CN109018892A - A kind of sampling tank conveyer method and transport carriage, movement system - Google Patents
A kind of sampling tank conveyer method and transport carriage, movement system Download PDFInfo
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- CN109018892A CN109018892A CN201810916071.4A CN201810916071A CN109018892A CN 109018892 A CN109018892 A CN 109018892A CN 201810916071 A CN201810916071 A CN 201810916071A CN 109018892 A CN109018892 A CN 109018892A
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- transport carriage
- station
- sampling tank
- sampling
- running route
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
- B65G2201/0241—Barrels, drums
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of sampling tank conveyer method, transport carriage and movement systems, method includes: that transport carriage is run between station according to preset running route, mechanical splice is carried out after the transport carriage reaches station, between the transport carriage and the station and communicates docking；Transport carriage loads sampling tank from the station, alternatively, the sampling tank loaded is offloaded to the station by transport carriage.The control system of transport carriage includes path management module and loading control module；The path management module is run between station for controlling the transport carriage according to preset running route；The loading control module establishes mechanical splice and communicates docking for controlling between the transport carriage and the station；And control transport carriage and load sampling tank from the station, alternatively, the sampling tank loaded is offloaded to the station by control transport carriage.With the advantages that transfer efficiency height, high degree of automation can greatly improve transfer efficiency, and safety is good.
Description
Technical field
The present invention relates to a kind of material samples gather and process field more particularly to a kind of sampling tank conveyer method and transhipment it is small
Vehicle, movement system.
Background technique
The sample of material (such as ore, coal charge) is gathered and processed, analyzes work, every country has pressure standard, it is necessary to abide by
Sighting target standard carries out gathering and processing sample and analysis work.The criterion that the course of work was gathered and processed, analyzed to sample is not destroy sample representativeness
Under the premise of, collected sample granularity is gradually reduced, quality also gradually reduces, until meeting laboratory assay to the grain of sample
Then degree and quality (weight) required precision carry out relevant analysis of experiments to satisfactory sample.It cannot during this
Enough there is the loss of sample, can not enable sample generation is some physically or chemically to change, otherwise final test result will be made
At influence.
Such as by taking coal charge is analyzed as an example, actually a kind of process of sampling analysis.Coal is a kind of non-uniform substance (grain
Degree, mass property distribution etc.), the female parent being sampled is general bigger (tens tons to tens of thousands of tons are differed), is extracted into the maximum extent
The process of the representative sample of entire maternal quality and characteristic can be represented " sampling ", there is mechanical sampling, artificial sample, half at present
The various ways method such as mechanical sampling.After adopting sample by standard, sample is fitted into sampling tank, and is sent into next process sample preparation.
The processes such as sample making course is generally air-dried, is crushed, division, milling.Sample makes the laggard sampling test for carrying out next step
Analysis.
In existing coal quality sampling system, sampling tank is usually manual handling, and large labor intensity, working efficiency is low, automation
Degree is not high.Especially when the distance of transhipment is very long, cannot be transmitted again with traditional conveying equipment such as conveyer belt when, Wu Faman
Quick, the large batch of concentration conveying of foot.So that being unable to satisfy unattended and automatic docking operation in sampling and preparing system
It is required that.Due to needing artificially to be carried so that in the presence of artificially vary, sample bucket drops the risk for trickling down sample, safety is poor.
Summary of the invention
The technical problem to be solved in the present invention is that, for technical problem of the existing technology, the present invention provides one
Kind transfer efficiency is high, high degree of automation, can greatly improve transfer efficiency, and the good sampling tank conveyer method of safety and transhipment are small
Vehicle, movement system.
In order to solve the above technical problems, technical solution proposed by the present invention are as follows: a kind of sampling tank conveyer method, transport carriage
It is run between station according to preset running route, after the transport carriage reaches station, the transport carriage and the station
Between carry out mechanical splice and communication docking；Transport carriage loads sampling tank from the station, alternatively, transport carriage will be filled
The sampling tank of load is offloaded to the station.
Further, the mechanical splice includes that the overturning platform of the conveying device of the transport carriage is turned over from rounding state
Horizontality is gone to, sampling tank can be transported mutually between overturning platform and the sampling tank R-T unit of the station by realizing；
Communication docking includes reaching communication connection between the transport carriage and the station, the transport carriage to
The station confirms the mechanical splice in place, determined mutually between the transport carriage and the station next step device or
Unloading operation.
Further, it includes: to be referred to according to loading that the transport carriage loads the specific steps of sampling tank from the station
The conveying device of transport carriage described in synchronous averaging and the sampling tank R-T unit of the station are enabled, by the sampling tank of the station
Sampling tank on R-T unit is transferred to the conveying device, and sampling tank reaches in conveying device after scheduled storage location, institute
It states transport carriage triggering and loads completion signal.
Further, the specific steps that the sampling tank loaded is offloaded to the station are included: root by the transport carriage
Start the conveying device of the transport carriage and the sampling tank R-T unit of the station according to command synchronization is sanctioned, by the conveying
The sampling tank stored on device is transferred to the sampling tank R-T unit of the station, after sampling tank reaches the predetermined position of station,
Signal is completed in the station triggering unloading.
Further, the preset running route passage path planning determines, specifically includes: setting route key point,
Control transport carriage passes sequentially through the key point, sets preset running route for the running track of transport carriage.
Further, the running track passage path plan optimization algorithm of multiple path planning is optimized, will be optimized
Running track afterwards is set as preset running route.
It further, further include the operating status for monitoring the transport carriage on the running route, when being abnormal
Issue alarm signal；The exception includes that transport carriage exception parking, and/or transport carriage on running route deviate operation road
Line.
A kind of sampling tank transport carriage, the control system of transport carriage include path management module and loading control module；
The path management module is run between station for controlling the transport carriage according to preset running route；
The loading control module establishes mechanical splice and communication between the transport carriage and the station for controlling
Docking；And control transport carriage and load sampling tank from the station, alternatively, control transport carriage unloads the sampling tank loaded
It is loaded onto the station.
Further, the control module that loads is put down also particularly useful for the overturning for the conveying device for controlling the transport carriage
Platform is overturn from rounding state to horizontality, and realizing can turn mutually between overturning platform and the sampling tank R-T unit of the station
Transport sampling tank；
The loading control module between the transport carriage and the station also particularly useful for reaching communication connection, institute
It states transport carriage and confirms the mechanical splice in place to the station, under being determined mutually between the transport carriage and the station
The device or unloading operation of one step.
Further, it is described load control module also particularly useful for: start the defeated of the transport carriage according to instruction is loaded
Device is sent, the sampling tank on the sampling tank R-T unit of the station is transferred to the conveying device, sampling tank reaches conveying
On device after scheduled storage location, triggering, which loads, completes signal.
Further, it is described load control module also particularly useful for: start the defeated of the transport carriage according to instruction is sanctioned
Device is sent, the sampling tank stored in the conveying device is transferred to the sampling tank R-T unit of the station.
Further, further include path planning module, for planning the running route of determining transport carriage, be specifically used for:
Setting route key point sets default for the running track of transport carriage after transport carriage passes sequentially through the key point
Running route.
Further, the path planning module is also used to the running track passage path planning of multiple path planning is excellent
Change algorithm to optimize, sets preset running route for the running track after optimization.
It further, further include monitoring modular, for monitoring operation shape of the transport carriage on the running route
State issues alarm signal when being abnormal；The exception includes transport carriage exception parking, and/or transhipment on running route
Trolley deviates running route.
Further, the control system is also used to for the operation information of transport carriage being sent to backstage monitoring control system
System, and receive the instruction of backstage monitor control system.
A kind of sampling tank movement system, including transport carriage as described above and backstage monitor control system；The backstage
Network and transport carriage establish communication connection to monitor control system by wireless communication；Background monitoring system is for obtaining and storing
The operation data of transport carriage, and/or the operating path of transport carriage is managed, and/or check the operation of transport carriage
Track, and/or the parameter of configuration transport carriage.
Compared with the prior art, the advantages of the present invention are as follows:
1, the present invention is run according to preset route to each station, loading or unloading sampling tank by transport carriage, is loaded
Manual handling is not needed with uninstall process, is docked by conveying device with station, is directly transported by conveying device, it can be big
Width reduces manual working intensity, improves the efficiency of transhipment.
2, default running route of the invention passes sequentially through key point by setting key point, control transport carriage, thus
Preset running route is generated, and can be optimized again by multiple path planning, accurate running route is obtained, with
Guarantee the accurate, efficient of transhipment.
3, the present invention can be with the operating status of transport carriage in real-time monitoring transport process, can be timely when being abnormal
Alarm is issued, guarantees the safety of transhipment.
Detailed description of the invention
Fig. 1 is the flow diagram of conveyer method specific embodiment of the present invention.
Fig. 2 is the function structure chart of transport carriage specific embodiment of the present invention.
Fig. 3 is the transhipment field schematic diagram of the specific embodiment of the invention.
Fig. 4 is the structural schematic diagram of transport carriage specific embodiment of the present invention.
Marginal data: 1, transport carriage；2, conveying device；3, platform is overturn；4, GPS module；5, video monitoring equipment.
Specific embodiment
Below in conjunction with Figure of description and specific preferred embodiment, the invention will be further described, but not therefore and
It limits the scope of the invention.
As shown in Figure 1, the sampling tank conveyer method of the present embodiment, transport carriage is according to preset running route between station
Operation carries out mechanical splice and communicates docking after transport carriage reaches station, between transport carriage and station；Transport carriage is from work
Sampling tank is loaded on position, alternatively, the sampling tank loaded is offloaded to station by transport carriage.Station includes sampling station and sample preparation
Station.
In the present embodiment, mechanical splice include the conveying device of transport carriage overturning platform from rounding state overturn to
Horizontality, sampling tank can be transported mutually between overturning platform and the sampling tank R-T unit of station by realizing；Communication is docked
Reach communication connection between transport carriage and station, transport carriage confirms mechanical splice in place to station, transport carriage and station
Between mutually determine next step device or unloading operation.As shown in figure 4, overturning platform is rounding state in transport process,
I.e. overturning is plumbness, after transport carriage reaches station, overturning platform is lowered into horizontality, overturning platform can
It is docked with the sampling tank R-T unit of station, the transfer conveying of sampling tank can be carried out between transport carriage and station.
In the present embodiment, it includes: same according to instruction is loaded that transport carriage loads the specific steps of sampling tank from station
The conveying device of step starting transport carriage and the sampling tank R-T unit of station, by the sampling on the sampling tank R-T unit of station
Bucket is transferred to conveying device, and sampling tank reaches in conveying device after scheduled storage location, and transport carriage triggering, which loads, completes letter
Number.The specific steps that the sampling tank loaded is offloaded to station are included: according to sanction command synchronization starting transhipment by transport carriage
The sampling tank stored in conveying device, is transferred to the sampling of station by the conveying device of trolley and the sampling tank R-T unit of station
Bucket R-T unit, after sampling tank reaches the predetermined position of station, signal is completed in station triggering unloading.As shown in figure 4, in this implementation
In example, the sampling tank on roll shaft is may be implemented by the rotation of roll shaft for roll shaft conveying device in the conveying device of transport carriage
It is conveyed according to certain orientation, loading or unloading.The sampling tank R-T unit of station is belt R-T unit, passes through belt
It is mobile, the sampling tank on belt can be moved, also, since the coefficient of friction of belt is big according to a certain direction, sample sample
It can be stably placed on belt very much, safety, stability are more preferable.
In the present embodiment, transport carriage can successively be run according to transhipment route to multiple stations, respectively will be on each station
Sampling tank load to transport carriage；And/or: transport carriage can successively be run according to transhipment route to multiple stations, will be transported
The sampling tank loaded on trolley is successively offloaded to each station respectively；Transport carriage is loaded and/or is unloaded in the way of first-in last-out
Carry sampling tank.Multiple sampling tanks on same station can also be carried out device or unloading by transport carriage.
In the present embodiment, preset running route passage path planning determines, specifically includes: setting route key point,
Control transport carriage passes sequentially through key point, sets preset running route for the running track of transport carriage.By multiple road
The running track passage path plan optimization algorithm of diameter planning optimizes, and sets preset fortune for the running track after optimization
Walking along the street line.
It in the present embodiment, further include the operating status for monitoring transport carriage on running route, sending when being abnormal
Alarm signal；Abnormal includes that transport carriage exception parking, and/or transport carriage on running route deviate running route.At this
In embodiment, the exception that transport carriage exception parking, transport carriage on running route deviate running route can be by positioning
The position that system (such as positioning of GPS positioning, bluetooth, ultra wide band positioning) determines transport carriage, when the operation on running route
Cheng Zhong, there is no when displacement in predetermined time period for the position of transport carriage, it can be determined that transport carriage, which is abnormal, to stop
Vehicle；When the positional shift running route of transport carriage exceeds scheduled threshold value, it can be determined that transport carriage occurs to deviate operation
Route is abnormal.In the present embodiment, further include video surveillance, transport carriage periphery and/or transport carriage are monitored by camera
The case where interior (such as conveying device), and send monitoring image to backstage monitor control system, to facilitate administrative staff timely
The case where solving transport carriage, can be handled in time when being abnormal.
As shown in Fig. 2, the sampling tank transport carriage of the present embodiment, the control system of transport carriage include path management module
With loading control module；Path management module is run between station for controlling transport carriage according to preset running route；Dress
Control module is carried to establish mechanical splice between transport carriage and station for controlling and communicate docking；And transport carriage is controlled from work
Sampling tank is loaded on position, alternatively, the sampling tank loaded is offloaded to station by control transport carriage.As shown in figure 4, overturning platform
It is rounding state in transport process, i.e. overturning is plumbness, and after transport carriage reaches station, overturning platform is lowered into
Horizontality, overturning platform can be docked with the sampling tank R-T unit of station, can be carried out between transport carriage and station
The transfer of sampling tank conveys.
In the present embodiment, load control module also particularly useful for control transport carriage conveying device overturning platform from
Rounding state is overturn to horizontality, and sampling can be transported mutually between overturning platform and the sampling tank R-T unit of station by realizing
Bucket；It loads control module and confirms also particularly useful for communication connection, transport carriage is reached between transport carriage and station to station
Mechanical splice in place, determines mutually the device or unloading operation of next step between transport carriage and station.Load control module also
It is specifically used for: according to the conveying device for instructing starting transport carriage is loaded, by the sampling tank on the sampling tank R-T unit of station
It is transferred to conveying device, sampling tank reaches in conveying device after scheduled storage location, and triggering, which loads, completes signal.Load control
Module also particularly useful for: according to sanction instruct starting transport carriage conveying device, by the sampling tank stored in conveying device move
It send to the sampling tank R-T unit of station.Loading control module, which is also used to load and/or unload in the way of first-in last-out, adopts
Sample bucket.
It in the present embodiment, further include path planning module, it is specific to use for planning the running route of determining transport carriage
In: setting route key point sets preset for the running track of transport carriage after transport carriage passes sequentially through key point
Running route.Path planning module is also used to carry out the running track passage path plan optimization algorithm of multiple path planning excellent
Change, sets preset running route for the running track after optimization.
In the present embodiment, further include monitoring modular, for monitoring operating status of the transport carriage on running route, send out
Alarm signal is issued when raw abnormal；Abnormal includes that transport carriage exception parking, and/or transport carriage on running route deviate fortune
Walking along the street line.Control system is also used to the operation information of transport carriage being sent to backstage monitor control system, and receives backstage and supervise
Survey the instruction of control system.
As shown in Fig. 2, the sampling tank movement system of the present embodiment, including transport carriage as above and backstage monitoring control system
System；Network and transport carriage establish communication connection to backstage monitor control system by wireless communication；Background monitoring system is for obtaining
The operation data of transport carriage is taken and stored, and/or the operating path of transport carriage is managed, and/or checks that transhipment is small
The running track of vehicle, and/or the parameter of configuration transport carriage.
In the present embodiment, by a specific transport process come to sampling tank conveyer method and system of the invention into
Row explanation.As shown in Figure 3, it is assumed that the station of coal yard setting includes sampled point and sample preparation point, and sampled point is 4, is respectively sampled
Point 1, sampled point 2, sampled point 3, sampled point 4；Sample preparation point includes sample preparation point 1 and sample preparation point 2.It is also provided with trolley stop
Point.Coal yard is located at centre, and each station is arranged around coal yard.
In the present embodiment, conveying device is provided on transport carriage, conveying device is Conveyor, passes through roll shaft
Rotation, sampling tank can be transported in conveying device from station and be stored, or the sampling tank in conveying device is delivered to
Station.When transport carriage is run to station, transport carriage and station carry out mechanical splice, and the conveying device of transport carriage is turned over
Turn platform to overturn from rounding state to horizontality.At this point, the roll shaft in conveying device is all in the same horizontal plane, conveying dress
It is essentially identical to set and height close with the sampling tank R-T unit of station, between the sampling tank R-T unit of conveying device and station
Sampling tank can be transported mutually.The sampling tank R-T unit of station is that belt R-T unit can be by belt by the movement of belt
On sampling tank move according to a certain direction, also, since the coefficient of friction of belt is big, sampling sample can be placed smoothly very much
On belt, safety, stability are more preferable.After transport carriage and station complete mechanical splice, it is also necessary to reach between station
Communication docking, transport carriage in place, determine mutually the dress of next step to station confirmation mechanical splice between transport carriage and station
It sets or unloading operation.Further, as needed, electrical connection can also be established between transport carriage and station, such as pass through work
Position is to transport carriage power supply, transmission of electric signal etc..
In the present embodiment, it after the completion of transport carriage is docked with station, can be synchronized by backstage monitor control system
The belt for starting the roll shaft of the conveying device of transport carriage and the sampling tank R-T unit of station is run according to same direction, complete
At the loading or unloading of sampling tank.It is of course also possible to be communicated by directly being established between transport carriage and station, by transport carriage
Control instruction is sent to station, or sends control instruction, the conveying dress of synchronous averaging transport carriage from station to transport carriage
The belt of the sampling tank R-T unit of the roll shaft and station set is run according to same direction, is completed the loading of sampling tank or is unloaded
It carries.
In the present embodiment, it is provided with GPS module and video monitoring equipment on transport carriage, it can be true by GPS module
Determine the position of transport carriage, video monitoring equipment may include monitoring to monitor with interior outside vehicle, monitors to be used to obtain outside vehicle and transport
The state of trolley ambient enviroment, car monitor the video monitoring for obtaining the loading condition in transport carriage.It is of course also possible to
GPS module is not used, and uses other locating modules, such as bluetooth locating module, ultra wide band locating module etc..
In the present embodiment, it is connected in Fig. 3 between sampled point and sample preparation point and black line is the running route of transport carriage, turned
Trolley is transported to run along the running route.Assuming that transport carriage is transported after being collected sampled point 4 to the sample that sampled point 1 is gathered and processed
It send to sample preparation point 1, then, the operational process of transport carriage are as follows: transport carriage reaches sampled point 4, and it is defeated to load control module control
It send device to carry out mechanical splice with sampled point 4 and communicate docking, and starts roll shaft transhipment, receive the sampling tank of sampled point 4, and deposit
It puts on a conveyor.Sampling 3, sampled point 2, sampled point 1 are successively reached again, receive the sampling tank of each sampled point respectively.Edge again
Running route reaches sample preparation point 1, and conveying device docks with sample preparation point 1, and sampling tank is delivered to sample preparation point 1, that is, completes to adopting
The transhipment of sample bucket.When a station has several sampling tanks, transport carriage can continuously receive multiple sampling tanks on the station, or
Multiple sampling tanks on the transport carriage are offloaded to the station by person.In the present embodiment, transport carriage can be pilot steering
Trolley, be also possible to automatic Pilot trolley.When for pilot steering trolley, transport carriage is shown by the display of driver's cabin works as
The corresponding running route of preceding task, provides route guiding for driver.When for automatic Pilot trolley, according to the positioning of vehicle with work as
The corresponding route of preceding task, runs according to running route automatically, reaches corresponding station.
In the present embodiment, according to preset running route, using running route two sides a certain range as transport carriage
Transport driving path region.If 10 meters of running route two sides range is as driving path region.As in Fig. 3 by trolley travel route
The range of the trolley traveling borders of two sides, the position of transport carriage itself can be determined by the GPS module on transport carriage
It sets, when judging the position of transport carriage not in the driving path region, then issues the alarm of transport carriage malposition.Into one
Step ground, it is different can also to determine whether transport carriage occurs in operation by the velocity sensor of GPS module or transport carriage
Often parking then issues the abnormal report of transport carriage parking when transport carriage exception parking exceeds preset duration (such as 1 minute)
It is alert.Transport carriage can also monitor the state of the environment and transport carriage itself around transport carriage by video surveillance, transport
The state of trolley itself mainly includes the state of loaded sampling tank, when by video surveillance find running route there is foreign matter to enter
Invade, if coal cinder falls and hinders running route in coal yard, alternatively, the sampling tank loaded occur rollover etc. it is abnormal when, can also be with
Abnormality alarm is issued, with out of service in time, guarantee transhipment safety.
In the present embodiment, the path planning module on transport carriage is used to be arranged the running route of transport carriage.For
Different running routes can be set in different sampling tasks, in Fig. 3, when sampling task is the sample for being adopted sampled point 1
When being transported to sample preparation point 1, then the corresponding running route of the task is by sampled point 1, inflection point 1, turning point 1, turning point 2 and terminal
1 connection is formed by running route.When there is new transhipment task increase, can by the path planning module of transport carriage come
Increase running route.Equally it is illustrated so that above-mentioned sampling task is the sample transport to sample preparation point 1 that sampled point 1 is adopted as an example,
Passage path planning module, successively select the key point on running route: i.e. inflection point 1, turning point 1, turning point 2 and terminal 1 lead to
It crosses control transport carriage successively to run through above-mentioned key point, is learnt automatically by the path planning module of transport carriage and recorded to turn
Transport the running track of trolley, it can obtain the corresponding running route of the task, be named and add to the running route of the task
To save, with the needs of on-carriage task after satisfaction.Certainly, when running route is arranged in passage path planning module, Ke Yichong
The multiple multiple above process obtains multiple running tracks, and passage path optimization algorithm carries out obtained multiple running tracks
Optimization, the result that optimization is obtained is as running route, to improve the accuracy of running route into one, preferably meets and turns
Transport the demand of trolley actual motion.
In the present embodiment, for the various operating parameters of transport carriage, such as GPS position information, video surveillance information etc.
Deng being sent to background monitoring system by wireless network and stored.It, can also be to transport carriage by background monitoring system
Operating parameter be configured, running route is such as set, key point is set when carrying out path planning, control transport carriage record
Running track generates running route etc..It, can also be in background monitoring system for the various exceptions of transport carriage in operation
Simultaneous display sounds an alarm.I.e. by rear monitoring system, the current running state data of transport carriage can be not only checked, also
It can be with query history operation data, so that convenient carry out backtracking tracking to sampled data.
Above-mentioned only presently preferred embodiments of the present invention, is not intended to limit the present invention in any form.Although of the invention
It has been disclosed in a preferred embodiment above, however, it is not intended to limit the invention.Therefore, all without departing from technical solution of the present invention
Content, technical spirit any simple modifications, equivalents, and modifications made to the above embodiment, should all fall according to the present invention
In the range of technical solution of the present invention protection.
Claims (16)
1. a kind of sampling tank conveyer method, it is characterised in that: transport carriage is run between station according to preset running route, institute
After stating transport carriage arrival station, mechanical splice is carried out between the transport carriage and the station and communicates docking；It transports small
Vehicle loads sampling tank from the station, alternatively, the sampling tank loaded is offloaded to the station by transport carriage.
2. sampling tank conveyer method according to claim 1, it is characterised in that: the mechanical splice includes that the transhipment is small
The overturning platform of the conveying device of vehicle is overturn from rounding state to horizontality, realizes the sampling tank of overturning platform and the station
Sampling tank can be transported between R-T unit mutually；
Communication docking includes reaching communication connection between the transport carriage and the station, and the transport carriage is to described
Station confirms the mechanical splice in place, determines device or the unloading of next step between the transport carriage and the station mutually
Operation.
3. sampling tank conveyer method according to claim 2, it is characterised in that: the transport carriage is filled from the station
Carry sampling tank specific steps include: according to load command synchronization start the transport carriage conveying device and the station
Sampling tank on the sampling tank R-T unit of the station is transferred to the conveying device, sampling tank by sampling tank R-T unit
It reaches in conveying device after scheduled storage location, the transport carriage triggering, which loads, completes signal.
4. sampling tank conveyer method according to claim 3, it is characterised in that: the sampling that the transport carriage will be loaded
The specific steps that bucket is offloaded to the station include: to start conveying device and the institute of the transport carriage according to sanction command synchronization
The sampling tank R-T unit for stating station receives and dispatches the sampling tank that the sampling tank stored in the conveying device is transferred to the station
Device, after sampling tank reaches the predetermined position of station, signal is completed in the station triggering unloading.
5. sampling tank conveyer method according to any one of claims 1 to 4, it is characterised in that: the preset operation road
The planning of line passage path determines, specifically includes: setting route key point, and control transport carriage passes sequentially through the key point, will
The running track of transport carriage is set as preset running route.
6. sampling tank conveyer method according to claim 5, it is characterised in that: lead to the running track of multiple path planning
It crosses path plan optimization algorithm to optimize, sets preset running route for the running track after optimization.
7. sampling tank conveyer method according to claim 6, it is characterised in that: further include monitoring the transport carriage in institute
The operating status on running route is stated, alarm signal is issued when being abnormal；The exception includes transport carriage in running route
Upper exception parking, and/or transport carriage deviate running route.
8. a kind of sampling tank transport carriage, it is characterised in that: the control system of transport carriage includes path management module and loading
Control module；
The path management module is run between station for controlling the transport carriage according to preset running route；
The loading control module establishes mechanical splice and communicates docking for controlling between the transport carriage and the station；
And control transport carriage and load sampling tank from the station, alternatively, the sampling tank loaded is offloaded to by control transport carriage
The station.
9. sampling tank transport carriage according to claim 8, it is characterised in that: the loading control module also particularly useful for
The overturning platform for controlling the conveying device of the transport carriage is overturn from rounding state to horizontality, realizes overturning platform and institute
Sampling tank can be transported mutually by stating between the sampling tank R-T unit of station；
The loading control module between the transport carriage and the station also particularly useful for reaching communication connection, and described turn
It transports trolley and confirms the mechanical splice in place to the station, determined mutually in next step between the transport carriage and the station
Device or unloading operation.
10. sampling tank transport carriage according to claim 9, it is characterised in that: the loading control module is also specifically used
In: according to the conveying device for loading the instruction starting transport carriage, by the sampling on the sampling tank R-T unit of the station
Bucket is transferred to the conveying device, and sampling tank reaches in conveying device after scheduled storage location, and triggering, which loads, completes signal.
11. sampling tank transport carriage according to claim 10, it is characterised in that: the loading control module is also specifically used
In: according to the conveying device for sanctioning the instruction starting transport carriage, the sampling tank stored in the conveying device is transferred to
The sampling tank R-T unit of the station.
12. sampling tank transport carriage according to claim 11, it is characterised in that: further include path planning module, be used for
Plan the running route for determining transport carriage, be specifically used for: setting route key point passes sequentially through the key in transport carriage
After point, preset running route is set by the running track of transport carriage.
13. sampling tank transport carriage according to claim 12, it is characterised in that: the path planning module be also used to by
The running track passage path plan optimization algorithm of multiple path planning optimizes, and sets pre- for the running track after optimization
If running route.
14. sampling tank transport carriage according to claim 13, it is characterised in that: further include monitoring modular, for monitoring
Operating status of the transport carriage on the running route, issues alarm signal when being abnormal；The exception includes turning
It transports trolley exception parking, and/or transport carriage on running route and deviates running route.
15. according to the described in any item sampling tank transport carriages of claim 8 to 14, it is characterised in that: the control system is also
For the operation information of transport carriage to be sent to backstage monitor control system, and receive the instruction of backstage monitor control system.
16. a kind of sampling tank movement system, it is characterised in that: monitored including transport carriage as claimed in claim 15 and backstage
Control system；Network and transport carriage establish communication connection to the backstage monitor control system by wireless communication；Background monitoring
System is used to obtain and store the operation data of transport carriage, and/or is managed to the operating path of transport carriage, and/or
Check the running track of transport carriage, and/or the parameter of configuration transport carriage.
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| CN201810916071.4A CN109018892A (en) | 2018-08-13 | 2018-08-13 | A kind of sampling tank conveyer method and transport carriage, movement system |
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