CN108162802A - Material transport vehicle, mobile system and control method - Google Patents
Material transport vehicle, mobile system and control method Download PDFInfo
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- CN108162802A CN108162802A CN201810146043.9A CN201810146043A CN108162802A CN 108162802 A CN108162802 A CN 108162802A CN 201810146043 A CN201810146043 A CN 201810146043A CN 108162802 A CN108162802 A CN 108162802A
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- 239000000463 material Substances 0.000 title claims abstract description 94
- 238000000034 method Methods 0.000 title claims abstract description 26
- 238000001514 detection method Methods 0.000 claims abstract description 66
- 230000015572 biosynthetic process Effects 0.000 claims abstract description 13
- 238000005452 bending Methods 0.000 claims description 45
- 238000004891 communication Methods 0.000 claims description 15
- 230000008859 change Effects 0.000 claims description 6
- 230000006641 stabilisation Effects 0.000 claims description 4
- 238000011105 stabilization Methods 0.000 claims description 4
- 238000006243 chemical reaction Methods 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 abstract description 11
- 230000009467 reduction Effects 0.000 abstract description 4
- 238000012546 transfer Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 6
- 230000006870 function Effects 0.000 description 6
- 230000008901 benefit Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000012512 characterization method Methods 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61C—LOCOMOTIVES; MOTOR RAILCARS
- B61C17/00—Arrangement or disposition of parts; Details or accessories not otherwise provided for; Use of control gear and control systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/26—Rail vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2220/00—Electrical machine types; Structures or applications thereof
- B60L2220/40—Electrical machine applications
- B60L2220/42—Electrical machine applications with use of more than one motor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/421—Speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/46—Drive Train control parameters related to wheels
- B60L2240/461—Speed
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention provides a kind of material transport vehicle, mobile system and control methods, are related to material transfer technical field, including：Main control module, power take-off module, angle detection module and multiple position detecting modules being set in different wheel, the input terminal of main control module is connect respectively with multiple position detecting modules and angle detection module, for the angle information formation speed control instruction of the tilting of car body of the location informations of multiple wheels and angle detection module detection detected according to multiple position detecting modules, the output terminal of power take-off module and main control module connects, for adjusting the speed of multiple wheels according to rate control instruction, so that material transport vehicle is moved according to pre-determined stability posture.The present invention provides a kind of material transport vehicle, mobile system and control methods, simplify the mechanical structure and running track of transport vehicle, automatic to realize that material is transported in the air, investment reduction, and realize that production-line arrangement is flexible, workshop space availability ratio is improved, improves production efficiency.
Description
Technical field
The present invention relates to material transfer technical field, more particularly, to a kind of material transport vehicle, mobile system and controlling party
Method.
Background technology
When arranging plant produced line, since the product of production is different, can exist as production technology is complicated, equipment is complicated and
The factors such as take up a large area, it is therefore desirable to across plant floor advancing equipment, while spent material transport vehicle is also required to transport phase
Material is closed, to realize the linking of production process.In order to improve the utilization rate of plant floor, can be turned using bending track road or straight rail
Material is transported, for example, concrete component production line helps to ensure that the uniformity of concrete using straight rail transport concrete, with full
Transportation demand between sufficient standdle carrier.And for the larger material of transhipment weight, in order to which material is made to be run along bending track road or straight rail, need
It wants the aerial transfer car(buggy) of configuration structure complexity and forces the turning equipment such as track, cause equipment complicated, difficult to install and arrange not
Just, production efficiency is low.
Invention content
In view of this, the purpose of the present invention is to provide a kind of material transport vehicle, mobile system and control method, to alleviate
The larger material of transhipment weight in the prior art, can only straight line transhipment or configuration turning track is forced to realize turning, cause
Transloading equipment is complicated, difficult to install and arrangement is inconvenient, the inferior technical problem of low production efficiency.
In a first aspect, an embodiment of the present invention provides a kind of material transport vehicle, including：Main control module, power take-off module,
Angle detection module and multiple position detecting modules being set in different wheel；
Multiple position detecting modules, for detecting the location information of multiple wheels；
The angle detection module, for detecting the angle information of tilting of car body；
The input terminal of the main control module is connect respectively with multiple position detecting modules and the angle detection module,
For the angle information formation speed control instruction of the location information according to the multiple wheel and the tilting of car body；
The power take-off module is connect with the output terminal of the main control module, for according to the rate control instruction tune
The speed of the multiple wheel is saved, so that the material transport vehicle is moved according to pre-determined stability posture.
With reference to first aspect, an embodiment of the present invention provides the first possible embodiment of first aspect, wherein, institute
Main control module is stated to include：PLC module, A/D modular converters, I/O modules and bus communication module；
The bus communication module is connect with the power take-off module, for will be multiple in the power take-off module
The running frequency of frequency converter is sent to the PLC module；
The position detecting module is connect by the I/O modules with the PLC module, for by the multiple wheel
Location information is sent to the PLC module；
The input terminal of the A/D modular converters is connect with the angle detection module, and output terminal connects with the PLC module
It connects, for the angle information of the tilting of car body to be sent to the PLC module；
The PLC module, for the angle of the location information according to the multiple wheel and the tilting of car body and in advance
If the differential seat angle of angle generates the rate control instruction；
The I/O modules, are additionally operable to the rate control instruction received from the PLC module being sent to power output and set
Multiple frequency converters in standby, to adjust the speed of the multiple wheel.
With reference to first aspect, an embodiment of the present invention provides second of possible embodiment of first aspect, wherein, also
Including：Wireless communication module；
The wireless communication module, it is described for when receiving the mobile control instruction that remote control equipment is sent, being sent to
I/O modules；
The main control module, for receiving the mobile control instruction that the I/O modules are sent, and according to the mobile control
Instruction controls the material transport vehicle movement.
With reference to first aspect, an embodiment of the present invention provides the third possible embodiment of first aspect, wherein, also
Including：Lead limit switch；
The I/O modules are connect with the lead limit switch, for the switching signal of the lead limit switch to be sent out
Give the main control module；
The main control module is additionally operable to generate mobile stopping control instruction according to the switching signal, and according to the shifting
The dynamic control instruction that stops controls the power take-off module to stop output power.
With reference to first aspect, an embodiment of the present invention provides the 4th kind of possible embodiment of first aspect, wherein, institute
Angle detection mould is stated to include：First angle detection module and second angle detection module；
The material transport vehicle further includes：For preceding group of wheel fixing device for fixing two front-wheels and for fixing two
Rear group of wheel fixing device of trailing wheel；
The first angle detection module is set in the preceding group wheel fixing device at the central rotating shaft of bottom, is used for
The first angle value of group wheel before detection；
The second angle detection module is set in the rear group wheel fixing device at the central rotating shaft of bottom, is used for
The second angle value of wheel is organized after detection.
With reference to first aspect, an embodiment of the present invention provides the 5th kind of possible embodiment of first aspect, wherein, institute
The quantity for stating position detecting module is four；
The position detecting module is set to the predeterminated position above wheel center, for when wheel enters bending track road,
The position detection signal that the position detection block being set on the inside of bending track road is sent is received, and the position detection signal is sent to institute
State PLC module.
Second aspect, the embodiment of the present invention also provides a kind of material transport vehicle mobile system, including as described in relation to the first aspect
Material transport vehicle and Crane Rail；
The Crane Rail includes：Straight rail and bending track road；
Position detection block is provided on the inside of the bending track road, for when wheel enters bending track road, on the wheel
Position detecting module sends position detection signal.
The third aspect, the embodiment of the present invention also provide a kind of material transport vehicle control method, including：
Obtain the location information of multiple wheels and the angle information of tilting of car body；
According to the angle information formation speed control instruction of the location information of the multiple wheel and the tilting of car body；
The rate control instruction is sent to power take-off module, so that the power take-off module is according to the speed control
System instruction adjusts the speed of the multiple wheel, and then the material transport vehicle is made to be moved according to pre-determined stability posture.
With reference to the third aspect, an embodiment of the present invention provides the first possible embodiment of the third aspect, wherein, institute
Predetermined angle is stated to include：Predetermined angle of turning and straight trip predetermined angle, according to the location information of the multiple wheel and the vehicle
The inclined angle information formation speed control instruction of body, including：
For any wheel, judge the position of the wheel whether in bending track road；
When any wheel is located at bending track road, according to the angle bad student of the angle of the tilting of car body and turning predetermined angle
Into First Speed control instruction, so that the material transport vehicle is moved along curved orbitally stable；
When multiple wheels are located at straight rail, according to the angle bad student of the angle of the tilting of car body and straight trip predetermined angle
Into second speed control instruction, so that the material transport vehicle is moved along straight rail stabilization.
Fourth aspect, the embodiment of the present invention also provide a kind of meter of non-volatile program code that can perform with processor
Calculation machine readable medium, said program code make the processor perform third aspect the method.
The embodiment of the present invention brings following advantageous effect：A kind of material transport vehicle provided in an embodiment of the present invention, automatically
The location information of each wheel and the angle information of tilting of car body are detected, and according to location information and angle information formation speed control
System instruction, makes power take-off module adjust the speed of multiple wheels according to the rate control instruction, so that the material transportation
Vehicle is moved according to pre-determined stability posture.A kind of material transport vehicle provided in an embodiment of the present invention, mobile system and control method, letter
Change the mechanical structure and running track of transport vehicle, automatic to realize that material is transported in the air, investment reduction, and realize production-line arrangement spirit
It is living, workshop space availability ratio is improved, improves production efficiency.
Other features and advantages of the present invention will illustrate in the following description, also, partly become from specification
It obtains it is clear that being understood by implementing the present invention.The purpose of the present invention and other advantages are in specification, claims
And specifically noted structure is realized and is obtained in attached drawing.
For the above objects, features and advantages of the present invention is enable to be clearer and more comprehensible, preferred embodiment cited below particularly, and coordinate
Appended attached drawing, is described in detail below.
Description of the drawings
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution of the prior art
Embodiment or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, in being described below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, can also be obtained according to these attached drawings other attached drawings.
Fig. 1 is the structure diagram of material transport vehicle provided in an embodiment of the present invention；
Fig. 2 is the control principle drawing of material transport vehicle provided in an embodiment of the present invention；
Fig. 3 is the position view that material transport vehicle provided in an embodiment of the present invention is located on Crane Rail；
Fig. 4 is the structure diagram of material transport vehicle that another embodiment of the present invention provides；
Fig. 5 is the flow chart of material transport vehicle control method that another embodiment of the present invention provides.
Icon：
100- angle detection modules；110- first angle detection modules；120 second angle detection modules；It examines 200- positions
Survey module；300- main control modules；400- power take-off modules；500- lead limit switches；600- wireless communication modules；700- tanks
Body.
Specific embodiment
Purpose, technical scheme and advantage to make the embodiment of the present invention are clearer, below in conjunction with attached drawing to the present invention
Technical solution be clearly and completely described, it is clear that described embodiment be part of the embodiment of the present invention rather than
Whole embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise
Lower all other embodiments obtained, shall fall within the protection scope of the present invention.
At present, the larger material of weight is transported in the prior art, it can only straight line transhipment or configuration pressure turning track reality
It now turns, leads to that transloading equipment is complicated, difficult to install and arrangement is inconvenient, production efficiency is low, and based on this, the embodiment of the present invention carries
A kind of material transport vehicle, mobile system and the control method supplied detects the location information and tilting of car body of each wheel automatically
Angle information, and according to location information and angle information formation speed control instruction, make power take-off module according to the speed
Control instruction adjusts the speed of multiple wheels, so that material transport vehicle is moved according to pre-determined stability posture.Simplifying transport vehicle
It is automatic to realize that material is transported in the air on the basis of mechanical structure and running track, investment reduction, and realize production-line arrangement spirit
It is living, workshop space availability ratio is improved, improves production efficiency.
For ease of understanding the present embodiment, a kind of material transport vehicle disclosed in the embodiment of the present invention is carried out first
It is discussed in detail.
As illustrated in fig. 1 and 2, in one embodiment of the invention, a kind of material transport vehicle is provided, including：Master control mould
Block 300, power take-off module 400, angle detection module 100 and multiple position detecting modules 200 being set in different wheel.
Multiple position detecting modules 200, for detecting the location information of multiple wheels.
Specifically, as shown in figure 3, the material transport vehicle includes：Independent four-wheel drive system (i.e. power take-off module
400) and for loading and unloading the tank body 700 of correlative that need to be transported.Four-wheel drive system includes：Four driving wheels, four drivings
The structures such as motor and retarder, four driving motors are independent and using Frequency Converter Control, are achieved in four driving motor speed
Degree is independent, i.e., the speed of four driving wheels is independent.
Position detecting module 200 is position-detection sensor, and quantity is four, and each position-detection sensor is set to vehicle
The predeterminated position of overcentre is taken turns, for when wheel enters bending track road, receiving the position detection block hair being set on the inside of bending track road
The position detection signal sent, and the position detection signal is sent to the PLC module, if PLC module receives the detection
Signal judges the wheel on bend.
The angle detection module 100, for detecting the angle information of tilting of car body.The angle detection module 100 wraps
It includes：Angular encoder.
Wherein, the four-wheel drive system of the material transport vehicle further includes：The preceding group of wheel for fixing two front-wheels is consolidated
Determine device and the rear group of wheel fixing device for fixing two trailing wheels.The bottom centre of preceding group of wheel fixing device and rear group vehicle
Both ends of the bottom centre respectively with tank body 700 in wheel fixing device are fixed, for when wheel moves, tank body 700 being driven to move
It is dynamic.
The first angle detection module 110 is set in the preceding group wheel fixing device at the central rotating shaft of bottom,
For detecting the first angle value of preceding group of wheel.The second angle detection module 120 is set to the rear group wheel and fixes dress
At the central rotating shaft for putting interior bottom, for organizing the second angle value of wheel after detection.It is described before group wheel first angle value and
The second angle value of group wheel is used to characterize the body gesture of car body after described.
The input terminal of the main control module 300 detects mould with multiple position detecting modules 200 and the angle respectively
Block 100 connects, and is controlled for the angle information formation speed of the location information according to the multiple wheel and the tilting of car body
Instruction.
In practical applications, as shown in Fig. 2, the main control module 300 includes：PLC module, A/D modular converters, I/O moulds
Block and bus communication module.
The bus communication module is connect with the power take-off module 400, for will be in the power take-off module 400
The running frequencies of multiple frequency converters be sent to the PLC module.
Specifically, the bus communication module is for the information communication between frequency converter and the PLC primary modules, the letter
Breath includes：Running frequency and operating status of the frequency converter etc..The operation speed of the running frequency characterization driving motor of frequency converter
It spends (i.e. the speed of wheel).
The position detecting module 200 is connect by the I/O modules with the PLC module, for by the multiple vehicle
The location information of wheel is sent to the PLC module.
The input terminal of the A/D modular converters is connect with the angle detection module 100, output terminal and the PLC module
Connection, for the angle information of the tilting of car body to be sent to the PLC module.
The PLC module, for the angle of the location information according to the multiple wheel and the tilting of car body and in advance
If the differential seat angle of angle generates the rate control instruction.
In practical applications, the predetermined angle of the tilting of car body is determined according to the radius in the bending track road.It is described default
Angle includes：Predetermined angle of turning and straight trip predetermined angle.
When all wheels in straight rail when driving, in order to ensure transport vehicle stable operation, the travel speed of four wheels should
When consistent, the first angle value of preceding group of wheel and it is described after the second angle value of group wheel should all meet straight trip predetermined angle (example
Such as zero degree).In all examples being illustrated and described herein, any occurrence should be construed as merely illustrative, without
It is as limitation, therefore, other examples of exemplary embodiment can have different values.
When any wheel in bending track road when driving, in order to ensure transport vehicle in the stable operation of bending track road, the of preceding group of wheel
The second angle value of one angle value and the rear group wheel should all meet a turning only related with bend orbit radius size and preset
Angle, such as 45 degree.Also, it when four wheels are in bending track road, can be calculated according to the bend turning radius size
Go out the speed proportional relationship of four wheel negotiation of bends.
Specifically, when the material transport vehicle is all when straight way is walked, front and rear two groups of wheel velocities are identical, that is, drive
Dynamic motor speed is identical；When current group wheel enters bend, when inevitably curved wheel velocity is constant in preceding group, according to turning radius
Preceding group of excurvation wheel speed is accelerated in proportion, then organizes wheel velocity and remains unchanged, it is curved to realize that the material transport vehicle initially enters
Track；Current group wheel is accelerated in proportion when straight way then organizes wheel in bend according to group excurvation wheel speed after turning radius,
Then curved wheel velocity remains unchanged in group, realizes that the material transport vehicle starts bending track road；When front and rear two groups of wheels exist
During bend, then the speed of two excurvation wheels is accelerated in proportion relative to the speed of curved wheel in two, realizes the material fortune
Defeated vehicle is in the operation in bending track road.
Therefore, the PLC module first judges the location of each wheel (straight rail by the location information of four wheels
Or bending track road), further according to four wheel straight ways or the speed proportional relationship of negotiation of bends, the first angle value of preceding group of wheel with it is pre-
If the deviation generation of the deviation of angle and the second angle value and predetermined angle of rear group wheel adjusts the speed of each wheel velocity
Spend control instruction (running frequency for controlling frequency converter).
The power take-off module 400 is connect with the output terminal of the main control module 300, for according to the speed control
Instruction adjusts the speed of the multiple wheel, so that the material transport vehicle is moved according to pre-determined stability posture.
Specifically, the I/O modules, are additionally operable to the rate control instruction received from the PLC module being sent to dynamic
Multiple frequency converters in power output equipment control output running frequency, rotating and the start and stop of four frequency converters, i.e. four wheels
The speed of service of driving motor, start and stop operation (containing traffic direction), to realize the speed for adjusting the multiple wheel, and then are realized
The material transport vehicle is automatically in the stable operation of the bending track road or straight rail.
A kind of material transport vehicle provided in an embodiment of the present invention detects the location information and tilting of car body of each wheel automatically
Angle information, and according to location information and angle information formation speed control instruction, make power take-off module 400 according to described
Rate control instruction adjusts the speed of multiple wheels, so that material transport vehicle is moved according to pre-determined stability posture.
As shown in figure 4, on the basis of previous embodiment, in another embodiment of this hair invention, the material fortune
Defeated vehicle further includes：Wireless communication module 600 and lead limit switch 500.
Wherein, the wireless communication module 600 includes：Wireless remote controlled receiver receives remote control equipment transmission for working as
Mobile control instruction when, be sent to the I/O modules.
The main control module 300, for receiving the mobile control instruction that the I/O modules are sent, and according to the movement
Control instruction controls the material transport vehicle movement.
When needing to material transport vehicle remote control, transmitter (remote control equipment) is operated to wireless remote by wireless remote control
Control receiver sends the operation signals such as startup, stopping, and the operation signals such as the startup, stopping are passed through institute by wireless remote controlled receiver
It states I/O moulds and sends a PLC primary modules, the PLC primary modules control frequency converter according to the operation signal by I/O modules
Rotating, startup, stop control, be achieved in radio operation.
Wherein, the I/O modules are connect with the lead limit switch 500, for by the lead limit switch 500
Switching signal is sent to the main control module 300.
The main control module 300 is additionally operable to generate mobile stopping control instruction according to the switching signal, and according to described
The mobile control instruction that stops controls the power take-off module 400 to stop output power.
Specifically, setting lead limit switch 500, when material transport vehicle is moved to track end, lead limit switch
500 contacts action (as disconnected), when main control module 300 detects that lead limit switch 500 disconnects, controls power take-off module
400 is out of service, and material transport vehicle is avoided to be driven out to track.
In another embodiment of the present invention, a kind of material transport vehicle mobile system is additionally provided, includes such as aforementioned reality
Apply the material transport vehicle and Crane Rail described in example.
Wherein, the Crane Rail is installed on the track support for being used to support Crane Rail and material transport vehicle, driving
Track includes：Straight rail and bending track road (without forced track), straight rail and bending track road are two-orbit.It is double at bending track road
Track is divided into interior bending track road (the small side of radius) and excurvation track (the big side of radius) by the radius difference in corner.According to rail
Road is different, and four wheels can be divided into front and rear curved wheel (in interior bending track road) and front and rear excurvation wheel (in outer bending track road).
As shown in figure 3, single Crane Rail is in Contraband character form structure, the position detection block on the inside of the bending track road is located at described
The top of position detecting module 200.Position detection block is provided on the inside of the bending track road, for when wheel enters bending track road,
Position detecting module 200 on the wheel sends position detection signal.
Specifically, according to the difference of position, the position detecting module 200 on four wheels can be divided into：It is curved in two
Position detecting module 200 (the small side of radius) and two excurvation position detecting modules 200 (the big side of radius).For curved in two
Position detecting module 200, interior bending track road are covered with a set of position detection block and cable for being used to detect curved wheel in front and rear, and the position
Detection block is put to be installed on interior bending track road and positioned at the surface of interior curved position detecting module 200, can guarantee all by the position
Signal can be received by putting the interior curved position detecting module 200 of detection block.And two excurvation position detecting modules 200 are directed to,
Excurvation track is covered with the another set of position detection block and cable for being used to detect front and rear excurvation wheel, and the position detection block is installed on
On excurvation track and positioned at the surface of excurvation position detecting module 200, all excurvations by the position detection block are can guarantee
Position detecting module 200 can receive signal.Curved position detecting module 200 can be detected in former and later two in two as a result,
Curved wheel is on bend or on straight way, and two excurvation position detecting modules 200 can detect former and later two excurvation wheels be
On bend or on straight way.
When any wheel enters bend, the position detecting module 200 that is installed on itself can receive curved where itself
The detection signal received is sent to PLC by the detection signal that the position detection block installed on road is sent, position detecting module 200
Module when PLC module receives the detection signal, that is, judges the wheel on bend.
A kind of material transport vehicle and mobile system provided by the invention, in the mechanical structure and running track for simplifying transport vehicle
On the basis of, automatic to realize that material is transported in the air, investment reduction, and realize that production-line arrangement is flexible, improve workshop space utilization
Rate improves production efficiency.
As shown in figure 5, in another embodiment of the present invention, additionally provide a kind of material transport vehicle control method, institute
It states method and includes following steps.
S101 obtains the location information of multiple wheels and the angle information of tilting of car body.
S102 refers to according to the control of the angle information formation speed of the location information of the multiple wheel and the tilting of car body
It enables.
Specifically, the predetermined angle includes：Predetermined angle of turning and straight trip predetermined angle.According to the multiple wheel
The method of the angle information formation speed control instruction of location information and the tilting of car body includes the following steps.
For any wheel, judge the position of the wheel whether in bending track road.
When any wheel is located at bending track road, according to the angle bad student of the angle of the tilting of car body and turning predetermined angle
Into First Speed control instruction, so that the material transport vehicle is moved along curved orbitally stable.
When multiple wheels are located at straight rail, according to the angle bad student of the angle of the tilting of car body and straight trip predetermined angle
Into second speed control instruction, so that the material transport vehicle is moved along straight rail stabilization.
S103 sends the rate control instruction, so that the power take-off module is according to power take-off module
Rate control instruction adjusts the speed of the multiple wheel, and then the material transport vehicle is made to be moved according to pre-determined stability posture.
Illustrate the specific of control material transport vehicle stable operation provided in an embodiment of the present invention by way of example below
Flow：
After material transport vehicle starts mobile, PLC module obtains the running frequency of each frequency converter (i.e. by bus module
The speed of service of each wheel), and by the location informations of four wheels first judge the location of each wheel (straight rail or
Bending track road), further according to four wheel straight ways or the speed proportional relationship of negotiation of bends, the first angle value of preceding group of wheel is with presetting
The deviation generation of the deviation of angle and the second angle value and predetermined angle of rear group wheel adjusts the speed of each wheel velocity
Control instruction.
For example, when if four wheels are in straight rail, according to preset straight trip four wheels of speed control with mutually synchronized
Degree traveling.
If two front-wheels are in bend, curved wheel velocity is constant in preceding group, is scaling up outside preceding group according to turning radius
The speed of curved wheel is then organized wheel velocity and is remained unchanged, realizes that the material transport vehicle initially enters bending track road.
If currently group wheel is when straight way then organizes wheel in bend, according to group excurvation wheel speed after turning radius in proportion
Accelerate, then curved wheel velocity remains unchanged in group, realizes that the material transport vehicle starts bending track road.
When front and rear two groups of wheels are in bend, then the speed of two excurvation wheels relative to curved wheel in two speed
Accelerate in proportion, and control before group wheel first angle value and it is described after group wheel second angle value meet only with it is curved
The related turning predetermined angle of road track radius size, realizes stable operation of the material transport vehicle in bending track road.
In addition, the material transport vehicle operation vibrations lead to position detection signal Possible waves, ad hoc meter vehicle in order to prevent
Wheel is handled in bending track road stabilization, i.e., when the deviation angle of wheel and the angle value detected are not met, passes through filtering wave by prolonging time
Confirm the state for changing wheel again afterwards.
Specifically, when the material transport vehicle moves in bending track road or straight rail, it is likely to wheel deviation occur
The phenomenon that track.In order to realize that the real-time automatic deviation correction adjustment of material transport vehicle ensures its stable operation, when the angle acquired in real time
When being more than certain limit with the absolute error of the point of theory, traffic direction, angular error according to the material transport vehicle
Direction change each wheel velocity (change speed difference) in real time, thus gradually reduce angular error, when absolute error is in reasonable model
The normal speed of service is restored back to when enclosing.
For example, currently for group wheel when bend is run, the angle between preceding group of wheel is a constant point of theory, works as angle
Change excessive, represent that vehicle body operation is unstable, deflection is big counterclockwise for east and angle when direction of advance, then interior curved wheel velocity is not
Outer curve wheel velocity need to be reduced during change, normal angled is gradually adapted to if organizing the angle between wheel before this, reaches normal
Angle rear car wheel speed also returns to normal value.
In order to ensure material transport vehicle safe operation, need to monitor operating status, the fault message of material transport vehicle in real time
With alarm condition etc..For example, currently the angular error of group wheel or rear group wheel continues in the range of large error then preset report
Alert, just alarm is shut down immediately when angular error is more than tolerance limit；Test and analyze angular transducer whether failure, detection and analysis become
Frequency device, wheel drive motors whether failure and other signal condition detection and analysis for influencing operational safety, to fault alarm or
It shuts down, ensures the safe operation of the material transport vehicle.
In another embodiment of the present invention, a kind of non-volatile program code that can perform with processor is additionally provided
Computer-readable medium, said program code makes the processor perform the material transport vehicle controlling party described in previous embodiment
Method.
Flow chart and block diagram in attached drawing show the system, method and computer journey of multiple embodiments according to the present invention
Architectural framework in the cards, function and the operation of sequence product.In this regard, each box in flow chart or block diagram can generation
The part of one module of table, program segment or code, a part for the module, program segment or code include one or more use
In the executable instruction of logic function as defined in realization.It should also be noted that it in some implementations as replacements, is marked in box
The function of note can also be occurred with being different from the sequence marked in attached drawing.For example, two continuous boxes can essentially base
Originally it is performed in parallel, they can also be performed in the opposite order sometimes, this is depended on the functions involved.It is also noted that
It is the combination of each box in block diagram and/or flow chart and the box in block diagram and/or flow chart, can uses and perform rule
The group of specialized hardware and computer instruction is realized or can be used to fixed function or the dedicated hardware based system of action
It closes to realize.
The material transport vehicle and the computer program product of mobile system that the embodiment of the present invention is provided, including storing journey
The computer readable storage medium of sequence code, the instruction that said program code includes can be used for performing institute in previous methods embodiment
The method stated, specific implementation can be found in embodiment of the method, and details are not described herein.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description
With the specific work process of device, the corresponding process in preceding method embodiment can be referred to, details are not described herein.
In addition, in the description of the embodiment of the present invention unless specifically defined or limited otherwise, term " installation ", " phase
Even ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected or be integrally connected；It can
To be mechanical connection or be electrically connected；It can be directly connected, can also be indirectly connected by intermediary, Ke Yishi
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
If the function is realized in the form of SFU software functional unit and is independent product sale or in use, can be with
It is stored in a computer read/write memory medium.Based on such understanding, technical scheme of the present invention is substantially in other words
The part contribute to the prior art or the part of the technical solution can be embodied in the form of software product, the meter
Calculation machine software product is stored in a storage medium, is used including some instructions so that a computer equipment (can be
People's computer, server or network equipment etc.) perform all or part of the steps of the method according to each embodiment of the present invention.
And aforementioned storage medium includes：USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
The various media that can store program code such as reservoir (RAM, Random Access Memory), magnetic disc or CD.
In the description of the present invention, it should be noted that term " " center ", " on ", " under ", "left", "right", " vertical ",
The orientation or position relationship of the instructions such as " level ", " interior ", " outer " be based on orientation shown in the drawings or position relationship, merely to
Convenient for the description present invention and simplify description rather than instruction or imply signified device or element must have specific orientation,
With specific azimuth configuration and operation, therefore it is not considered as limiting the invention.In addition, term " first ", " second ",
" third " is only used for description purpose, and it is not intended that instruction or hint relative importance.
Finally it should be noted that：Embodiment described above, only specific embodiment of the invention, to illustrate the present invention
Technical solution, rather than its limitations, protection scope of the present invention is not limited thereto, although with reference to the foregoing embodiments to this hair
It is bright to be described in detail, it will be understood by those of ordinary skill in the art that：Any one skilled in the art
In the technical scope disclosed by the present invention, it can still modify to the technical solution recorded in previous embodiment or can be light
It is readily conceivable that variation or equivalent replacement is carried out to which part technical characteristic；And these modifications, variation or replacement, do not make
The essence of corresponding technical solution is detached from the spirit and scope of technical solution of the embodiment of the present invention, should all cover the protection in the present invention
Within the scope of.Therefore, protection scope of the present invention described should be subject to the protection scope in claims.
Claims (10)
1. a kind of material transport vehicle, which is characterized in that including：Main control module, power take-off module, angle detection module and multiple
The position detecting module being set in different wheel；
Multiple position detecting modules, for detecting the location information of multiple wheels；
The angle detection module, for detecting the angle information of tilting of car body；
The input terminal of the main control module is connect respectively with multiple position detecting modules and the angle detection module, is used for
According to the angle information formation speed control instruction of the location information of the multiple wheel and the tilting of car body；
The power take-off module is connect with the output terminal of the main control module, for adjusting institute according to the rate control instruction
The speed of multiple wheels is stated, so that the material transport vehicle is moved according to pre-determined stability posture.
2. material transport vehicle according to claim 1, which is characterized in that the main control module includes：PLC module, A/D turn
Change the mold block, I/O modules and bus communication module；
The bus communication module is connect with the power take-off module, for by multiple frequency conversions in the power take-off module
The running frequency of device is sent to the PLC module；
The position detecting module is connect by the I/O modules with the PLC module, for by the position of the multiple wheel
Information is sent to the PLC module；
The input terminal of the A/D modular converters is connect with the angle detection module, and output terminal is connect with the PLC module, is used
In the angle information of the tilting of car body is sent to the PLC module；
The PLC module, for the angle and preset angle of the location information according to the multiple wheel and the tilting of car body
The differential seat angle of degree generates the rate control instruction；
The I/O modules are additionally operable to the rate control instruction received from the PLC module being sent in motive power outputting apparatus
Multiple frequency converters, to adjust the speed of the multiple wheel.
3. material transport vehicle according to claim 2, which is characterized in that further include：Wireless communication module；
The wireless communication module, for when receiving the mobile control instruction that remote control equipment is sent, being sent to the I/O moulds
Block；
The main control module, for receiving the mobile control instruction that the I/O modules are sent, and according to the mobile control instruction
The material transport vehicle is controlled to move.
4. material transport vehicle according to claim 3, which is characterized in that further include：Lead limit switch；
The I/O modules are connect with the lead limit switch, for the switching signal of the lead limit switch to be sent to
The main control module；
The main control module is additionally operable to generate mobile stopping control instruction according to the switching signal, and stop according to the movement
Only control instruction controls the power take-off module to stop output power.
5. material transport vehicle according to claim 4, which is characterized in that the angle detection mould includes：First angle is examined
Survey module and second angle detection module；
The material transport vehicle further includes：For preceding group of wheel fixing device for fixing two front-wheels and for fixing two trailing wheels
Rear group of wheel fixing device；
The first angle detection module is set in the preceding group wheel fixing device at the central rotating shaft of bottom, for detecting
The first angle value of preceding group of wheel；
The second angle detection module is set in the rear group wheel fixing device at the central rotating shaft of bottom, for detecting
The second angle value of wheel is organized afterwards.
6. material transport vehicle according to claim 5, which is characterized in that the quantity of the position detecting module is four；
The position detecting module is set to the predeterminated position above wheel center, for when wheel enters bending track road, receiving
The position detection signal that position detection block on the inside of bending track road is sent, and the position detection signal is sent to described
PLC module.
7. a kind of material transport vehicle mobile system, which is characterized in that include the material transportation as described in claim 1 to 6 is any
Vehicle and Crane Rail；
The Crane Rail includes：Straight rail and bending track road；
Position detection block is provided on the inside of the bending track road, for when wheel enters bending track road, the position on the wheel
Detection module sends position detection signal.
8. a kind of material transport vehicle control method, which is characterized in that including：
Obtain the location information of multiple wheels and the angle information of tilting of car body；
According to the angle information formation speed control instruction of the location information of the multiple wheel and the tilting of car body；
The rate control instruction is sent to power take-off module, so that the power take-off module refers to according to the speed control
The speed for adjusting the multiple wheel is enabled, and then the material transport vehicle is made to be moved according to pre-determined stability posture.
9. according to the method described in claim 8, it is characterized in that, the predetermined angle includes：Predetermined angle of turning and straight trip
Predetermined angle, according to the angle information formation speed control instruction of the location information of the multiple wheel and the tilting of car body,
Including：
For any wheel, judge the position of the wheel whether in bending track road；
When any wheel is located at bending track road, according to the differential seat angle generation the of the angle of the tilting of car body and turning predetermined angle
One rate control instruction, so that the material transport vehicle is moved along curved orbitally stable；
When multiple wheels are located at straight rail, according to the differential seat angle generation the of the angle of the tilting of car body and straight trip predetermined angle
Two rate control instructions, so that the material transport vehicle is moved along straight rail stabilization.
10. a kind of computer-readable medium of non-volatile program code that can perform with processor, which is characterized in that described
Program code makes the processor perform any one of the claim 8 to 9 the method.
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| CN201810146043.9A CN108162802B (en) | 2018-02-12 | 2018-02-12 | Material transport vehicle, moving system and control method |
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| CN201810146043.9A CN108162802B (en) | 2018-02-12 | 2018-02-12 | Material transport vehicle, moving system and control method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110667399A (en) * | 2019-09-06 | 2020-01-10 | 江苏粮友机器人有限公司 | Double-track four-wheel-drive leveling robot and differential motion and position positioning method thereof |
| CN111474924A (en) * | 2019-01-23 | 2020-07-31 | 菜鸟智能物流控股有限公司 | Control device, control apparatus, control method, and physical distribution object processing system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AUPR047300A0 (en) * | 2000-10-03 | 2000-10-26 | Spark, Ian James | Improved off road vehicle |
| CN104723999A (en) * | 2015-03-18 | 2015-06-24 | 邢恩东 | Vehicle auxiliary safe driving instrument and corresponding early warning method and detection method |
| CN105759823A (en) * | 2016-04-27 | 2016-07-13 | 长江大学 | Track-information-based control system and method for two-wheel self-balancing dolly |
| CN107272694B (en) * | 2017-07-18 | 2020-07-28 | 北京星航机电装备有限公司 | Omnidirectional vehicle control system based on Mecanum wheel autonomous navigation |
| CN107512200A (en) * | 2017-09-07 | 2017-12-26 | 东莞市奇立电源有限公司 | A kind of motor vehicle dual-motor drive dynamic control device and method |
| CN207860005U (en) * | 2018-02-12 | 2018-09-14 | 廊坊中建机械有限公司 | Material transport vehicle and mobile system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111474924A (en) * | 2019-01-23 | 2020-07-31 | 菜鸟智能物流控股有限公司 | Control device, control apparatus, control method, and physical distribution object processing system |
| CN111474924B (en) * | 2019-01-23 | 2023-12-26 | 菜鸟智能物流控股有限公司 | Control device, control apparatus, control method, and logistics object processing system |
| CN110667399A (en) * | 2019-09-06 | 2020-01-10 | 江苏粮友机器人有限公司 | Double-track four-wheel-drive leveling robot and differential motion and position positioning method thereof |
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