CN109305520A - A kind of Intelligent carrier system and its control method - Google Patents
A kind of Intelligent carrier system and its control method Download PDFInfo
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- CN109305520A CN109305520A CN201710629469.5A CN201710629469A CN109305520A CN 109305520 A CN109305520 A CN 109305520A CN 201710629469 A CN201710629469 A CN 201710629469A CN 109305520 A CN109305520 A CN 109305520A
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- 230000001360 synchronised effect Effects 0.000 claims abstract description 8
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Classifications
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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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
A kind of Intelligent carrier system of the present invention, wherein include: master controller, differential drive system, pallet rotary system and jack-up system, the master controller control connects the differential drive system, the pallet rotary system and jack-up system；One master controller, the master controller control that the connection differential drive system, which carries out driving walking, the control pallet rotary system is rotated, controls jack-up system is gone up and down respectively.By using a kind of Intelligent carrier system of the present invention and its control method, pallet has the effect of jacking twice, so that the final lifting of jacking apparatus material acts, and top lifting height is once realized in a certain range, while can be realized the effect of the centering when walking；The drive wheel assemblies of pallet and trolley being capable of reverse sync rotation；Synchronous rotation system can be reduced motor and driver losses, reduce its operating current, ensure that its service life significantly；Its structure is simple, easy to use, easily operated.
Description
Technical field
The present invention relates to handling system technical fields, and in particular to a kind of Intelligent carrier system and its control method.
Background technique
It is well known that industrialized equipment is also gradually intended to intelligence, industrial application of today with the development of science and technology
The carrier for being not required to driver is had already appeared, with chargeable battery for its power resources.
Unmanned floor truck in the market mostly uses common differential drive form, i.e., arrangement differential driving in the middle part of car body
Wheel, two universal wheels of arranged in front, behind arrange two directional wheels.This driving method structure is simple, utilizes two driving wheels
Rotational speed difference realize trolley advance, fall back and turn to, but cannot achieve omnidirectional walking.Currently, the submarine of industry universal with
Towed unmanned floor truck, mostly uses greatly this frame mode.
The problem of unmanned floor truck currently on the market has the following disadvantages: (1) nothing of common differential drive form
The walking of advance straight line may be implemented, the movement such as turning and retrogressing straight line walking of advancing in people's floor truck.Due to car body itself
The reason of in terms of length equidimension, when turning, need certain turning radius, cannot achieve pivot stud.With vehicle modern industry
Development, the workshop of industrial enterprise is more and more compacter, and the channel between production line is very narrow.Such case differential drives nobody
Carrier tends not to meet requirement spatially due to the limitation of turning radius.
(2) the unmanned floor truck of common submarine, connect, to realize object with truck frequently with the hanging pin being arranged on car body
The carrying of material.The driving force of floor truck is the maximum static friction force on driving wheel and ground for the weight for reducing floor truck itself
Power, it will usually in small interior installation lifting tray, increase the gravity of floor truck using one end for withstanding truck of lifting tray,
The frictional force of driving wheel and ground is improved, but traditional floor truck is all made of the control that pallet once rises, to complete to material
The picking-up of vehicle, change mode and although settle at one go, but the increase of floor truck own wt can not be accomplished accurately, can make
To the overload of floor truck itself or kick the beam, can not determine carrying truck size, weight and trolley body form whether
Always unify.Lead to floor truck and go up and down the service life of picking-up device to be affected and floor truck is kicking the beam
Appearance of skidding there is a situation where driving wheel still is possible under state.
In the control of rotation, synchronous rotary can not occur traditional floor truck for the pallet for holding up material frame, it may occur that
Following problem: for example, generating biggish torque between lifting tray and the floor truck for supporting lifting tray, lifting is caused to be held in the palm
The service life of disk is affected.On the other hand, in traditional trolley synchronously control, doublet has been controlled using a pallet rising
The carrying of material, can not determine whether the framework of carrying material is unified always with trolley body form；In pallet lift and rotation side
Face is in the form of a single, does not carry out exact algorithm operation processing, causes to control the interference by many factors: place, framework rule
Lattice, framework form.
In summary the deficiency of floor truck, it would be desirable to one kind have can active lifting, and can rotate automatically
The floor truck of lifting tray overcomes the floor truck of the above problem.
Summary of the invention
The application provides a kind of Intelligent carrier system and its control method, to solve floor truck in the prior art
Lifting tray be unable to accurately control picking-up truck climb and lifting tray can not synchronous backward in trolley turn
Rotation, the problem of causing floor truck, lifting tray service life to be affected and floor truck are still likely to occur and carried
Generation light and that slipping phenomenon occurs.
To achieve the above object, the technical solution adopted by the present invention is that:
A kind of Intelligent carrier system, wherein include: master controller, differential drive system, pallet rotary system and jacking
System, the master controller control connect the differential drive system, the pallet rotary system and jack-up system；
The differential drive system, comprising: differential servo driver unit, differential servo motor unit, differential deceleration unit with
And drive wheel assemblies, the differential servo driver unit control differential servo motor unit work, the differential servo
Electric motor units are worked using differential deceleration unit control driving wheel group；
The pallet rotary system, comprising: pallet servo driver unit, pallet servo motor unit, pallet deceleration unit with
And pallet body, the pallet servo driver unit control pallet servo motor unit work, the pallet servo electricity
Machine unit is rotated using pallet deceleration unit control pallet body；
The jack-up system, comprising: jacking driving server unit, jacking servo motor unit, jacking deceleration unit and top
Mechanism is risen, the jacking driving server unit controls the jacking servo motor unit and works, the jacking servo electricity
Machine unit is rotated using jacking deceleration unit control pallet body；
One master controller, the master controller control the connection differential drive system respectively and carry out described in driving walking, control
Pallet rotary system, which rotated, controls jack-up system is gone up and down.
Above-mentioned Intelligent carrier system, wherein the master controller controls connection differential servo-driver list respectively
Member, differential deceleration unit, pallet servo driver unit, pallet deceleration unit, jacking driving server unit, jacking deceleration are single
Member.
Above-mentioned Intelligent carrier system, wherein absolute encoder, the absolute coding are equipped in the pallet body
Device is connect with the master controller.
A kind of control method of Intelligent carrier system, wherein including following control method:
S100: the hanging pin of towing dolly is fixed on pallet body, completes jacking movement for one end of small handcart by pallet body
It jacks up；
S200: track route is braked by master controller, the track route that differential servo drive unit receives master controller is driven
It is dynamic, and control drive wheel assemblies work and be displaced；
S300: when drive wheel assemblies carry out direction conversion, pallet rotation is recorded and is converted and formed by absolute encoder
The desired driving difference data of tabletop drive unit and driving speed data.
The control method of above-mentioned Intelligent carrier system, wherein in the step S100, master controller pair can be passed through
Pallet body carries out step and selectively operates, and steps are as follows for selection:
S101: first judge whether jacking driving service unit is in auto state, if having switched to manual shape by master controller
State does not then carry out instruction to jacking driving service unit and returns to main program command for stopping；
S102: carrying out jacking operation for the first time after detecting is auto state, determines to hold if executing jacking operation for the first time
Whether the row time arrives 150ms, if the execution time of first time jacking movement reaches 150ms, carries out in lifting operations and control
Lifting speed is in 2000um, and instruction returns to main program command for stopping after completing to jack for the first time；
S103: the time is executed if being not carried out jacking operation for the first time or having executed jacking for the first time but do not reached 150ms
When then enter second jacking operation；
S104: determining second of jacking operation, and whether the Predicated execution time arrives if executing second of jacking operation
150ms carries out lifting operations and controls the rate of climb and exist if the execution time of second of jacking movement reaches 150ms
1000um, instruction returns to main program command for stopping after completing to jack for second；
S105: the 150ms execution time is jacked but not reached if being not carried out second of jacking operation or having executed second
When then enter circulation jacking；
S106: determining circulation jacking operation, and whether the Predicated execution time arrives 150ms if executing circulation jacking operation,
If the execution time for recycling jacking movement reaches 150ms, is deeply operated and control the rate of climb in 2000um, work as completion
Instruction returns to main program command for stopping after circulation jacking；
S107: if being not carried out recursion instruction, circulation jacking is determined either with or without completing once to jack, if instructing return without if
Main program command for stopping；
S108: operate jacking speed, for the first time jacking if circulation jacking operates the jacking for having executed the 150ms time,
Second of jacking operation is timed elimination.
The control method of above-mentioned Intelligent carrier system, wherein in the step S200, master controller pair can be passed through
The step of differential servo driver unit carries out step selection operation, selects is as follows:
S201: it is opened by master controller control differential servo driver unit, chooses whether to turn left, if it is determined that not turning left
Whether to the right option is then given, if it is determined that not being then to instruct to the right to return to main program command for stopping；
S202: if selection is turned left, controlling drive wheel assemblies parameter f=1, after the angular position judgement for completing a unit quantity
It then chooses whether to turn 90 degrees；
If it is determined that turning right, then drive wheel assemblies parameter f=- 1 is controlled, completes after the angular position of a unit quantity that then selection is
It is no to turn 90 degrees；
S203: if selection is rotated by 90 °, the coefficient for controlling its corner is instruction return main program end after being finished behind f_d=1
Only instruct；
S204: entering the rotation that next step executes 180 degree if not selecting to be rotated by 90 °, and the coefficient of controller corner is f_
D=2, instruction returns to main program command for stopping after being finished；
After being opened by master controller control differential servo driver unit, the step of passing through S201-S204, is realized, driving wheel group is left
It turn 90 degrees, left-hand rotation 180 degree, the right side are turn 90 degrees, right-hand rotation 180 degree.
The control method of above-mentioned Intelligent carrier system, wherein the driving difference data in the step S300 is opened
Absolute encoder carries out setting desired value and actual value to the direction of rotation of pallet；
It is assumed that trolley script absolute encoder position needs trolley original place to carry out 90 degree of left direction rotations in 10000 states at this time
Turn, pallet needs opposite ground motionless, i.e. pallet needs relative trolley edge direction with identical speed and time carries out 90 ° to the right
Rotation, learns by calculating, and being rotated by 90 ° absolute encoder relative displacement is 768 units, then dbjective state is denoted as 10768
Desired value；
Data after the desired value is recorded in the register inside master controller are actual value；
In order to avoid occurring to have an impact after generation negative to pallet rotation after desired value is calculated with actual value, difference △
The step of generating judgement is as follows:
S310: the position of absolute encoder is set in 10000 unit states, opens absolute encoder to the record of driving wheel group；
S311: assuming that driving wheel group carry out rotation 90 degree and coefficient be -1 when, for right-hand rotation；
If desired value, which occurs, is more than or equal to actual value, and desired value subtracts actual value equal to difference △, and it is whole that instruction returns to main program
Only instruct；
S312: assuming that driving wheel group carry out rotation 90 degree and coefficient be 1 when, for left-hand rotation；
If desired value, which occurs, is less than or equal to actual value, and actual value subtracts desired value equal to difference △, and it is whole that instruction returns to main program
Only instruct；
S313: assuming that driving wheel group carry out 90 degree of rotation and coefficient be 1 again for -1 when, turning right and turning left to offset is not turn；
If desired value, which occurs, is more than or equal to actual value, and desired value is less than or equal to actual value, and difference △ is equal to zero, and instruction returns to master
Program determination instruction.
The control method of above-mentioned Intelligent carrier system, wherein the driving speed data in the step S300, by driving
The difference △ obtained in moment Value Data is as a real-time numerical value, if rotation direction coefficient f=1 turn 90 degrees for a left side, f=2
For left-hand rotation 180 degree and so on, f=- 1 is that the right side is turn 90 degrees, f=- 2 is right-hand rotation 180 degree and so on；
In order to ensure drive wheel assemblies and its judgment step of the synchronous backward rotation speed of pallet body are as follows:
S320: while opening differential drive system and pallet rotary system；
S321: calculate the difference that required pallet rotates using absolute encoder, herein the difference of required pallet rotation
Value, which is equal to, is rotated by 90 ° above left-hand rotation or right-hand rotation；
S322: subtracting difference △ for the difference that required pallet rotates and obtain independent variable X, is that difference △ is converted into since 0 in this X
The correspondence independent variable of variation；
S323: determine difference △ whether 0, if difference △ be equal to 0 in the case where this pallet speed V_p and driving wheel group V_c be
0, then it instructs and returns to main program command for stopping；
S324: if it is determined that difference △ is not equal to 0, then pallet speed V_p is equal to the revolving speed that independent variable X corresponds to dependent variable pallet, is
V_p=f(x)；
S325: i.e. driving wheel group V_c be equal to the linear coefficient k of pallet servo driver unit and differential servo driver unit with
Independent variable X corresponds to the product of the revolving speed of dependent variable pallet, are as follows: V_c=k*f (x)；
S326: obtaining V_p=f (x), V_c=k*f (x) respectively, then instructs and return to main program command for stopping.
According to a kind of Intelligent carrier system and its control method of above-described embodiment, the program has effect below
Fruit:
1, pallet has the effect of jacking twice, so that the final lifting of jacking apparatus material acts, and in a certain range
It is primary to realize top lifting height, while can be realized the effect of the centering when walking；
2, the drive wheel assemblies of pallet and trolley being capable of reverse sync rotation；
3, synchronous rotation system can be reduced motor and driver losses, reduce its operating current, ensure that it uses the longevity significantly
Life；
4, its structure is simple, it is easily fabricated, installation and it is easy to use, it is easily operated.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of Intelligent carrier system；
Fig. 2 is that a kind of pallet of the control method of Intelligent carrier system jacks decision step schematic diagram twice；
Fig. 3 is the left and right rotation angles control determination step schematic diagram of a kind of Intelligent carrier system and its control method；
Fig. 4 is the driving difference data determination step schematic diagram of a kind of Intelligent carrier system and its control method；
Fig. 5 is the driving speed data judging step schematic diagram of a kind of Intelligent carrier system and its control method.
Appended drawing reference in corresponding Figure of description is with reference to as follows:
Master controller 1, jack-up system 100, jacking driving server unit 110, jacking servo motor unit 120, jacking are slowed down
Unit 130, lifting body 140, differential drive system 200, differential servo driver unit 210, differential servo motor unit
220, differential deceleration unit 230, drive wheel assemblies 240, pallet rotary system 300, pallet servo driver unit 310, pallet
Servo motor unit 320, pallet deceleration unit 330, pallet body 340.
Specific embodiment
In order to realize invention technological means, create feature, reach purpose and effect is easy to understand, lower combination tool
Body diagram, the present invention is further explained.
As shown in Figure 1, a kind of Intelligent carrier system, wherein include: master controller 1, differential drive system 200, support
Disc spins system 300 and jack-up system 100, master controller 1 control connection differential drive system 200, pallet rotary system 300
And jack-up system 100；
Differential drive system 200, comprising: differential servo driver unit 210, differential servo motor unit 220, differential slow down single
Member 230 and drive wheel assemblies 240, differential servo driver unit 210 control differential servo motor unit 220 and work,
Differential servo motor unit 220 controls driving wheel group 240 using differential deceleration unit 230 and works；
Pallet rotary system 300, comprising: pallet servo driver unit 310, pallet servo motor unit 320, pallet slow down single
Member 330 and pallet body 340, pallet servo driver unit 310 control pallet servo motor unit 320 and work, and hold in the palm
Disk servo motor unit 320 controls pallet body 340 using pallet deceleration unit 330 and is rotated；
Jack-up system 100, comprising: jacking driving server unit 110, jacking servo motor unit 120, jacking deceleration unit
130 and lifting body 140, the jacking driving control jacking servo motor unit 120 of server unit 110 works, and jacks
Servo motor unit 120 controls pallet body 340 using jacking deceleration unit 130 and is rotated；
One master controller 1, master controller 1 control connection differential drive system 200 respectively and carry out driving walking, control pallet rotation
System 300, which rotated, controls jack-up system 100 is gone up and down.
In a specific embodiment of the present invention, master controller 1 controls connection differential servo driver unit 210 respectively, differential subtracts
Fast unit 230, pallet servo driver unit 310, pallet deceleration unit 330, jacking driving server unit 110, jacking subtract
Fast unit 130.
In a specific embodiment of the present invention, be equipped with absolute encoder 341 in pallet body 340, absolute encoder 341 with
Master controller 1 connects.
The control method of Intelligent carrier system in a specific embodiment of the present invention, wherein including following control
Method:
S100: the hanging pin of towing dolly is fixed on pallet body, completes jacking movement for one end of small handcart by pallet body
It jacks up；
S200: track route is braked by master controller, the track route that differential servo drive unit receives master controller is driven
It is dynamic, and control drive wheel assemblies work and be displaced；
S300: when drive wheel assemblies carry out direction conversion, pallet rotation is recorded and is converted and formed by absolute encoder
The desired driving difference data of tabletop drive unit and driving speed data.
As shown in Fig. 2, in a specific embodiment of the present invention, in step S100, can by master controller to pallet body into
Row step selectively operates, and steps are as follows for selection:
S101: first judge whether jacking driving service unit is in auto state, if having switched to manual shape by master controller
State does not then carry out instruction to jacking driving service unit and returns to main program command for stopping；
S102: carrying out jacking operation for the first time after detecting is auto state, determines to hold if executing jacking operation for the first time
Whether the row time arrives 150ms, if the execution time of first time jacking movement reaches 150ms, carries out in lifting operations and control
Lifting speed is in 2000um, and instruction returns to main program command for stopping after completing to jack for the first time；
S103: the time is executed if being not carried out jacking operation for the first time or having executed jacking for the first time but do not reached 150ms
When then enter second jacking operation；
S104: determining second of jacking operation, and whether the Predicated execution time arrives if executing second of jacking operation
150ms carries out lifting operations and controls the rate of climb and exist if the execution time of second of jacking movement reaches 150ms
1000um, instruction returns to main program command for stopping after completing to jack for second；
S105: the 150ms execution time is jacked but not reached if being not carried out second of jacking operation or having executed second
When then enter circulation jacking；
S106: determining circulation jacking operation, and whether the Predicated execution time arrives 150ms if executing circulation jacking operation,
If the execution time for recycling jacking movement reaches 150ms, is deeply operated and control the rate of climb in 2000um, work as completion
Instruction returns to main program command for stopping after circulation jacking；
S107: if being not carried out recursion instruction, circulation jacking is determined either with or without completing once to jack, if instructing return without if
Main program command for stopping；
S108: operate jacking speed, for the first time jacking if circulation jacking operates the jacking for having executed the 150ms time,
Second of jacking operation is timed elimination.
As shown in figure 3, in a specific embodiment of the present invention, in step S200, can be driven by master controller to differential servo
The step of dynamic device unit carries out step selection operation, selects is as follows:
S201: it is opened by master controller control differential servo driver unit, chooses whether to turn left, if it is determined that not turning left
Whether to the right option is then given, if it is determined that not being then to instruct to the right to return to main program command for stopping；
S202: if selection is turned left, controlling drive wheel assemblies parameter f=1, after the angular position judgement for completing a unit quantity
It then chooses whether to turn 90 degrees；
If it is determined that turning right, then drive wheel assemblies parameter f=- 1 is controlled, completes after the angular position of a unit quantity that then selection is
It is no to turn 90 degrees；
S203: if selection is rotated by 90 °, the coefficient for controlling its corner is instruction return main program end after being finished behind f_d=1
Only instruct；
S204: entering the rotation that next step executes 180 degree if not selecting to be rotated by 90 °, and the coefficient of controller corner is f_
D=2, instruction returns to main program command for stopping after being finished；
After being opened by master controller control differential servo driver unit, the step of passing through S201-S204, is realized, driving wheel group is left
It turn 90 degrees, left-hand rotation 180 degree, the right side are turn 90 degrees, right-hand rotation 180 degree.
As shown in figure 4, in a specific embodiment of the present invention, the driving difference data in step S300 opens absolute encoder
Setting desired value and actual value are carried out to the direction of rotation of pallet；
It is assumed that trolley script absolute encoder position needs trolley original place to carry out 90 degree of left direction rotations in 10000 states at this time
Turn, pallet needs opposite ground motionless, i.e. pallet needs relative trolley edge direction with identical speed and time carries out 90 ° to the right
Rotation, learns by calculating, and being rotated by 90 ° absolute encoder relative displacement is 768 units, then dbjective state is denoted as 10768
Desired value；
Data after the desired value is recorded in the register inside master controller are actual value；
In order to avoid occurring to have an impact after generation negative to pallet rotation after desired value is calculated with actual value, difference △
The step of generating judgement is as follows:
S310: the position of absolute encoder is set in 10000 unit states, opens absolute encoder to the record of driving wheel group；
S311: assuming that driving wheel group carry out rotation 90 degree and coefficient be -1 when, for right-hand rotation；
If desired value, which occurs, is more than or equal to actual value, and desired value subtracts actual value equal to difference △, and it is whole that instruction returns to main program
Only instruct；
S312: assuming that driving wheel group carry out rotation 90 degree and coefficient be 1 when, for left-hand rotation；
If desired value, which occurs, is less than or equal to actual value, and actual value subtracts desired value equal to difference △, and it is whole that instruction returns to main program
Only instruct；
S313: assuming that driving wheel group carry out 90 degree of rotation and coefficient be 1 again for -1 when, turning right and turning left to offset is not turn；
If desired value, which occurs, is more than or equal to actual value, and desired value is less than or equal to actual value, and difference △ is equal to zero, and instruction returns to master
Program determination instruction.
As shown in figure 5, intermediate practical code name replaces text as shown in the figure:
D_temp: required pallet rotational difference；
F_90: pallet is rotated by 90 ° required encoder values；
F: direction coefficient, 1 is a left side, and 2 be the right side；
F_d: given steer coefficient, 1 is 90 degree, and 2 be 180 degree, and so on；
△: actual pallet encoder position corresponds to encoder values and desired value difference (descending variation)；
X: △ is converted to the correspondence independent variable changed since 0；
V_p: pallet revolving speed；
V_c: trolley drives wheel speed；
F(x): the corresponding dependent variable pallet revolving speed of independent variable X；
K: tray motor and driving motor linear coefficient；
In a specific embodiment of the present invention, the driving speed data in step S300, by what is obtained in driving difference data
Difference △ is as a real-time numerical value, if rotation direction coefficient f=1 is that a left side is turn 90 degrees, f=2 are left-hand rotation 180 degree and so on, f
=-1 is that the right side is turn 90 degrees, f=- 2 is right-hand rotation 180 degree and so on；
In order to ensure drive wheel assemblies and its judgment step of the synchronous backward rotation speed of pallet body are as follows:
S320: while opening differential drive system and pallet rotary system；
S321: calculate the difference that required pallet rotates using absolute encoder, herein the difference of required pallet rotation
Value, which is equal to, is rotated by 90 ° above left-hand rotation or right-hand rotation；
S322: subtracting difference △ for the difference that required pallet rotates and obtain independent variable X, is that difference △ is converted into since 0 in this X
The correspondence independent variable of variation；
S323: determine difference △ whether 0, if difference △ be equal to 0 in the case where this pallet speed V_p and driving wheel group V_c be
0, then it instructs and returns to main program command for stopping；
S324: if it is determined that difference △ is not equal to 0, then pallet speed V_p is equal to the revolving speed that independent variable X corresponds to dependent variable pallet, is
V_p=f(x)；
S325: i.e. driving wheel group V_c be equal to the linear coefficient k of pallet servo driver unit and differential servo driver unit with
Independent variable X corresponds to the product of the revolving speed of dependent variable pallet, are as follows: V_c=k*f (x)；
S326: obtaining V_p=f (x), V_c=k*f (x) respectively, then instructs and return to main program command for stopping.
In conclusion a kind of Intelligent carrier system of the present invention and its control method, pallet have the effect jacked twice
Fruit so that the final lifting of jacking apparatus material acts, and once realizes top lifting height, while can be real in a certain range
The effect of the existing centering when walking；The drive wheel assemblies of pallet and trolley being capable of reverse sync rotation；Synchronous rotation system can be reduced
Motor and driver losses, reduce its operating current, ensure that its service life significantly；Its structure is simple, easily fabricated, peace
It fills and easy to use, it is easily operated.
The specific embodiment of invention is described above.It is to be appreciated that invention be not limited to it is above-mentioned specific
Embodiment, devices and structures not described in detail herein should be understood as is practiced with the common mode in this field；
Those skilled in the art can make within the scope of the claims various deformations or amendments make it is several it is simple deduce, deformation or
Replacement, this has no effect on the substantive content of invention.
Claims (8)
1. a kind of Intelligent carrier system characterized by comprising master controller, differential drive system, pallet rotary system
And jack-up system, the master controller control connect the differential drive system, the pallet rotary system and jacking system
System；
The differential drive system, comprising: differential servo driver unit, differential servo motor unit, differential deceleration unit with
And drive wheel assemblies, the differential servo driver unit control differential servo motor unit work, the differential servo
Electric motor units are worked using differential deceleration unit control driving wheel group；
The pallet rotary system, comprising: pallet servo driver unit, pallet servo motor unit, pallet deceleration unit with
And pallet body, the pallet servo driver unit control pallet servo motor unit work, the pallet servo electricity
Machine unit is rotated using pallet deceleration unit control pallet body；
The jack-up system, comprising: jacking driving server unit, jacking servo motor unit, jacking deceleration unit and top
Mechanism is risen, the jacking driving server unit controls the jacking servo motor unit and works, the jacking servo electricity
Machine unit is rotated using jacking deceleration unit control pallet body；
One master controller, the master controller control the connection differential drive system respectively and carry out described in driving walking, control
Pallet rotary system, which rotated, controls jack-up system is gone up and down.
2. Intelligent carrier system according to claim 1, which is characterized in that the master controller controls connection respectively
Differential servo driver unit, differential deceleration unit, pallet servo driver unit, pallet deceleration unit, jacking driving service
Device unit, jacking deceleration unit.
3. Intelligent carrier system according to claim 1, which is characterized in that be equipped in the pallet body and absolutely compile
Code device, the absolute encoder are connect with the master controller.
4. the control method of Intelligent carrier system as claimed in any of claims 1 to 3, which is characterized in that
Including following control method:
S100: the hanging pin of towing dolly is fixed on pallet body, completes jacking movement for one end of small handcart by pallet body
It jacks up；
S200: track route is braked by master controller, the track route that differential servo drive unit receives master controller is driven
It is dynamic, and control drive wheel assemblies work and be displaced；
S300: when drive wheel assemblies carry out direction conversion, pallet rotation is recorded and is converted and formed by absolute encoder
The desired driving difference data of tabletop drive unit and driving speed data.
5. the control method of Intelligent carrier system according to claim 4, which is characterized in that the step S100
In, step can be carried out to pallet body by master controller and selectively operated, steps are as follows for selection:
S101: first judge whether jacking driving service unit is in auto state, if having switched to manual shape by master controller
State does not then carry out instruction to jacking driving service unit and returns to main program command for stopping；
S102: carrying out jacking operation for the first time after detecting is auto state, determines to hold if executing jacking operation for the first time
Whether the row time arrives 150ms, if the execution time of first time jacking movement reaches 150ms, carries out in lifting operations and control
Lifting speed is in 2000um, and instruction returns to main program command for stopping after completing to jack for the first time；
S103: the time is executed if being not carried out jacking operation for the first time or having executed jacking for the first time but do not reached 150ms
When then enter second jacking operation；
S104: determining second of jacking operation, and whether the Predicated execution time arrives if executing second of jacking operation
150ms carries out lifting operations and controls the rate of climb and exist if the execution time of second of jacking movement reaches 150ms
1000um, instruction returns to main program command for stopping after completing to jack for second；
S105: the 150ms execution time is jacked but not reached if being not carried out second of jacking operation or having executed second
When then enter circulation jacking；
S106: determining circulation jacking operation, and whether the Predicated execution time arrives 150ms if executing circulation jacking operation,
If the execution time for recycling jacking movement reaches 150ms, is deeply operated and control the rate of climb in 2000um, work as completion
Instruction returns to main program command for stopping after circulation jacking；
S107: if being not carried out recursion instruction, circulation jacking is determined either with or without completing once to jack, if instructing return without if
Main program command for stopping；
S108: operate jacking speed, for the first time jacking if circulation jacking operates the jacking for having executed the 150ms time,
Second of jacking operation is timed elimination.
6. the control method of Intelligent carrier system according to claim 4, which is characterized in that the step S200
In, can by master controller to differential servo driver unit carry out step selection operation, selection the step of it is as follows:
S201: it is opened by master controller control differential servo driver unit, chooses whether to turn left, if it is determined that not turning left
Whether to the right option is then given, if it is determined that not being then to instruct to the right to return to main program command for stopping；
S202: if selection is turned left, controlling drive wheel assemblies parameter f=1, after the angular position judgement for completing a unit quantity
It then chooses whether to turn 90 degrees；
If it is determined that turning right, then drive wheel assemblies parameter f=- 1 is controlled, completes after the angular position of a unit quantity that then selection is
It is no to turn 90 degrees；
S203: if selection is rotated by 90 °, the coefficient for controlling its corner is instruction return main program end after being finished behind f_d=1
Only instruct；
S204: entering the rotation that next step executes 180 degree if not selecting to be rotated by 90 °, and the coefficient of controller corner is f_
D=2, instruction returns to main program command for stopping after being finished；
After being opened by master controller control differential servo driver unit, the step of passing through S201-S204, is realized, driving wheel group is left
It turn 90 degrees, left-hand rotation 180 degree, the right side are turn 90 degrees, right-hand rotation 180 degree.
7. the control method of Intelligent carrier system according to claim 4, which is characterized in that in the step S300
Driving difference data, open absolute encoder and setting desired value and actual value carried out to the direction of rotation of pallet；
It is assumed that trolley script absolute encoder position needs trolley original place to carry out 90 degree of left direction rotations in 10000 states at this time
Turn, pallet needs opposite ground motionless, i.e. pallet needs relative trolley edge direction with identical speed and time carries out 90 ° to the right
Rotation, learns by calculating, and being rotated by 90 ° absolute encoder relative displacement is 768 units, then dbjective state is denoted as 10768
Desired value；
Data after the desired value is recorded in the register inside master controller are actual value；
In order to avoid occurring to have an impact after generation negative to pallet rotation after desired value is calculated with actual value, difference △
The step of generating judgement is as follows:
S310: the position of absolute encoder is set in 10000 unit states, opens absolute encoder to the record of driving wheel group；
S311: assuming that driving wheel group carry out rotation 90 degree and coefficient be -1 when, for right-hand rotation；
If desired value, which occurs, is more than or equal to actual value, and desired value subtracts actual value equal to difference △, and it is whole that instruction returns to main program
Only instruct；
S312: assuming that driving wheel group carry out rotation 90 degree and coefficient be 1 when, for left-hand rotation；
If desired value, which occurs, is less than or equal to actual value, and actual value subtracts desired value equal to difference △, and it is whole that instruction returns to main program
Only instruct；
S313: assuming that driving wheel group carry out 90 degree of rotation and coefficient be 1 again for -1 when, turning right and turning left to offset is not turn；
If desired value, which occurs, is more than or equal to actual value, and desired value is less than or equal to actual value, and difference △ is equal to zero, and instruction returns to master
Program determination instruction.
8. the control method of Intelligent carrier system according to claim 7, which is characterized in that in the step S300
Driving speed data, by the difference △ that is obtained in driving difference data as a real-time numerical value, if rotation direction system
Number f=1 is that a left side is turn 90 degrees, f=2 are left-hand rotation 180 degree and so on, and f=- 1 is that the right side is turn 90 degrees, f=- 2 is right-hand rotation 180 degree with such
It pushes away；
In order to ensure drive wheel assemblies and its judgment step of the synchronous backward rotation speed of pallet body are as follows:
S320: while opening differential drive system and pallet rotary system；
S321: calculate the difference that required pallet rotates using absolute encoder, herein the difference of required pallet rotation
Value, which is equal to, is rotated by 90 ° above left-hand rotation or right-hand rotation；
S322: subtracting difference △ for the difference that required pallet rotates and obtain independent variable X, is that difference △ is converted into since 0 in this X
The correspondence independent variable of variation；
S323: determine difference △ whether 0, if difference △ be equal to 0 in the case where this pallet speed V_p and driving wheel group V_c be
0, then it instructs and returns to main program command for stopping；
S324: if it is determined that difference △ is not equal to 0, then pallet speed V_p is equal to the revolving speed that independent variable X corresponds to dependent variable pallet, is
V_p=f(x)；
S325: i.e. driving wheel group V_c be equal to the linear coefficient k of pallet servo driver unit and differential servo driver unit with
Independent variable X corresponds to the product of the revolving speed of dependent variable pallet, are as follows: V_c=k*f (x)；
S326: obtaining V_p=f (x), V_c=k*f (x) respectively, then instructs and return to main program command for stopping.
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Cited By (1)
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| CN109867104A (en) * | 2019-02-26 | 2019-06-11 | 珠海格力智能装备有限公司 | Dock processing method and system |
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