door；At the same time, the vehicle intelligent fortune
Unit is calculated to be stored the unlocking request number of times, position and the temporal information that receive；When the less radio-frequency locking device loses
During effect, operator is opened after the mechanical locking device by using key, and the manually operated closed solution lid arrangement is opened
It is described closed to cover tightly door.
It will be appreciated to those of skill in the art that in technical scheme, intelligent carrier loader includes mechanical lock
Tight device, less radio-frequency locking device and closed solution lid arrangement, so that intelligent carrier loader has mechanical lock plus electronic lock double
Protect again.And the intelligent carrier loader also use avoidance detection means so that the intelligent carrier loader not in contact with to
It can just stop, it is to avoid the shock of dolly and barrier, be protected so as to serve safety well to transport article during barrier
Shield is acted on.Position detecting device is installed in the trolley base or the small car body, scanning and the intelligence can be passed through
The position mark on intelligent track that carrier loader is used cooperatively determines the position of the intelligent carrier loader.The intelligence fortune
Carrying dolly also includes the horizontality for detecting the small car body and can exceed in the gradient of the small car body
Make the gesture stability frame for the horizontal attitude that the small car body returns to during predetermined threshold.
Brief description of the drawings
Fig. 1 is the sectional view in the intelligent carrier loader compartment of the present invention.
Fig. 2 is the schematic diagram of the intelligent carrier loader gesture stability frame of the present invention.
Embodiment
The preferred embodiment of the present invention described with reference to the accompanying drawings.It will be apparent to a skilled person that this
A little embodiments are used only for explaining the know-why of the present invention, it is not intended that limit the scope of the invention.This area skill
Art personnel can make adjustment to it as needed, to adapt to specific application scenario.Although for example, being examined described in specification
Form body is arranged on the side wall of small car body, still, and the present invention obviously can will inspect forms and be arranged on before small car body
Portion or rear portion, as long as the article that the position is conveniently inspected in small car body.
It should be noted that in the description of the invention, term " on ", " under ", "left", "right", " interior ", " outer " etc. are indicated
The term of direction or position relationship is to be based on direction shown in the drawings or position relationship, and this is intended merely to facilitate description, without
It is instruction or implies that described device or element there must be specific orientation, with specific azimuth configuration and operation, therefore can not
It is interpreted as limitation of the present invention.In addition, term " first ", " second ", be only used for describe purpose, and it is not intended that indicate or
Imply relative importance.
In addition it is also necessary to explanation, in the description of the invention, unless otherwise clearly defined and limited, term " peace
Dress ", " connected ", " connection " should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integratedly
Connection；Can be mechanical connection or electrical connection；Can be joined directly together, can also be indirectly connected to by intermediary,
It can be the connection of two element internals.To those skilled in the art, it can understand that above-mentioned term exists as the case may be
Concrete meaning in the present invention.
As shown in figure 1, intelligent carrier loader base 1 is flexibly connected with small car body 2 in figure, and small car body 2 is by subtracting
Shake device 17 is connected in trolley base 1.As an example, the connecting portion in trolley base 1 and dolly compartment 2 is provided with vehicle intelligent
Arithmetic element 14.The information received after calculation process, behaviour is sent to each execution unit by vehicle intelligent arithmetic element 14
Instruct, each execution unit, which is received, carried out after operational order corresponding operating, and operation result information is fed back into vehicle intelligent
Arithmetic element 14, then the intelligent distribution and management system for managing intelligent carrier loader is fed back to by vehicle intelligent arithmetic element 14, enter
Row Data Analysis Services and storage.The intelligent distribution and management system can manage multiple intelligent carrier loaders simultaneously, so as to realize
Bulk transport.
With continued reference to Fig. 1, the closed door 3 that covers tightly is arranged in small car body 2, less radio-frequency locking device 6, closed Xie Gai dresses
Put 5, door lock inductor 16 and mechanical locking device 4 and be all arranged on closed cover tightly on door 3.According to the orientation in Fig. 1, less radio-frequency
Locking device 6 is arranged on the left side of closed solution lid arrangement 5, and door lock inductor 16 and mechanical locking device 4 are arranged on closed Xie Gai
The right side of device 5.Closed solution lid arrangement 5 is manually operated for people.In normal operating condition, mechanical locking device 4, closed Xie Gai dresses
Put 5 and less radio-frequency locking device 6 is common locking and closed covers tightly door 3.When intelligent carrier loader is in halted state, vehicle-mounted intelligence
Energy arithmetic element 14 opens radio frequency communication channel, and door lock inductor 16 receives the unlocking request information of operator's transmission
Afterwards, the less radio-frequency modulation module 11 being connected with vehicle intelligent arithmetic element 14 is sent to, less radio-frequency modulation module 11 will be solved
Vehicle intelligent arithmetic element 14 is sent to after lock solicited message modulation, vehicle intelligent arithmetic element 14 passes through unlocking request information
After calculation process, judge whether unlocking request is legal, and send unlocking command to less radio-frequency locking device 6 accordingly, wirelessly penetrate
Opened after the unlocking command that frequency locking device 6 is received and closed cover tightly door 3.At the same time, vehicle intelligent arithmetic element 14 will connect
Unlocking request number of times, position and the temporal information received is stored.When less radio-frequency locking device 6 fails, it is allowed to operate
Person opens mechanical locking device 4 using the direct operation machinery locking device 4 of mechanical key.After mechanical locking device 4 is opened, behaviour
Author be manually operated this it is closed solution lid arrangement 5 come open it is closed cover tightly door 3, realize mechanical release, be stored in so as to take out
Article in small car body 2.
With continued reference to Fig. 1, the connecting portion in trolley base 1 and dolly compartment 2 is also equipped with the power of intelligent carrier loader
Drive device 15, and the power drive unit 15 is connected with vehicle intelligent arithmetic element 14.Avoidance detection means 12 is arranged on
On the front side wall of small car body 2, and it is connected with vehicle intelligent arithmetic element 14；Limit switch 13 be arranged on trolley base 1 with
On the front side wall of the small junction of car body 2, and limit switch 13 is connected with vehicle intelligent arithmetic element 14.Filled when avoidance is detected
When putting 12 and detecting intelligent carrier loader operation front and have barrier, avoidance detection means 12 is sent out to vehicle intelligent arithmetic element 14
Obstacle information is sent, vehicle intelligent arithmetic element 14 sends shut-down operation after calculation process, to power drive unit 15 and referred to
Order；When avoidance detection means 12 detects intelligent carrier loader operation front clear, avoidance detection means 12 stop to
Vehicle intelligent arithmetic element 14 sends obstacle information, and vehicle intelligent arithmetic element 14 is after calculation process, to power drive
Device 15 sends operation operational order；When avoidance detection means 12 fails, intelligent carrier loader continues to run forward, until limit
Bit switch 13 touches barrier, while sending collision information, vehicle intelligent arithmetic element 14 to vehicle intelligent arithmetic element 14
Receive after collision information, disconnect the power supply of power drive unit 15 so that intelligent carrier loader stops in emergency.Art technology
Personnel are, it is understood that the installation site of the power drive unit 15 of intelligent carrier loader can be according to the power of actual selection
Drive device determines, may be mounted in trolley base or in small car body or trolley base and small car body connection
Place, or on the external member being connected with dolly, such as independent car body driver part.
With continued reference to Fig. 1, the position detecting device 18 being arranged in trolley base 1 can be small by scanning and intelligence delivery
The position mark on intelligent track that car is used cooperatively determines the position of intelligent carrier loader, and optionally by intelligent fortune
The positional information for carrying dolly is sent to vehicle intelligent arithmetic element 14, and vehicle intelligent arithmetic element 14 is again by intelligent carrier loader
Position signalling is fed to intelligent distribution and management system, so that intelligent carrier loader is accurately positioned, the fortune of the intelligent carrier loader of control
Walking along the street line.
With continued reference to Fig. 1, gesture stability frame 10 is arranged in small car body 2, the horizontality for detecting small car body 2
And can adjust small car body 2 when the gradient of small car body 2 exceedes predetermined threshold makes it return to horizontal attitude, so that
Ensure the holding level in transportation of the article in small car body 2, do not fall out.
With continued reference to Fig. 1, the closed inwall for covering tightly device 3 of carriage body is provided with carriage body disinfecting cleaning device 9, carriage body sterilization
Cleaning apparatus 9 is connected with vehicle intelligent arithmetic element 14, and to inside carriage body under the control of vehicle intelligent arithmetic element 14
Sterilizing, it is ensured that possess the environment of sanitary safe inside carriage body.
With continued reference to Fig. 1, it is provided with the side wall of small car body 2 and inspects forms 7, this inspects forms 7 for multi-functional detection
Position, and be the perspective forms for using macromolecular material for the transparent material formation of base material, forms 7 can be inspected by this and are seen
The article of storage in small car body 2.Display panel 8 is arranged on the side-wall outer side of small car body 2, for showing the intelligence fortune
The operation information of dolly is carried, and enables to operating personnel and changed by being manually entered the operation letter of intelligent carrier loader
Breath.
Refering to Fig. 2 and with continued reference to Fig. 1, the control frame body 101 of gesture stability frame 10 is horizontally installed in small car body 2
On, the first end of control frame body 101 is provided with the first range sensor 104 and the first attitude controller 102, controls frame body
101 the second end is provided with the attitude controller 103 of second distance sensor 105 and second.First range sensor 104 and second
Range sensor 105 is connected with vehicle intelligent arithmetic element 14, and sends the range information detected to vehicle intelligent computing
Unit 14.First range sensor 104 detects first distance relative to trolley base 1 in the small left side of car body 2, second distance
Sensor 105 detects the second distance relative to trolley base 1 on the small right side of car body 2.First attitude controller 102 and second
Attitude controller 103 is flexible cylinder body, and in the expanded state, the piston rod of the flexible cylinder body can abut to small underbody
The bottom of seat 1.First distance of acquisition and second distance are carried out computing and compared by vehicle intelligent arithmetic element, when the first distance with
When difference between second distance exceedes predetermined threshold, vehicle intelligent arithmetic element 14 controls the first attitude controller 102 or the
Two attitude controllers 103 adjust the collapsing length of piston rod, so as to adjust the attitude of small car body 2, make its holding level.
So far, combined preferred embodiment shown in the drawings describes technical scheme, still, this area
Technical staff is it is easily understood that protection scope of the present invention is expressly not limited to these embodiments.Without departing from this
On the premise of the principle of invention, those skilled in the art can make equivalent change or replacement to correlation technique feature, these
Technical scheme after changing or replacing it is fallen within protection scope of the present invention.
Claims (10)
1. a kind of intelligent carrier loader, including trolley base and the small car body being connected in the trolley base, the dolly
It is provided with that carriage body is closed to cover tightly device on carriage body,
Characterized in that, the closed device that covers tightly of the carriage body covers tightly door and locking device including closed, the locking device is used for
The closed door that covers tightly is closed relative to the small car body, and open after unlocking request is received described closed cover tightly
Door.
2. intelligent carrier loader according to claim 1, it is characterised in that the intelligent carrier loader also includes vehicle-mounted intelligence
Can arithmetic element, the locking device includes installed in the closed mechanical locking device covered tightly on door, door lock inductor, close
Close solution lid arrangement and less radio-frequency locking device；
The door lock inductor is used to receive wireless unlocking request signal and sends it to the vehicle intelligent arithmetic element, institute
State vehicle intelligent arithmetic element and judge whether the unlocking request is legal and decides whether to send unlocking command accordingly；
The less radio-frequency locking device receives unlocking command from the vehicle intelligent arithmetic element and therefore opens described closed
Cover tightly door；
The mechanical locking device allows operator to be opened in the case where the less radio-frequency locking device fails using key
The mechanical locking device；
The closed solution lid arrangement is used for man-machine docking, it is allowed to which operator is opened after the mechanical locking device, by grasping manually
Make the closed solution lid arrangement and described closed cover tightly door to open.
3. intelligent carrier loader according to claim 2, it is characterised in that the intelligent carrier loader also includes wirelessly penetrating
Frequency modulation module, the less radio-frequency modulation module is connected with the vehicle intelligent arithmetic element, and the less radio-frequency modulates mould
The wireless unlocking request signal that block is used to receive the door lock inductor is modulated and is transmitted to the signal after modulation
The vehicle intelligent arithmetic element.
4. intelligent carrier loader according to claim 3, it is characterised in that the intelligent carrier loader also includes being arranged on
Position detecting device in the trolley base or the small car body, the position detecting device passes through scanning and the intelligence
The position mark on intelligent track that carrier loader is used cooperatively determines the position of the intelligent carrier loader, and selectively
The positional information of the intelligent carrier loader is sent to the vehicle intelligent arithmetic element by ground.
5. intelligent carrier loader according to claim 4, it is characterised in that the intelligent carrier loader also includes anticollision and filled
Put, the anticollision device, collision-prevention device is arranged on the small car body or the trolley base or the small car body and the trolley base
Connecting portion, the anticollision device, collision-prevention device is used to detect the barrier in front of the intelligent carrier loader operation and sends out obstacle information
The vehicle intelligent arithmetic element is given, so that the vehicle intelligent arithmetic element can control the intelligent carrier loader
The speed of service, prevent that the intelligent carrier loader and the barrier from bumping against.
6. intelligent carrier loader according to claim 5, it is characterised in that the anticollision device, collision-prevention device includes avoidance detection means
And limit switch, the avoidance detection means is connected with the vehicle intelligent arithmetic element, for persistently examining in the process of running
Survey the distance between the intelligent carrier loader and front obstacle and the distance is sent to the vehicle intelligent computing list
Member, the vehicle intelligent arithmetic element can be less than predetermined threshold in the distance between the intelligent carrier loader and front obstacle
Control the intelligent carrier loader to slow down during value, the limit switch be used for when the avoidance detection means fails by with barrier
Thing contact is hindered the intelligent carrier loader is stopped in emergency.
7. intelligent carrier loader according to claim 6, it is characterised in that the intelligent carrier loader also includes being arranged on
Gesture stability frame in the small car body, the gesture stability frame can detect the horizontality and energy of the small car body
Enough gradients in the small car body make the small car body return to horizontal attitude when exceeding predetermined threshold.
8. intelligent carrier loader according to claim 7, it is characterised in that the gesture stability frame is included transverse to described
The control frame body of small car body setting, the first range sensor and the first appearance for being arranged on the first end for controlling frame body
State controller and the second distance sensor and the second attitude controller for being arranged on second end for controlling frame body,
First range sensor and the second distance sensor are all connected with the vehicle intelligent arithmetic element, and described
One range sensor is used to detect the small car body side relative to the first distance of the trolley base, the second distance
Sensor be used for detect second distance of the small car body opposite side relative to the trolley base, when first distance with
When difference between the second distance exceedes predetermined threshold, the vehicle intelligent arithmetic element controls first gesture stability
Device and/or second attitude controller adjust the attitude of the small car body.
9. intelligent carrier loader according to claim 8, it is characterised in that
First attitude controller and second attitude controller are flexible cylinder bodies, in the expanded state the flexible cylinder body
Piston rod can abut to the bottom of the trolley base；And/or
It is provided with the side wall of the small car body and inspects forms and display panel, the forms of inspecting is allowed the operator to
See the article that the small car body internal memory is put, the display panel is for showing the operation information of the intelligent carrier loader simultaneously
And operating personnel can be made changed by being manually entered the operation information of the intelligent carrier loader；And/or
Carriage body disinfecting cleaning device is installed, the vehicle intelligent arithmetic element connects and controls the railway carriage or compartment in the small car body
Body disinfecting cleaning device is so as to sterilization inside the small car body.
10. the method for the intelligent carrier loader described in a kind of operational rights requirement 9, it is characterised in that methods described includes：
Localization method：When the intelligent carrier loader is in running status, the position detecting device scans the intelligent rail
Position mark in road and the positional information for determining therefrom that the intelligent carrier loader, the position detecting device is also optionally
The positional information is sent to the vehicle intelligent arithmetic element；
Attitude control method：When the intelligent carrier loader is in running status, the gesture stability frame detects the dolly
The angle of inclination of carriage body, and the vehicle intelligent arithmetic element is given by the angle of inclination information transfer, when the angle of inclination
During more than predetermined threshold, the vehicle intelligent arithmetic element controls the first attitude controller and/or the of the attitude retainer
Two attitude controllers, so that the small car body returns to horizontal attitude；
Avoiding collision：When the intelligent carrier loader is run and front has barrier, the avoidance detection means will be detected
To the range information of barrier be sent to the vehicle intelligent arithmetic element, it is described when the distance is less than predetermined threshold
The vehicle intelligent arithmetic element control intelligent carrier loader slows down until stopping, so as to prevent that the intelligent carrier loader from hitting
The barrier；After barrier in front of the intelligent carrier loader operation is eliminated, the vehicle intelligent arithmetic element control
The intelligent carrier loader is made to continue to run with；When the avoidance detection means fails, the limit switch by with barrier
Collide and send collision information to the vehicle intelligent arithmetic element and make it that the vehicle intelligent arithmetic element disconnects the intelligence
The power supply of energy carrier loader, so that the intelligent carrier loader stops in emergency；
Locking means：When the intelligent carrier loader is in halted state, the vehicle intelligent arithmetic element is opened and wirelessly penetrated
Frequency communication channel, the door lock inductor receives the unlocking request of operator's transmission and is sent to the less radio-frequency modulation mould
Block, the less radio-frequency modulation module is sent to the vehicle intelligent arithmetic element, the vehicle-mounted intelligence after unlocking request is modulated
Energy arithmetic element will send unlocking command to the less radio-frequency locking device, institute after the unlocking request calculation process received
State less radio-frequency locking device and to receive open after unlocking command and described closed cover tightly door；At the same time, the vehicle intelligent fortune
Unit is calculated to be stored the unlocking request number of times, position and the temporal information that receive；When the less radio-frequency locking device loses
During effect, operator is opened after the mechanical locking device by using key, and the manually operated closed solution lid arrangement is opened
It is described closed to cover tightly door.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710254417.4A CN106940563B (en) | 2017-04-18 | 2017-04-18 | Intelligent carrying trolley and operation method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710254417.4A CN106940563B (en) | 2017-04-18 | 2017-04-18 | Intelligent carrying trolley and operation method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106940563A true CN106940563A (en) | 2017-07-11 |
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| CN112167316A (en) * | 2020-10-11 | 2021-01-05 | 中建材智能自动化研究院有限公司 | Intelligent rotary system of rotary thawing warehouse |
| CN113002409A (en) * | 2021-04-20 | 2021-06-22 | 北京城乡建设集团有限责任公司 | Pipeline transportation device and method |
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| CN106940563B (en) | 2024-05-10 |
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