CN107878597A - Harbour container carries the unilateral missing support emergency treatment device of unmanned vehicle and method - Google Patents
Harbour container carries the unilateral missing support emergency treatment device of unmanned vehicle and method Download PDFInfo
- Publication number
- CN107878597A CN107878597A CN201711085344.7A CN201711085344A CN107878597A CN 107878597 A CN107878597 A CN 107878597A CN 201711085344 A CN201711085344 A CN 201711085344A CN 107878597 A CN107878597 A CN 107878597A
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- CN
- China
- Prior art keywords
- unmanned vehicle
- container
- wheel
- value
- unilateral
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S9/00—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks
- B60S9/02—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks for only lifting or supporting
- B60S9/10—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks for only lifting or supporting by fluid pressure
Abstract
The present invention relates to a kind of harbour container to carry the unilateral missing support emergency treatment device of unmanned vehicle, including detection device for container, tilt detecting device, the processing unit for connecting the detection device for container and the tilt detecting device；Also include hydraulic support device；The detection device for container is used to detect generation container when the unmanned vehicle container undertaking position there are container and confirmation signal be present, and the container is existed into confirmation signal and is sent to the processing unit；The tilt detecting device is used for the heeling condition generation inclination information for detecting the unmanned vehicle, and the inclination information is sent into the processing unit；The processing unit is after the container confirmation signal is received, and when judging that the inclination information is more than threshold value, controls the hydraulic support device to open.Emergent management is carried out, starts hydraulic support device and is supported, so as to by container leveling, can also reduce the larger pressure being applied on wheel hub, prevent wheel hub to be damaged.
Description
Technical field
The present invention relates to unmanned vehicle safeguard field, and unmanned vehicle list is carried in particular to a kind of harbour container
Side missing support emergency treatment device and a kind of harbour container carry the unilateral missing support emergency processing method of unmanned vehicle.
Background technology
In harbour environment, if transporting container unmanned vehicle meets with unilateral situation of blowing out, usually the wheel hub blown out is made
Into serious infringement, when serious, by the wheel hub compressive strain of unmanned vehicle；Particularly when carrying container on unmanned vehicle, remove
Wheel hub is caused serious harm, the article in container is produced shock, so that item spoilage in container.
The content of the invention
The present invention blows out to solve the burst of existing unmanned vehicle so that unilateral to lose support and cause in unmanned vehicle and container
The problem of item spoilage, there is provided a kind of harbour container carries the unilateral missing support emergency treatment device of unmanned vehicle, including sets
Put and accept the detection device for container of position in the unmanned vehicle container, be arranged on the unmanned vehicle close to the unmanned vehicle
The tilt detecting device of wheel, the processing unit for connecting the detection device for container and the tilt detecting device；Also include
It is arranged on the hydraulic support device of the wheel of the close unmanned vehicle on the unmanned vehicle；The detection device for container is used to examine
Survey generation container when the unmanned vehicle container undertaking position there are container and confirmation signal be present, and the container is deposited
The processing unit is sent in confirmation signal；The tilt detecting device is used for the heeling condition generation for detecting the unmanned vehicle
Inclination information, and the inclination information is sent to the processing unit；The processing unit is to receive the container true
Recognize after signal, when judging that the inclination information is more than threshold value, control the hydraulic support device to open.
Further, tilt detecting device corresponding with each wheel is installed near each wheel of the unmanned vehicle；
Hydraulic support device corresponding with each wheel is installed near each wheel of the unmanned vehicle.
Further, the tilt detecting device includes relatively surface-mounted reflective infrared distance sensor.
Further, the processing unit is additionally operable to, and is measured according to the multiple reflective infrared distance sensor more
Individual distance value, ask for the average value of lowest distance value and Distance Remaining value, judge Distance Remaining value average value subtract it is described most
When small distance value is more than threshold value, hydraulic support device corresponding with the lowest distance value is controlled to open.
Further, the hydraulic support device include hydraulic cylinder, can hydraulic cylinder linear motion relatively hydraulic stem
With the support base for being arranged on the hydraulic stem end, the hydraulic cylinder works are opened in the processing unit control.
Further, the detection device for container includes pressure sensor, when pressure value is big on the pressure sensor
Skip signal is generated when threshold value, the skip signal is that the container has confirmation signal.
On the other hand, additionally provide a kind of harbour container and carry the unilateral missing support emergency processing method of unmanned vehicle, institute
Processing method is stated to comprise the following steps：
There is confirmation signal in S110, the container for obtaining detection device for container generation, obtain tilt detecting device generation
Inclination information；
S120, after the container confirmation signal is received, when judging that the inclination information is more than threshold value, control institute
State hydraulic support device unlatching；
Wherein, the detection device for container is arranged on the unmanned vehicle container and accepts position, the tilt detecting device
It is arranged on close to the wheel of the unmanned vehicle on the unmanned vehicle, the hydraulic support device is arranged on close on the unmanned vehicle
The wheel of the unmanned vehicle.
Further, tilt detecting device corresponding with each wheel is installed near each wheel of the unmanned vehicle；
Hydraulic support device corresponding with each wheel is installed near each wheel of the unmanned vehicle.
Further, the tilt detecting device includes relatively surface-mounted reflective infrared distance sensor.
Further, the step 120 includes：According to the multiple reflective infrared distance sensor measure it is multiple away from
From value, the average value of lowest distance value and Distance Remaining value is asked for, judges that the average value of Distance Remaining value subtracts the most narrow spacing
When being more than threshold value from value, hydraulic support device corresponding with the lowest distance value is controlled to open.
Apparatus and method in the present invention can detect container state and unmanned vehicle burst loses the state of support, so as to
Emergent management is carried out, starts hydraulic support device and is supported, prevent the state that unilateral support loses from persistently carrying out, so as to
By container leveling, the larger pressure being applied on wheel hub can be also reduced, prevents wheel hub to be damaged.
Brief description of the drawings
The features and advantages of the present invention can be more clearly understood by reference to accompanying drawing, accompanying drawing is schematically without that should manage
Solve to carry out any restrictions to the present invention, in the accompanying drawings：
Fig. 1 is the system structure diagram of the emergency treatment device in some embodiments of the invention；
Fig. 2 is the structure and scheme of installation of subassembly in the emergency treatment device in some embodiments of the invention；
Fig. 3 is that the unmanned vehicle burst in some embodiments of the invention loses unilateral holding state schematic diagram；
Fig. 4 is the unmanned vehicle leveling view in some embodiments of the invention；
Fig. 5 is the emergency processing method in some embodiments of the invention.
Embodiment
It is below in conjunction with the accompanying drawings and specific real in order to be more clearly understood that the above objects, features and advantages of the present invention
Mode is applied the present invention is further described in detail.It should be noted that in the case where not conflicting, the implementation of the application
Feature in example and embodiment can be mutually combined.
Many details are elaborated in the following description to facilitate a thorough understanding of the present invention, still, the present invention may be used also
To be different from other modes described here using other to implement, therefore, protection scope of the present invention is not by described below
Specific embodiment limitation.
In the prior art, for the horizontal unmanned vehicle of carrying of harbour container when burst loses support, build-up of pressure is uneven, makes
Wheel hub directly contacts with ground and causes wheel hub to damage, if carry container on unmanned vehicle, on the one hand increase on wheel hub
Pressure, another aspect container tilt so that interior items are hit, and are caused damage to client；In order to reduce above mentioned problem
The infringement brought, the invention provides a kind of emergency treatment device, detects after there are container on unmanned vehicle, and detect
When losing support to unmanned vehicle is unilateral, hydraulic support device, leveling unmanned vehicle are opened so that container keeps water on unmanned vehicle
It is flat, prevent wherein article shock.
Specifically, as shown in Figure 1 and Figure 2, the embodiments of the invention provide a kind of harbour container carrying unmanned vehicle is unilateral scarce
Lose support emergency treatment device 100, including be arranged on the unmanned vehicle container accept position 210 detection device for container 110,
It is arranged on the tilt detecting device 120 of the wheel 220 of the close unmanned vehicle 200 on the unmanned vehicle 200, the connection packaging
The processing unit 130 of boxes detecting device 110 and the tilt detecting device 120；Also include being arranged on the unmanned vehicle 200 leaning on
The hydraulic support device 140 of the wheel 220 of the nearly unmanned vehicle 200；The detection device for container 110 is used to detect the nothing
People's car container accepts generation container when position 210 there are container 300 and confirmation signal be present, and the container is present
Confirmation signal is sent to the processing unit 130；The tilt detecting device 120 is used for the inclination for detecting the unmanned vehicle 200
State generates inclination information, and the inclination information is sent into the processing unit 130；The processing unit 130 is receiving
To after the container confirmation signal, when judging that the inclination information is more than threshold value, the hydraulic support device 140 is controlled to open
Open；As shown in figure 3, unmanned vehicle 200 is unilateral to lose support, at this moment need to open corresponding hydraulic support device 140 to the nothing
People's car 200 carries out unilateral support so that the leveling of container 300, reverts to state shown in Fig. 4.
In order to ensure that each strong point can carry out first support, pacify near each wheel 220 of the unmanned vehicle 200
Dress tilt detecting device 120 corresponding with each wheel 220；Installed near each wheel 220 of the unmanned vehicle 200 and every
Hydraulic support device 140 corresponding to individual wheel 220, when corresponding wheel 220 is blown out or is absorbed in hole, it will utilize each self-corresponding
Hydraulic support device 140 is supported so that the leveling of unmanned vehicle 200.
In order to facilitate the gradient of the unmanned vehicle 200 is obtained, the tilt detecting device 120 includes relative ground and installed
Reflective infrared distance sensor, the reflective infrared distance sensor is by launching infrared ray and receiving ground return
Infrared ray carries out range determination, obtains the distance value with ground corresponding to each strong point.
The processing unit 130 is additionally operable to, the multiple distances measured according to the multiple reflective infrared distance sensor
Value, asks for the average value of lowest distance value and Distance Remaining value, judges that the average value of Distance Remaining value subtracts the minimum range
When value is more than threshold value, hydraulic support device 140 corresponding with the lowest distance value is controlled to open；For example, in unmanned vehicle 200
The reflective infrared distance sensor and hydraulic support device 140 are provided with corner, when there is single sided taper, is obtained at A
Infrared distance measurement value be 1.2m, the infrared distance measurement value at B is 1.19m, the infrared distance measurement value at infrared distance measurement value 0.9m, D at C
For 1.23m, then the infrared distance measurement value 0.9m that the C asked goes out is lowest distance value, and Distance Remaining value is 1.2m, 1.19m, 1.23m, is put down
Average is that (1.2+1.19+1.23)/3=1.207m, lowest distance value 0.9m and average value 1.207m difference are 0.306m, greatly
In threshold value Td=0.2m, then judge to lose support at C, at this moment open the hydraulic support device 140 at C.The hydraulic pressure support
Device 140 includes hydraulic cylinder 141, the hydraulic cylinder 141 moves along a straight line relatively hydraulic stem 142 and can be arranged on the hydraulic stem
The support base 143 of 142 ends, the hydraulic cylinder 141 are fixed with the unmanned vehicle 200, and institute is opened in the control of processing unit 130
Hydraulic cylinder 141 is stated to work.
The detection device for container 110 includes pressure sensor, when pressure value is more than threshold value on the pressure sensor
Skip signal is generated during Tp, the skip signal is that the container has confirmation signal, and the skip signal is sent into institute
State processing unit 130.
The present invention detects to the state of unmanned vehicle, so as to obtain whether unmanned vehicle loses unilateral support, so as to open
Unilateral support, container level is kept, prevents wheel hub to be damaged.
As shown in figure 5, the present invention utilizes above-mentioned device 100, additionally provide a kind of harbour container and carry unmanned vehicle list
Side missing support emergency processing method, the treating method comprises following steps：
There is confirmation signal in S110, the container for obtaining detection device for container generation, obtain tilt detecting device generation
Inclination information；
S120, after the container confirmation signal is received, when judging that the inclination information is more than threshold value, control institute
State hydraulic support device unlatching；
Wherein, the detection device for container is arranged on the unmanned vehicle container and accepts position, the tilt detecting device
It is arranged on close to the wheel of the unmanned vehicle on the unmanned vehicle, the hydraulic support device is arranged on close on the unmanned vehicle
The wheel of the unmanned vehicle.
Tilt detecting device corresponding with each wheel is installed near each wheel of the unmanned vehicle；It is described nobody
Each wheel of car nearby installs hydraulic support device corresponding with each wheel.
The tilt detecting device includes relatively surface-mounted reflective infrared distance sensor.
The step 120 includes：The multiple distance values measured according to the multiple reflective infrared distance sensor, are asked for
The average value of lowest distance value and Distance Remaining value, judge that the average value of Distance Remaining value subtracts the lowest distance value and is more than threshold
During value, hydraulic support device corresponding with the lowest distance value is controlled to open.
Apparatus and method in the present invention can detect container state and unmanned vehicle burst loses the state of support, so as to
Emergent management is carried out, starts hydraulic support device and is supported, prevent the state that unilateral support loses from persistently carrying out, so as to
By container leveling, the larger pressure being applied on wheel hub can be also reduced, prevents wheel hub to be damaged.
In the present invention, term " first ", " second ", " the 3rd " are only used for describing purpose, and it is not intended that instruction or
Imply relative importance.Term " multiple " refers to two or more, is limited unless otherwise clear and definite.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention, for the skill of this area
For art personnel, the present invention can have various modifications and variations.Within the spirit and principles of the invention, that is made any repaiies
Change, equivalent substitution, improvement etc., should be included in the scope of the protection.
Claims (10)
1. a kind of harbour container carries the unilateral missing support emergency treatment device of unmanned vehicle, it is characterised in that including being arranged on
The unmanned vehicle container is accepted the detection device for container of position, is arranged on the unmanned vehicle close to the wheel of the unmanned vehicle
Tilt detecting device, connect the processing unit of the detection device for container and the tilt detecting device；Also include setting
The hydraulic support device of the wheel of the close unmanned vehicle on the unmanned vehicle；The detection device for container is used to detect institute
State generation container when unmanned vehicle container undertaking position there are container and confirmation signal be present, and the container is present really
Recognize signal and be sent to the processing unit；The heeling condition generation that the tilt detecting device is used to detect the unmanned vehicle tilts
Information, and the inclination information is sent to the processing unit；The processing unit is receiving the container confirmation letter
After number, when judging that the inclination information is more than threshold value, the hydraulic support device is controlled to open.
2. harbour container according to claim 1 carries the unilateral missing support emergency treatment device of unmanned vehicle, its feature
It is, tilt detecting device corresponding with each wheel is installed near each wheel of the unmanned vehicle；In the unmanned vehicle
Each wheel corresponding with each wheel hydraulic support device is nearby installed.
3. harbour container according to claim 1 or 2 carries the unilateral missing support emergency treatment device of unmanned vehicle, it is special
Sign is that the tilt detecting device includes relatively surface-mounted reflective infrared distance sensor.
4. harbour container according to claim 3 carries the unilateral missing support emergency treatment device of unmanned vehicle, its feature
It is, the processing unit is additionally operable to, and the multiple distance values measured according to the multiple reflective infrared distance sensor, is asked for
The average value of lowest distance value and Distance Remaining value, judge that the average value of Distance Remaining value subtracts the lowest distance value and is more than threshold
During value, hydraulic support device corresponding with the lowest distance value is controlled to open.
5. harbour container according to claim 1 or 2 carries the unilateral missing support emergency treatment device of unmanned vehicle, it is special
Sign is, the hydraulic support device include hydraulic cylinder, can relatively described hydraulic cylinder linear motion hydraulic stem and be arranged on institute
The support base of hydraulic stem end is stated, the hydraulic cylinder works are opened in the processing unit control.
6. harbour container according to claim 1 or 2 carries the unilateral missing support emergency treatment device of unmanned vehicle, it is special
Sign is that the detection device for container includes pressure sensor, is given birth to when pressure value is more than threshold value on the pressure sensor
Into skip signal, the skip signal is that the container has confirmation signal.
7. a kind of harbour container carries the unilateral missing support emergency processing method of unmanned vehicle, it is characterised in that the processing side
Method comprises the following steps：
There is confirmation signal in S110, the container for obtaining detection device for container generation, obtain inclining for tilt detecting device generation
Oblique information；
S120, after the container confirmation signal is received, when judging that the inclination information is more than threshold value, control the liquid
Support meanss are pressed to open；
Wherein, the detection device for container is arranged on the unmanned vehicle container and accepts position, and the tilt detecting device is set
Close to the wheel of the unmanned vehicle on the unmanned vehicle, the hydraulic support device is arranged on the unmanned vehicle close to described
The wheel of unmanned vehicle.
8. harbour container according to claim 7 carries the unilateral missing support emergency processing method of unmanned vehicle, its feature
It is, tilt detecting device corresponding with each wheel is installed near each wheel of the unmanned vehicle；In the unmanned vehicle
Each wheel corresponding with each wheel hydraulic support device is nearby installed.
9. the harbour container according to claim 6 or 7 carries the unilateral missing support emergency processing method of unmanned vehicle, it is special
Sign is that the tilt detecting device includes relatively surface-mounted reflective infrared distance sensor.
10. harbour container according to claim 9 carries the unilateral missing support emergency processing method of unmanned vehicle, its feature
It is, the step 120 includes：The multiple distance values measured according to the multiple reflective infrared distance sensor, are asked for most
The average value of small distance value and Distance Remaining value, judge that the average value of Distance Remaining value subtracts the lowest distance value and is more than threshold value
When, control hydraulic support device corresponding with the lowest distance value to open.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711085344.7A CN107878597A (en) | 2017-11-07 | 2017-11-07 | Harbour container carries the unilateral missing support emergency treatment device of unmanned vehicle and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711085344.7A CN107878597A (en) | 2017-11-07 | 2017-11-07 | Harbour container carries the unilateral missing support emergency treatment device of unmanned vehicle and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107878597A true CN107878597A (en) | 2018-04-06 |
Family
ID=61779097
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711085344.7A Pending CN107878597A (en) | 2017-11-07 | 2017-11-07 | Harbour container carries the unilateral missing support emergency treatment device of unmanned vehicle and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107878597A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112146350A (en) * | 2019-06-28 | 2020-12-29 | 青岛海尔电冰箱有限公司 | Anti-toppling control method and device for refrigerator and refrigerator |
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| US5178292A (en) * | 1991-05-03 | 1993-01-12 | Aluminum Company Of America | Reinforced plastic intermodal freight container construction |
| CN102331790A (en) * | 2011-05-27 | 2012-01-25 | 陈海波 | Transmitting vehicle operational platform levelling system |
| CA2894096A1 (en) * | 2014-06-13 | 2015-12-13 | Dast Tanks, LLC | Storage tank |
| CN205116402U (en) * | 2015-08-06 | 2016-03-30 | 罗招全 | " integrate into formula travel room " |
| CN106917625A (en) * | 2017-05-10 | 2017-07-04 | 安徽捷运矿山机械有限公司 | A kind of support platform for support development machine of meeting an urgent need |
| CN206318246U (en) * | 2016-12-22 | 2017-07-11 | 国网青海省电力公司海北供电公司 | Power emergency repair case |
| CN107176216A (en) * | 2017-06-15 | 2017-09-19 | 石家庄铁道大学 | Heavy-duty car anti-rollover system |
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2017
- 2017-11-07 CN CN201711085344.7A patent/CN107878597A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5178292A (en) * | 1991-05-03 | 1993-01-12 | Aluminum Company Of America | Reinforced plastic intermodal freight container construction |
| CN102331790A (en) * | 2011-05-27 | 2012-01-25 | 陈海波 | Transmitting vehicle operational platform levelling system |
| CA2894096A1 (en) * | 2014-06-13 | 2015-12-13 | Dast Tanks, LLC | Storage tank |
| CN205116402U (en) * | 2015-08-06 | 2016-03-30 | 罗招全 | " integrate into formula travel room " |
| CN206318246U (en) * | 2016-12-22 | 2017-07-11 | 国网青海省电力公司海北供电公司 | Power emergency repair case |
| CN106917625A (en) * | 2017-05-10 | 2017-07-04 | 安徽捷运矿山机械有限公司 | A kind of support platform for support development machine of meeting an urgent need |
| CN107176216A (en) * | 2017-06-15 | 2017-09-19 | 石家庄铁道大学 | Heavy-duty car anti-rollover system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112146350A (en) * | 2019-06-28 | 2020-12-29 | 青岛海尔电冰箱有限公司 | Anti-toppling control method and device for refrigerator and refrigerator |
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Application publication date: 20180406 |