CN108427420A - A kind of Rail logistics double track transmitting-receiving station and its control method - Google Patents

A kind of Rail logistics double track transmitting-receiving station and its control method Download PDF

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Publication number
CN108427420A
CN108427420A CN201810361636.7A CN201810361636A CN108427420A CN 108427420 A CN108427420 A CN 108427420A CN 201810361636 A CN201810361636 A CN 201810361636A CN 108427420 A CN108427420 A CN 108427420A
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China
Prior art keywords
module
transmitting
receiving station
stepper motor
vehicle
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Granted
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CN201810361636.7A
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CN108427420B (en
Inventor
黄德强
储元明
涂帅
韦柳铁
曹俊文
汤建文
钱磊
王正华
安建胜
季丹
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Jiangsu Dashi Jiuxin Medical Technology Co Ltd
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Jiangsu Dashi Jiuxin Medical Technology Co Ltd
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Priority to CN201810361636.7A priority Critical patent/CN108427420B/en
Publication of CN108427420A publication Critical patent/CN108427420A/en
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    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0223Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0221Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2201/00Application
    • G05D2201/02Control of position of land vehicles

Abstract

The present invention relates to a kind of Rail logistics double track transmitting-receiving stations, which is characterized in that including:DC tracks, transmitting-receiving station control panel, touch screen 7, weighing unit 9, stepper motor driver 13, stepper motor 14 and Zero-point switch 16;The DC tracks are connect with the transmitting-receiving station control panel, are the power supply of transmitting-receiving station control panel for described in;The transmitting-receiving station control panel is connect with other equipment in touch screen 7, weighing unit 9, stepper motor driver 13, Zero-point switch 16, small rail car and region respectively;The stepper motor 14 is connect with the stepper motor driver 13, the orbital segment of the driving of the stepper motor 14 thereon.The double track transmitting-receiving station of the present invention is a kind of complete, distributed, with independent dispatching intelligent work terminal unit, every transmitting-receiving station has intelligent scheduling and control method, autonomous completion scheduling completely independent from one another, rather than vehicle is executed by zone controller or system server and receives and dispatches work, so that working efficiency is maximized.

Description

A kind of Rail logistics double track transmitting-receiving station and its control method
Technical field
The present invention relates to a kind of Rail logistics transmission field more particularly to a kind of Rail logistics double track transmitting-receiving station and its controls Method.
Background technology
Currently, various regions hospital just gradually by single diagnoses and treatment be changed into collection prevention, emergency treatment, diagnosis, treatment, rehabilitation and Study the comprehensive medical service organization being integrated.Incident personnel's high concentration, logistics demand increasingly increase, and examine sample Sheet, pathology sample, various drug infusions, blood product, perform the operation packet and paper etc. can not ensure under traditional logistics mode Transmission promptly and accurately.The lagging in development of logistics has become the bottleneck for restricting and realizing modern hospital in institute, high efficient and reliable To improving diagnosis rate, the life for reducing treatment cost or even redemption patient all plays immeasurable effect for logistics.
The transmitting-receiving station of existing Rail logistics Transmission system is simple operating terminal at present, and transmitting-receiving station is only responsible for acquisition The mission bit stream that touch screen is sent, then mission bit stream is sent to zone controller or system server, do not participating in other works Make, such mode is the serial control mode of centralization, and such transmitting-receiving station is usually not with vehicle communication function and without certainly Master scheduling function;Therefore needing whole system being divided into multiple minimum regions could work normally, the complicated network structure, work Make it is extremely inefficient, once and zone controller or system server paralysis, whole region or system will be at a standstill.
In view of above-mentioned existing defect, the present inventor manufactures practical experience abundant for many years based on such product design is engaged in And professional knowledge, and coordinate the utilization of scientific principle, be actively subject to research and innovation, to found a kind of Rail logistics double track transmitting-receiving station and Its working method makes it have more practicability.By constantly studying, designing, and after studying sample repeatedly and improving, finally Create the present invention having practical value.
Invention content
In order to solve the above technical problems, the object of the present invention is to provide a kind of Rail logistics double track transmitting-receiving station and its work sides Method can store the parameter information needed for normal work, obtain local vehicle mission bit stream, believe in conjunction with local information of vehicles, state Breath and routing information, complete independently vehicle receive and send work.
The object of the invention to solve the technical problems is realized using following technical scheme.
A kind of Rail logistics double track transmitting-receiving station, including:DC tracks, transmitting-receiving station control panel, touch screen, weighing unit, stepping electricity Machine driver, stepper motor and Zero-point switch;
The DC tracks are connect with the transmitting-receiving station control panel, the transmitting-receiving station control panel respectively with touch screen, weighing unit, stepping Other equipment connects in motor driver, Zero-point switch, small rail car and region;
The stepper motor is connect with the stepper motor driver, and the stepper motor drives orbital segment.
Further, the transmitting-receiving station control panel includes:DC power module, MCU minimum systematic modules, data store mould Block, railroad communications module, CAN communication module, serial communication module, overload detection module, LED display module, stepper motor control Molding block, in place signal acquisition module and zero signal acquisition module;
The DC power module is connect with the DC tracks, the power supply all the way on the DC tracks be the transmitting-receiving station control panel, The touch screen, the weighing unit, the stepper motor driver and the stepper motor are powered;
The data memory module is connect with the MCU minimum systematic modules, system server for storing network connection or The configuration information that touch screen is sent;
The railroad communications module and the CAN communication module are connect with the MCU minimum systematic modules simultaneously, and the track is logical News module is connect with the small rail car again, and the CAN communication module is connect with other equipment in the region again, the track Communication module and CAN communication module are respectively used to the transmitting-receiving station control panel and carry out data friendship with other equipment in vehicle and region Mutually;
One end of the serial communication module, the overload detection module and the LED display module is minimum with the MCU respectively System module connects, and the serial communication module other end connect with the touch screen, the overload detection module other end and The weighing unit connection;
The zero signal acquisition module, the signal acquisition module in place and the step motor control module with it is described MCU minimum systematic modules connect, and the zero signal acquisition module other end is connect with the Zero-point switch, the signal in place The acquisition module other end and the step motor control module other end are connect with the stepper motor driver simultaneously, the step Stepper motor driver is connect with the stepper motor again;
A kind of control method of Rail logistics double track transmitting-receiving station sends control method for vehicle and includes the following steps:
Step 1:Mission bit stream is obtained, car number and mission bit stream that touch screen is sent are received;
Step 2:Overload detection, judges whether empty wagons, step 3 is directly executed if empty wagons;If bogie, vehicle is moved Overload detection is executed to weighing unit, detection, which passes through, executes step 3, otherwise alarm;
Step 3:Path detection checks that forward path, free pathway execute step 4, otherwise prompt alarm;
Step 4:Vehicle scheduling sends out control instruction to vehicle, is performed simultaneously path navigation and error code correction.
A kind of control method of Rail logistics double track transmitting-receiving station receives control method for vehicle and includes the following steps:
Step 1:Mission bit stream is obtained, enter the station information of vehicles, including status information and mission bit stream are obtained;
Step 2:Path detection checks that the route conditions that enter the station, free pathway execute third step, otherwise wait for;
Step 3:Vehicle scheduling controls electric motor starting and stops, sending out control to vehicle and refer to according to step motor control algorithm It enables, is performed simultaneously path navigation and error code correction, makes vehicle pull-in and be parked in corresponding position.
Using above-mentioned technical proposal, following technique effect can be realized:
1, traffic control is not completed by zone controller or system server centralization Serial Control between transmitting-receiving station, Complete parallel completes vehicle transmitting-receiving, and region division is only limited by communication line length and supply line length, region quantity stroke Point less, network structure is simple, and system server failure does not influence system normal operation, zone controller failure does not influence one's respective area Interior normal operation, local transceiver station failure do not influence other transmitting-receiving stations normal work so that operational efficiency higher, more reliable;
2, it is that transmitting-receiving station control panel, touch screen, weighing unit, stepper motor driver and stepper motor are powered by DC tracks, receives Hair station obtains the mission bit stream that touch screen is sent by serial communication module, passes through the detection module collection vehicle overload letter that overloads Number, by step motor control module to a certain number of pulse signals of stepper motor driver with the rail on Driving Stepping Motor Road section acquires stepper motor signal in place, to make transmitting-receiving station work normally by signal detection module in place;It is logical by track Module and vehicle communication interface are interrogated, local information of vehicles can be obtained in real time, while local vehicle is controlled and being managed;Pass through The communication interface of CAN communication module and other equipment in region can issue local running conditions of vehicle and local state information To other equipment, while obtaining other relevant informations;
3, by data memory module, the relevant parameter needed for transmitting-receiving station control board work can be stored, and power down is not lost, is The premise of transmitting-receiving station control panel normal work;
4, transmitting-receiving station has independent scheduling feature, built-in intelligence scheduling and control algolithm, directly acquisition local and related Information, locally execute logical operation, decision, finally according to operation result, using stepper motor S curve control algolithm, complete Vehicle scheduling makes working efficiency maximize.
Above description is only the general introduction of technical solution of the present invention, in order to better understand the technical means of the present invention, And can be implemented in accordance with the contents of the specification, below with presently preferred embodiments of the present invention and after coordinating attached drawing to be described in detail such as.
Description of the drawings
Fig. 1 is a kind of Rail logistics double track transmitting-receiving station hardware structure diagram of the present invention;
Fig. 2 is that a kind of Rail logistics double track transmitting-receiving station of the present invention sends vehicle operation flow chart;
Fig. 3 is that a kind of Rail logistics double track transmitting-receiving station of the present invention receives vehicle operation flow chart;
Description of the drawings:1-DC power modules, 2-MCU minimum systematic modules, 3- data memory modules, 4- railroad communications module, 5- CAN communication module, 6- serial communication modules, 7- touch screens, 8- overload detection module, 9- weighing units, 10-LED display modules, 11- step motor controls module, 12- signal acquisition module, 13- stepper motor drivers, 14- stepper motors, 15- zeros in place Signal acquisition module, 16- Zero-point switches.
Specific implementation mode
With reference to the accompanying drawings and examples, the specific implementation mode of the present invention is described in further detail, is implemented below Example is not limited to the scope of the present invention for illustrating the present invention.
Referring to Fig. 1, a kind of Rail logistics double track transmitting-receiving station, including:DC tracks, touch screen 7, are weighed at transmitting-receiving station control panel Platform 9, stepper motor driver 13, stepper motor 14 and Zero-point switch 16;DC tracks are connect with transmitting-receiving station control panel, transmitting-receiving station control Making sheet respectively in touch screen 7, weighing unit 9, stepper motor driver 13, Zero-point switch 16, small rail car and region other set Standby connection;Stepper motor 14 is connect with stepper motor driver 13, and stepper motor 14 drives orbital segment.
Be not between transmitting-receiving station completed traffic control by zone controller or system server centralization Serial Control, and It is that complete parallel completes vehicle transmitting-receiving, region division is only limited by communication line length with supply line length, region quantity Divide less, network structure it is simple, system server failure does not influence system normal operation, zone controller failure does not influence local area Normal operation, local transceiver station failure in domain do not influence other transmitting-receiving stations normal work so that operational efficiency higher, more steady When;
Transmitting-receiving station control panel includes:DC power module 1, MCU minimum systematic modules 2, data memory module 3, railroad communications module 4, CAN communication module 5, serial communication module 6, overload detection module 8, LED display module 10, step motor control module 11, Signal acquisition module 12 and zero signal acquisition module 15 in place;DC power module 1 is connect with DC tracks, is obtained on DC tracks Power supply is that transmitting-receiving station control panel, touch screen 7, weighing unit 9, stepper motor driver 13 and stepper motor 14 are powered all the way.
Data memory module 3 is connect with MCU minimum systematic modules 2, the system server or tactile for storing network connection Touch the configuration information that screen is sent;Data memory module 3 includes underlying parameter information, track relevant parameter information, vehicle correlation ginseng Number information, scheduling relevant parameter information and other parameters information;Wherein underlying parameter information is the attribute letter of transmitting-receiving station itself Breath, such as the coding of itself, converter quantity, operating mode etc.;Other parameters information is that transmitting-receiving station completion normal work must The parameter information of palpus.
CAN communication module 5 is that the interface of information exchange is carried out with other equipment in region, for the local vehicle of transmission with Acquisition and locally associated information while equipment state, railroad communications module 4 is the interaction channel with vehicle, passes through track mould Block 4 is connect with small rail car, can obtain mission bit stream, location information, quantity information, status information, the rail of local track vehicle Channel state information etc., and management is scheduled to vehicle according to information of vehicles, output vehicle scheduling order, path navigation order, Error correcting order etc..
Again since MCU minimum systematic modules 2 are central processing unit, built-in intelligence is dispatched and control process algoritic module, It is responsible for acquiring locally associated vehicle, orbit information by railroad communications module 4 and CAN communication module 5, is used for transmitting-receiving station control panel Obtain information and output information;Therefore, in the application, railroad communications module 4 and CAN communication module 5 simultaneously with MCU minimum systems Module 2 connects, and railroad communications module 4 is connect with small rail car again, and CAN communication module 5 is connect with other equipment in region again, rail Road communication module 4 and CAN communication module 5 are respectively used to transmitting-receiving station control panel and carry out data friendship with other equipment in vehicle and region Mutually.
Serial communication module 6, overload detection module 8 and LED display module 10 one end respectively with MCU minimum systematic modules 2 connections, 6 other end of serial communication module are connect with touch screen 7, and the overload detection module other end is connect with weighing unit 9;Serial ports is logical 6 one end of news module is connect with touch screen 7, and the other end is connect with MCU minimum systematic modules 2, for transmitting-receiving station control panel and touch Screen 7 carries out data interaction, the transmission such as the data information that touch screen 7 is inputted, including mission bit stream, configuration information, querying command Give transmitting-receiving station control panel;8 one end of overload detection module is connect with MCU minimum systematic modules 2, and the other end is connect with weighing unit 9, is used Transmitting-receiving station control panel is sent in the overload of vehicle signal of acquisition weighing unit 9;LED display module 10 and MCU minimum systematic modules 2 Connection, the indicative function for state instruction, including subbranch's state, communication state and malfunction etc..
MCU minimum systematic modules 2 acquire local track trolley and region by railroad communications module 4 and CAN communication module 5 Interior other equipment information executes logical operation and decision, and controls stepper motor 14 and vehicle according to result of calculation on this basis , complete vehicle scheduling and management role.
In the application, zero signal acquisition module 15, in place signal acquisition module 12 and step motor control module 11 are equal It is connect with MCU minimum systematic modules 2,15 other end of zero signal acquisition module is connect with Zero-point switch 16, in place signal acquisition 12 other end of module and 11 other end of step motor control module are connect with stepper motor driver 13 simultaneously, stepper motor driving Device 13 is connect with stepper motor 14 again;13 one end of stepper motor driver connects step motor control module 11, other end connection Stepper motor 14 provides pulse letter by step motor control module 11 for transmitting-receiving station control panel to stepper motor driver 13 Number, it is worked with Driving Stepping Motor 14;Signal acquisition module 12 and stepper motor driver 12, stepper motor driver 13 in place Connection, the signal in place of the stepper motor 14 for acquiring transmitting-receiving station;Zero signal acquisition module 15 and Zero-point switch 16, MCU Minimum systematic module 2 connects, the zero actuating signal for acquiring Zero-point switch.
Step motor control module 11 and in place signal acquisition module 12 are to control relevant interface with stepper motor 14, are received Hair station can be divided into two-way I/O interface, and I/O interface controls 14 traffic direction of stepper motor all the way, and another way I/O interface exports pulse control 14 speed of service of stepper motor processed ensures that stepper motor is soft, stable operating using S curve control algolithm;Work as stepper motor Behind 14 operating to target locations, signal in place can be provided by signal acquisition module 12 in place, zero signal acquisition module 15 Zero signal is completed once debugging, the P-pulse of each interorbital for determining dead-center position when stepper motor 14 is debugged It will be stored, re-powered without debugging again.
A kind of control method of Rail logistics double track transmitting-receiving station sends control method for vehicle and includes the following steps:
Step 1:Mission bit stream is obtained, car number and mission bit stream that touch screen 7 is sent, including car number, task are received Whether purpose website task priority, running velocity grade, task type, is encrypted.
Step 2:Overload detection, judges whether empty wagons, step 3 is directly executed if empty wagons;If bogie, by vehicle It is moved to weighing unit 9 and executes overload detection, detection, which passes through, executes step 3, otherwise alarm;If the empty wagons storage executed Task, empty wagons directly execute step 3 without executing overload detection;It is put in storage task if not empty wagons, vehicle is moved to and is weighed Platform executes overload detection, and detection, which passes through, executes step 3, otherwise alarm.
Step 3:Path detection checks that forward path, free pathway execute step 4, otherwise prompt alarm;Check front Path whether failure, whether congestion, whether have vehicle that will enter the station.
Step 4:Vehicle scheduling sends out control instruction to vehicle, is performed simultaneously path navigation and error code correction.
A kind of control method of Rail logistics double track transmitting-receiving station receives control method for vehicle and includes the following steps:
Step 1:Mission bit stream is obtained, enter the station information of vehicles, including status information and mission bit stream are obtained;The related letter of acquisition Breath is the foundation of vehicle scheduling, including operating condition information and mission bit stream, and wherein mission bit stream refers to that vehicle is portable The relevant informations such as task data information, including Source Site, purpose website, priority, task type, operating condition information include vehicle Operating condition information, equipment operating condition information, the operating condition information of vehicle includes location information, directional information, speed Spend information, quantity information, alarm and fault message etc.;The operating condition information of equipment includes track operating condition information, purpose Website operating condition information.Its middle orbit operating condition information includes rail fault state;Purpose website operating condition packet Include purpose website communication state, vehicle-state, malfunction etc..
Step 2:Path detection checks that the route conditions that enter the station, free pathway execute third step, otherwise wait for;Mainly vehicle Operating path collision detection between, if detecting conflict, conflict resolving module will intervene, and carry out conflict resolving, finally will Information to be dispatched buses is sent to scheduler module.Transmitting-receiving station has certain failover capability and has path navigation to vehicle and entangle Wrong ability can provide route conditions navigation and error correcting according to the different vehicle on different paths.
Step 3:Vehicle scheduling controls electric motor starting and stops, control is sent out to vehicle according to step motor control algorithm Instruction, is performed simultaneously path navigation and error code correction, makes vehicle pull-in and be parked in corresponding position.It, can while dispatching buses Navigation and the error code correction of forward path are carried out to vehicle, the failure of a certain scheduling node only influences local vehicle scheduling, other Scheduling node still can normally execute scheduling, and the operational efficiency of system is made to reach maximization with stability;Transmitting-receiving station is to every playscript with stage directions Route conditions where vehicle notices its own in front of path are given and are corrected in the case where vehicle reading position malfunctions automatically, And it is unlikely to trolley since reading position code mistake causes to stop, cause path to paralyse.Finally transmitting-receiving stand control stepper motor drives Turn parallel operation converts vehicle to respective rail, when controlling stepper motor, using S curve control algolithm, motor can be made soft And start and stop, and at the uniform velocity state is quickly reached, reach quick, the stable purpose of transition.
The above is only a preferred embodiment of the present invention, it is not intended to restrict the invention, it is noted that for this skill For the those of ordinary skill in art field, without departing from the technical principles of the invention, can also make it is several improvement and Modification, these improvements and modifications also should be regarded as protection scope of the present invention.

Claims (4)

1. a kind of Rail logistics double track transmitting-receiving station, which is characterized in that including:DC tracks, transmitting-receiving station control panel, touch screen(7), claim Weight platform(9), stepper motor driver(13), stepper motor(14)And Zero-point switch(16);
The DC tracks are connect with the transmitting-receiving station control panel, the transmitting-receiving station control panel respectively with touch screen(7), weighing unit (9), stepper motor driver(13), Zero-point switch(16), small rail car connects with other equipment in region;
The stepper motor(14)With the stepper motor driver(13)Connection, the stepper motor(14)Drive orbital segment.
2. a kind of Rail logistics double track transmitting-receiving station according to claim 1, which is characterized in that the transmitting-receiving station control panel packet It includes:DC power module(1), MCU minimum systematic modules(2), data memory module(3), railroad communications module(4), CAN communication mould Block(5), serial communication module(6), overload detection module(8), LED display module(10), step motor control module(11), arrive Position signal acquisition module(12)With zero signal acquisition module(15);
The DC power module(1)It is connect with the DC tracks, it is the transmitting-receiving station to obtain the power supply all the way on the DC tracks Control panel, the touch screen(7), the weighing unit(9), the stepper motor driver(13)With the stepper motor(14)Into Row power supply;
The data memory module(3)With the MCU minimum systematic modules(2)Connection, the system for storing network connection take The configuration information that business device or touch screen are sent;
The railroad communications module(4)With the CAN communication module(5)Simultaneously with the MCU minimum systematic modules(2)Connection, The railroad communications module(4)It is connect again with the small rail car, the CAN communication module(5)Again in the region other Equipment connects, the railroad communications module(4)With CAN communication module(5)Be respectively used to the transmitting-receiving station control panel and vehicle and Other equipment carries out data interaction in region;
The serial communication module(6), the overload detection module(8)With the LED display module(10)One end respectively with institute State MCU minimum systematic modules(2)Connection, the serial communication module(6)The other end and the touch screen(7)Connection, it is described super Carry the detection module other end and the weighing unit(9)Connection;
The zero signal acquisition module(15), the signal acquisition module in place(12)With the step motor control module (11)With the MCU minimum systematic modules(2)Connection, the zero signal acquisition module(15)The other end is opened with the zero It closes(16)Connection, the signal acquisition module in place(12)The other end and the step motor control module(11)The other end is simultaneously With the stepper motor driver(13)Connection, the stepper motor driver(13)And with the stepper motor(14)Connection.
3. a kind of control method of Rail logistics double track transmitting-receiving station according to claim 1, which is characterized in that send vehicle control Method processed includes the following steps:
Step 1:Mission bit stream is obtained, touch screen is received(7)The car number and mission bit stream of transmission;
Step 2:Overload detection, judges whether empty wagons, step 3 is directly executed if empty wagons;If bogie, vehicle is moved To weighing unit(9)Overload detection is executed, detection, which passes through, executes step 3, otherwise alarm;
Step 3:Path detection checks that forward path, free pathway execute step 4, otherwise prompt alarm;
Step 4:Vehicle scheduling sends out control instruction to vehicle, is performed simultaneously path navigation and error code correction.
4. a kind of control method of Rail logistics double track transmitting-receiving station according to claim 1, which is characterized in that receive vehicle control Method processed includes the following steps:
Step 1:Mission bit stream is obtained, enter the station information of vehicles, including status information and mission bit stream are obtained;
Step 2:Path detection checks that the route conditions that enter the station, free pathway execute third step, otherwise wait for;
Step 3:Vehicle scheduling controls electric motor starting and stops, sending out control to vehicle and refer to according to step motor control algorithm It enables, is performed simultaneously path navigation and error code correction, makes vehicle pull-in and be parked in corresponding position.
CN201810361636.7A 2018-04-20 2018-04-20 Rail logistics double-track receiving and dispatching station and control method thereof Active CN108427420B (en)

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Publication number Priority date Publication date Assignee Title
US6163921A (en) * 1998-02-27 2000-12-26 Mitsuba Corporation Wiper system with translational motion
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CN105438010A (en) * 2015-12-31 2016-03-30 陈霞 Rail loop power supply vehicle
CN106314594A (en) * 2016-08-26 2017-01-11 南京理工大学 Storage and transfer robot used for modern logistics industry
CN106408244A (en) * 2016-11-24 2017-02-15 广州汇宏品牌管理有限公司 Intelligent express item transferring device, express item delivering method and express item collecting method
CN107264900A (en) * 2017-05-24 2017-10-20 李宪刚 Industrial robot automatic processing method and device for logistics system

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6163921A (en) * 1998-02-27 2000-12-26 Mitsuba Corporation Wiper system with translational motion
CN103425127A (en) * 2013-07-26 2013-12-04 广西曼彻彼斯自动化设备有限公司 Intelligent control system and method for rail trolleys
CN105438010A (en) * 2015-12-31 2016-03-30 陈霞 Rail loop power supply vehicle
CN106314594A (en) * 2016-08-26 2017-01-11 南京理工大学 Storage and transfer robot used for modern logistics industry
CN106408244A (en) * 2016-11-24 2017-02-15 广州汇宏品牌管理有限公司 Intelligent express item transferring device, express item delivering method and express item collecting method
CN107264900A (en) * 2017-05-24 2017-10-20 李宪刚 Industrial robot automatic processing method and device for logistics system

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