CN109282993B - Track integrated transfer platform and track chassis slip detection method - Google Patents
Track integrated transfer platform and track chassis slip detection method Download PDFInfo
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- CN109282993B CN109282993B CN201810966980.9A CN201810966980A CN109282993B CN 109282993 B CN109282993 B CN 109282993B CN 201810966980 A CN201810966980 A CN 201810966980A CN 109282993 B CN109282993 B CN 109282993B
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- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
- G01M17/03—Endless-tracks
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Abstract
The invention discloses a track integrated transfer platform and a track chassis skid detection method in the field of safe running of transfer platforms. The monorail track not only is a mechanical foundation for reference of the walking benchmark of the crawler chassis, but also can be used as a detection element of the magnetic tape sensor of the crawler chassis, so that the magnetic tape sensor can acquire the slipping state of the crawler by detecting magnetic stripe information, and a basis is provided for the running state of the crawler chassis.
Description
Technical Field
The invention belongs to the field of safe running of a transfer platform, and particularly relates to a track integrated transfer platform and a track chassis skid detection method.
Background
In agricultural operation environments with steep slopes such as hilly and mountainous areas, the transportation of agricultural machinery, agricultural materials and agricultural products is usually realized by adopting a traction mode, the type of machine basically has no autonomous walking function, can only run on a fixed track, and is low in equipment utilization rate. And the crawler platform is easy to slip when operating in a steep slope environment, so that the problems of low utilization rate of the transfer platform equipment or poor safety and the like in the environment are caused.
Disclosure of Invention
The invention aims to provide a track integrated transfer platform and a track chassis skid detection method, which aim to solve the technical defects in the prior art.
In order to achieve the purpose, the invention provides a track integrated transfer platform which comprises a track chassis and a single track rail for providing a moving reference for a track, wherein a magnetic tape is arranged on the single track rail, the magnetic tape is in a long strip shape, a circular hole is formed in the middle of the magnetic tape in a hollow mode at equal intervals, a track rotating speed sensor, a magnetic tape detection sensor capable of detecting information of the magnetic tape and a processor for analyzing the information of the sensor are arranged on the track chassis.
Preferably, spacers are adhered between the tracks and the tape.
Preferably, the crawler chassis is further provided with an adhesion force enhancing mechanism capable of enhancing friction between the crawler chassis and the ground.
Preferably, the crawler chassis is further provided with a lifting adjusting mechanism, and the magnetic tape detection sensor is mounted on the lifting adjusting mechanism.
The invention also provides a method for detecting the slipping of the crawler chassis of the crawler integrated transfer platform, which comprises the following steps:
s1, the processor receives information detected by the magnetic tape detection sensor, if there is regular magnetic field missing information, the nth magnetic field missing information is set to have a left detection width of L1, a right detection width of L2, a middle undetected area width of R1, a magnetic tape width of L, a circular hole diameter of R, a distance D between equidistant circular holes, and when L1+ L2+ R1 is larger than or equal to L + R and R is equal to R1, a speed measurement and timing function of the processor is started;
s2: after the timing is started, the magnetic field width detected by the magnetic tape detection sensor is consistent with the magnetic tape width and has no interval information, the timing is effective, when the (n + 1) th magnetic field missing information appears, the timing is stopped, the timing time t is obtained, and the corresponding running speed v of the crawler chassis is equal to D/t;
s3: and acquiring the rotating speed of the crawler wheel detected by the crawler sensor, converting the rotating speed into a linear driving speed v1, and when v1 is greater than v +. DELTA.v, the crawler is in a slipping state, otherwise, the crawler is in a normal driving state.
Preferably, before S1, the magnetic tape sensor detects the magnetic field intensity, if the magnetic field intensity is less than the set value, the lifting adjustment mechanism lowers the magnetic tape sensor until the magnetic field intensity is equal to the set value; if the magnetic field intensity is larger than the set value, the lifting adjusting mechanism enables the magnetic tape sensor to rise until the magnetic field intensity is equal to the set value, and then the magnetic tape sensor stops.
Preferably, when the skid state of the track is detected at S3, the adhesion enhancing mechanism is activated.
The invention has the following beneficial effects:
1. the monorail track not only is a mechanical foundation for reference of the walking benchmark of the crawler chassis, but also can be used as a detection element of the magnetic tape sensor of the crawler chassis, so that the magnetic tape sensor can acquire the slipping state of the crawler by detecting magnetic stripe information, and a basis is provided for the running state of the crawler chassis.
2. The adhesion force enhancing mechanism can enhance the adhesion force between the crawler and the ground when the crawler is in a slipping state, so that the friction force between the crawler and the ground is enhanced, and the slipping condition of the crawler is eliminated.
The present invention will be described in further detail below with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a front view of a track chassis of a preferred embodiment of the present invention;
FIG. 2 is a side view of a track chassis of a preferred embodiment of the present invention;
FIG. 3 is a perspective view of a track chassis of the preferred embodiment of the present invention;
FIG. 4 is a schematic view of a magnetic tape and a tape detection sensor in accordance with a preferred embodiment of the present invention;
fig. 5 is a flowchart of a slip detection method according to a preferred embodiment of the present invention.
Wherein, 1, a crawler chassis; 2. a lifting adjusting mechanism; 3. a tape detection sensor; 4. an adhesion enhancement mechanism; 5. a track speed sensor; 6. a monorail track; 61. a circular hole.
Detailed Description
The embodiments of the invention will be described in detail below with reference to the drawings, but the invention can be implemented in many different ways as defined and covered by the claims.
In order to achieve the above purpose, the present invention provides an integrated track rail transfer platform, referring to fig. 1, fig. 2 and fig. 3, comprising a track chassis 1 and a single track rail 6 providing a moving reference for a track, wherein a magnetic tape is arranged on the single track rail 6, the magnetic tape is in a long strip shape, the middle of the magnetic tape is hollowed with a circular hole 61 at an equal distance, a track rotation speed sensor 5, a magnetic tape detection sensor 3 capable of detecting information of the magnetic tape, and a processor for analyzing information of the sensor are mounted on the track chassis 1.
The crawler chassis 1 is a conventional double-track crawler chassis 1, and the single-track 6 is arranged between the double-track crawler chassis 1 and provides a mechanical foundation for reference of walking reference of the crawler chassis 1. The magnetic tape is arranged on the track, the magnetic tape detection sensor 3 on the crawler chassis 1 can analyze the slipping state of the crawler by detecting the magnetic tape information and combining the crawler rotating speed measured by the crawler rotating speed sensor 5, and the slipping state is the basis of a real-time running state system of the transfer platform. The rotation speed of the crawler wheels is measured by the crawler rotation speed sensor 5, and the linear running speed of the crawler chassis 1 is obtained through conversion. The processor processes the information from the sensors and functions to time when analysing the speed of travel of the crawler chassis 1.
Preferably, spacers are adhered between the tracks and the tape.
The cushion blocks can reduce the magnetic conduction influence of the metal tracks on the magnetic tape, so that the detection of the slipping state is more accurate.
Preferably, the caterpillar chassis 1 is further provided with an adhesion force enhancing mechanism 4 capable of enhancing friction between the caterpillar chassis 1 and the ground.
When the crawler chassis 1 is detected to be in a slipping state, the friction force between the crawler chassis 1 and the ground can be increased through the adhesion enhancing mechanism 4, and the slipping state is relieved or eliminated.
Preferably, the crawler chassis 1 is further provided with a lifting adjusting mechanism 2, and the magnetic tape detection sensor 3 is mounted on the lifting adjusting mechanism 2.
The magnetic field intensity between the tape detecting sensor 3 and the tape needs to be in a certain range, so the lifting adjusting mechanism 2 is arranged to make the tape detecting sensor 3 in a proper height to ensure that the tape detecting sensor 3 keeps the best detecting state. The lifting adjusting mechanism 2 can be realized by adopting an air cylinder or an oil cylinder, one end of the lifting adjusting mechanism 2 is provided with a magnetic tape detection sensor 3, and the height of the magnetic tape detection sensor 3 is positioned by lifting.
The invention also provides a method for detecting the slipping of the crawler chassis of the crawler integrated transfer platform, which comprises the following steps of:
and S1, the processor receives the information detected by the magnetic tape detection sensor 3, if the information has the regular magnetic field missing information, the nth magnetic field missing information has a left detection width of L1, a right detection width of L2, a middle undetected area width of R1, a magnetic tape width of L, a diameter of the circular hole 61 of R, a distance D between equidistant circular holes 61, and when L1+ L2+ R1 is more than or equal to L + R and R is equal to R1, a speed measurement and timing function of the processor is started.
The magnetic field missing information can be regularly detected in the detection section of the magnetic tape detection sensor 3. This is due to the circular holes 61 in the tape being equally spaced. The tape detecting sensor 3 should cover the tape completely, that is, the sensor detecting width needs to be larger than the tape width. When the tape detection sensor 3 cannot completely cover the width corresponding to the tape, it is considered that there is a deviation between the crawler chassis 1 and the monorail track 6, and the detection data will be invalid. Referring to fig. 4, as shown in the figures, L1, L2, R1 and L, after the magnetic tape detecting sensor 3 sends the detected magnetic field missing information to the processor, the processor compares the magnitudes of L1+ L2+ R1 and L + R, and when L1+ L2+ R1 is greater than or equal to L + R and R is equal to R1, it is determined that the deviation between the crawler chassis 1 and the magnetic tape is within the error range, and the processor starts timing. When L1+ L2+ R1 < L + R, the deviation of the crawler chassis 1 and the tape needs to be adjusted to be within a normal range. When the deviation is within the normal range and the sensor again detects the absence of magnetic field information, the magnitudes of L1+ L2+ R1 and L + R are again compared to determine whether to start the timer. In general, when R ≠ R1 and a large displacement occurs, R ≠ R1 occurs only when the magnetic tape detection sensor 3 cannot completely cover the circular hole 61.
S2: after the timing is started, the magnetic field width detected by the magnetic tape detection sensor 3 is consistent with the magnetic tape width and has no interval information, the timing is effective, when the (n + 1) th magnetic field missing information appears, the timing is stopped, the timing time t is obtained, and the running speed v of the corresponding crawler chassis 1 is equal to D/t.
Detect magnetic field disappearance information twice, show that track chassis 1 has travelled the interval distance of two fretwork circular ports 61, the interval distance between two circular ports 61 is D, and the interval time obtains through the timer. The average running speed v of the crawler chassis is obtained through calculation according to the running time and the running distance.
S3: and acquiring the rotating speed of the crawler wheels detected by the crawler rotating speed sensor 5, converting the rotating speed into a linear driving speed v1, and when v1 is greater than v +. DELTA.v, the crawler is in a slipping state, otherwise, the crawler is in a normal driving state.
Preferably, before S1, the magnetic tape detection sensor 3 detects the magnetic field strength, and if the magnetic field strength is smaller than the set value, the elevation adjustment mechanism 2 lowers the magnetic tape detection sensor 3 until the magnetic field strength is equal to the set value; if the magnetic field intensity is greater than the set value, the lifting adjusting mechanism 2 lifts the magnetic tape detection sensor 3 until the magnetic field intensity is equal to the set value. The magnetic tape detection sensor 3 detects the magnitude of the magnetic field strength, and determines whether the distance between the sensor and the track fluctuates within a set range or not based on the magnitude of the magnetic field strength.
The magnetic field intensity is too large or too small, which increases the error of the magnetic tape detection sensor 3 for detecting the magnetic tape information, so the height of the magnetic tape sensor is adjusted by the lifting adjusting mechanism 2, and the detection accuracy of the magnetic tape detection sensor is ensured.
Preferably, when the skid state of the track is detected at S4, the adhesion enhancing mechanism 4 is activated.
When the crawler belt is in a slipping state, the adhesive force enhancing mechanism 4 on the crawler belt chassis 1 is started, the friction force between the crawler belt chassis and the ground is increased, and the slipping condition of the crawler belt is eliminated.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. The utility model provides a track integration transport platform, its characterized in that includes track chassis (1) and provides single track (6) that remove the benchmark and refer to for the track, be provided with the magnetic tape on single track (6), the magnetic tape is rectangular shape and middle equidistance fretwork has circular port (61), install track speed sensor (5) on track chassis (1), can detect the magnetic tape detection sensor (3) of magnetic tape information and the treater of carrying out the analysis to sensor (3) information, single track (6) are in between double track chassis (1), the treater lasts and receives the information that magnetic tape detection sensor (3) detected, if there is regularity magnetic field disappearance information, establish nth time magnetic field disappearance information left side detects the width and is L1, and the right side detects the width and is L2, and middle undetected area width is R1, the tape width is L, the diameter of the circular holes (61) is R, the distance between the equidistant circular holes (61) is D, and when L1+ L2+ R1 is larger than or equal to L + R and R = R1, the speed and time measuring function of the processor is started; after the timing is started, the magnetic field width detected by the magnetic tape detection sensor (3) is consistent with the magnetic tape width and has no interval information, the timing is effective, when the magnetic field missing information occurs for the (n + 1) th time, the timing is stopped, the timing time t is obtained, and the slip state of the crawler belt is analyzed by combining the crawler belt rotating speed measured by the crawler belt rotating speed sensor (5) with the corresponding crawler belt chassis running speed v = D/t.
2. A track-integrated transfer platform according to claim 1, wherein a spacer block is adhered between the monorail track (6) and the magnetic tape.
3. The track-integrated transfer platform as claimed in claim 1, wherein the track chassis (1) is further provided with an adhesion force enhancing mechanism (4) capable of enhancing friction between the track chassis (1) and the ground.
4. A track integrated transfer platform according to claim 1, wherein a lifting adjusting mechanism (2) is further arranged on the track chassis (1), and the magnetic tape detection sensor (3) is mounted on the lifting adjusting mechanism (2).
5. A method for detecting the slippage of a crawler chassis of a crawler integrated transfer platform according to claim 4, wherein the method comprises the following steps:
s1: the processor continuously receives the information detected by the magnetic tape detection sensor (3), if the information has the regular magnetic field missing information, the left side detection width of the nth magnetic field missing information is set to be L1, the right side detection width is set to be L2, the middle undetected area width is set to be R1, the tape width is set to be L, the diameter of the circular hole (61) is set to be R, the distance between equidistant circular holes (61) is set to be D, and when L1+ L2+ R1 is larger than or equal to L + R and R = R1, the speed measurement and timing function of the processor is started;
s2: after the timing is started, the magnetic field width detected by the magnetic tape detection sensor (3) is consistent with the magnetic tape width and has no interval information, the timing is effective, and when the magnetic field missing information occurs for the (n + 1) th time, the timing is stopped, the timing time t is obtained, and the corresponding running speed v = D/t of the crawler chassis;
s3: the rotating speed of the crawler chassis (1) detected by the crawler rotating speed sensor (5) is obtained and converted into a straight running speed v1, when v1 is greater than v +. DELTA.v, the crawler chassis (1) is in a slipping state, otherwise, the crawler chassis is in a normal running state.
6. The method for detecting the slipping of the crawler chassis of the track-integrated transfer platform according to claim 5, wherein before S1, the magnetic tape detection sensor (3) detects the magnetic field intensity, and if the magnetic field intensity is smaller than a set value, the lifting adjustment mechanism (2) lowers the magnetic tape detection sensor (3) until the magnetic field intensity is equal to the set value; if the magnetic field intensity is larger than the set value, the lifting adjusting mechanism (2) enables the magnetic tape detection sensor (3) to rise until the magnetic field intensity is equal to the set value, and then the magnetic tape detection sensor stops.
7. The method for detecting the skidding of the crawler chassis of the track-integrated transfer platform according to claim 5, wherein the adhesion enhancing mechanism (4) is started when the skidding state of the crawler chassis (1) is detected in S3.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810966980.9A CN109282993B (en) | 2018-08-23 | 2018-08-23 | Track integrated transfer platform and track chassis slip detection method |
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| CN201810966980.9A CN109282993B (en) | 2018-08-23 | 2018-08-23 | Track integrated transfer platform and track chassis slip detection method |
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| CN109282993B true CN109282993B (en) | 2021-09-28 |
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| CN110470491B (en) * | 2019-09-05 | 2020-12-29 | 湖南沃工智电科技有限公司 | Track anti-skid property detection device for production of track tractor |
| CN114397118B (en) * | 2022-03-25 | 2022-06-07 | 常州欧爱欧履带有限公司 | A cling compound performance check out test set for track production |
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| SE436804B (en) * | 1983-05-13 | 1985-01-21 | Inventab Electronic Ab | SET FOR INDICATING SLIRING BY A DRIVING ROTATION BODY |
| JP2000292430A (en) * | 1999-04-06 | 2000-10-20 | Matsushita Electric Ind Co Ltd | Method and system for detection of vehicle speed |
| JP2008140144A (en) * | 2006-12-01 | 2008-06-19 | Murata Mach Ltd | Traveling truck and its system |
| CN201945455U (en) * | 2011-01-25 | 2011-08-24 | 沈阳工业大学 | Real vehicle combined test platform measuring and controlling system for propulsion system of crawler equipment |
| CN202563344U (en) * | 2012-03-27 | 2012-11-28 | 沈阳中兴电力通信有限公司 | Magnetic navigation and routing inspection robot |
| CN103234564B (en) * | 2013-04-15 | 2015-11-11 | 山东联友通信科技发展有限公司 | Based on localization method and the positioning system of two-dimensional magnetic coding |
| CN103196470B (en) * | 2013-04-15 | 2015-05-13 | 山东联友通信科技发展有限公司 | Locating method and locating system based on one-dimensional magnetic coding |
| US9475526B2 (en) * | 2014-08-23 | 2016-10-25 | Caterpillar Inc. | Track link having a wear sensing device |
| KR20170040576A (en) * | 2015-10-05 | 2017-04-13 | 한국기계연구원 | Testing apparatus for rubber crawler |
| CN105404842B (en) * | 2015-11-19 | 2017-12-05 | 北京特种机械研究所 | AGV positioning and directings and speed-measuring method based on terrestrial reference Quick Response Code |
| CN105881537B (en) * | 2016-06-08 | 2018-03-16 | 江苏若博机器人科技有限公司 | A kind of axle caterpillar type high-speed natural gas line robot control system of three core four |
| CN207516258U (en) * | 2017-02-27 | 2018-06-19 | 周显威 | The multifunctional examining measuring car of narrow space |
| CN106873594A (en) * | 2017-03-08 | 2017-06-20 | 苏州易摩物联科技有限公司 | AGV magnetic navigations progress control method and system |
| CN107839417B (en) * | 2017-10-17 | 2019-06-21 | 青岛中邦防务智能装备有限公司 | A kind of application method of amphibious unmanned boat caterpillar system |
| CN108303276A (en) * | 2018-01-19 | 2018-07-20 | 西北农林科技大学 | Mountainous region crawler tractor terra mechanics characteristic and parameter test board |
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