CN109343542A - A kind of hydraulic module vehicle fast-positioning device and localization method - Google Patents
A kind of hydraulic module vehicle fast-positioning device and localization method Download PDFInfo
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- CN109343542A CN109343542A CN201811493852.3A CN201811493852A CN109343542A CN 109343542 A CN109343542 A CN 109343542A CN 201811493852 A CN201811493852 A CN 201811493852A CN 109343542 A CN109343542 A CN 109343542A
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- 238000000034 method Methods 0.000 title claims abstract description 10
- 230000004807 localization Effects 0.000 title description 3
- 238000005259 measurement Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
Classifications
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- 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
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
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- 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
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
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- Engineering & Computer Science (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
The present invention relates to a kind of hydraulic module vehicle fast-positioning device, the alignment sensor group including the coordinate information for obtaining modular cart group, the positioner group of the location information for obtaining modular cart group, for establishing and the master controller group of vehicle model, and vehicle cable.A kind of hydraulic module vehicle method for rapidly positioning, including alignment sensor group, positioner group, master controller are arranged in two modular cart groups, the coordinate information being collected into is sent to positioner group by alignment sensor group, positioner group calculates the position of modular cart group according to coordinate information, and the information of the position is sent to master controller group, the master controller of master controller group establishes quickly simultaneously vehicle model according to information.The present invention can quickly establish and vehicle model, saves for Over-size transport and vehicle model measures labor and time cost, greatly improve working efficiency.
Description
Technical field
The present invention relates to a kind of hydraulic module vehicle fast-positioning device and localization methods.
Background technique
Currently, simultaneously car owner will be by using the distance between tape measure modular cart group for more vehicles of the prior art.Due to by
To the influence of the measurement method, the measurement of angled between modular cart group and vehicle is extremely difficult, thus and vehicle transport in pole
Less by the way of and vehicle angled using modular cart group.Modular cart group is parallel and vehicle is also required to repeatedly measure, and passes through people
Work operation not only needs to occupy a large amount of human costs, but also the not high working efficiency of measurement accuracy is also low.
Summary of the invention
It is an object of the present invention to provide a kind of hydraulic module vehicle fast-positioning devices.
In order to achieve the above objectives, the technical solution adopted by the present invention is that:
A kind of hydraulic module vehicle fast-positioning device, comprising:
Alignment sensor group, for obtaining the coordinate information of modular cart group, including setting every module in the first modular cart group
The first alignment sensor group on vehicle, the second alignment sensor group being arranged in the second modular cart group in every modular cart；
Positioner group, for obtaining the location information of modular cart group, including setting every module in the first modular cart group
Second position controller in the second modular cart group in every modular cart, the first mould is arranged in first position controller on vehicle
First position controller described in same modular cart is connected with the first alignment sensor group in block vehicle group, the second mould
Second position controller described in same modular cart is connected with the second alignment sensor group in block vehicle group；
Master controller group, for establish and vehicle model, including be arranged in the first modular cart group the first master controller, setting exist
The of all modular carts in the second master controller in second modular cart group, first master controller and the first modular cart group
One positioner is connected, the second position control of all modular carts in second master controller and the second modular cart group
Device is connected；
And vehicle cable, for connecting first master controller, the second master controller.
Preferably, first master controller, one in the second master controller be master controller.
Preferably, first master controller is arranged on the first power unit of the first modular cart group, and described
Two master controllers are arranged on the second power unit of the second modular cart group.
Preferably, first master controller, the second master controller are respectively arranged one.
Preferably, the first position controller, second position controller are respectively arranged one.
Preferably, the first alignment sensor group includes two the first alignment sensors, and second positioning passes
Sensor group includes two the second alignment sensors.
It is a further object to provide a kind of hydraulic module vehicle method for rapidly positioning.
In order to achieve the above objectives, the technical solution adopted by the present invention is that:
A kind of hydraulic module vehicle method for rapidly positioning, comprising:
A, first master controller is set in the first modular cart group, is arranged in every modular cart in the first modular cart group
First alignment sensor, first position controller, by the first alignment sensor and first position controller in same modular cart
It is attached, the first position controller in all first modular cart groups in modular cart is attached with the first master controller；
One the second master controller is set in the second modular cart group, the is arranged in every modular cart in the second modular cart group
Two alignment sensors, second position controller, by same modular cart the second alignment sensor and second position controller into
Row connection, the second position controller in all second modular cart groups in modular cart is attached with the second master controller；
B, set the first master controller, one in the second master controller be master controller, and the first main control of vehicle cable connection
Device, the second master controller；
C, the coordinate information for being collected into the vehicle is sent to by the first alignment sensor in the first modular cart group in every modular cart
First position controller, first position controller calculate the position of the modular cart according to coordinate information, and by the letter of the position
Breath is sent to the first master controller；
The coordinate information for being collected into the vehicle is sent to by the second alignment sensor in the second modular cart group in every modular cart
Two-position controller, second position controller calculate the position of the modular cart according to coordinate information, and by the information of the position
It is sent to the second master controller；
D, information is fed back between the first master controller, the second master controller, and is established fastly by master controller therein according to information
Speed and vehicle model, the first modular cart group, the second modular cart group is completed according to simultaneously vehicle model and vehicle.Another object of the present invention is
A kind of hydraulic module vehicle method for rapidly positioning is provided.
Due to the above technical solutions, the present invention has the following advantages over the prior art:
The present invention can be established quickly and vehicle model, can also quickly and accurately realize transport/end initial point positions, solve more vehicles
Parallel and vehicle needs to be measured with measuring tools such as tape measures, and especially angled and vehicle is asked in use site measurement difficulty etc.
It inscribes, for modular cart and vehicle provides a kind of quickly position and provides a kind of solution, greatly improves the effect of simultaneously vehicle positioning
Rate greatly reduces the time of Over-size transport.
Detailed description of the invention
Attached drawing 1 is the parallel simultaneously vehicle schematic diagram of two modular cart groups in the present embodiment；
Attached drawing 2 is the angled simultaneously vehicle schematic diagram of two modular cart groups in the present embodiment.
Wherein: 1, the first modular cart group；10, six axis modular cart；11, four axistyle modular cart；2, the second modular cart group；
20, six axis modular cart；21, four axistyle modular cart；30a, 30b, 30c, 30d, the first alignment sensor；31a,31b,31c,
31d, the second alignment sensor；40a, 40b, first position controller；41a, 41b, second position controller；50, the first master control
Device processed；51, the second master controller；And vehicle cable 6,；70, the first power unit；71, the second power unit.
Specific embodiment
The present invention is described with reference to the accompanying drawings and embodiments:
Shown in a kind of hydraulic module vehicle fast-positioning device, including alignment sensor group, positioner group, master controller group
And simultaneously vehicle cable.Wherein:
Alignment sensor group, for obtaining the coordinate information of modular cart group, including setting every module in the first modular cart group 1
The first alignment sensor group on vehicle, the second alignment sensor group being arranged in the second modular cart group 2 in every modular cart.The
One alignment sensor group includes two the first alignment sensors, and the second alignment sensor group also includes two the second orientation sensings
Device.As shown in the figure: two the first alignment sensors are distributed along its length in the modular cart, and two the second alignment sensors exist
It is distributed along its length in the modular cart, length direction is vertical with axis direction, and two alignment sensors, which are arranged, can be obtained this
Modular cart coordinate information, distribution mode can also, however it is not limited to which.That is: every mould in the first modular cart group 1
Block vehicle is respectively provided with two the first alignment sensors；Every modular cart in same second modular cart group is also provided with two second and determines
Level sensor.
Positioner group for obtaining the location information of modular cart group, including is arranged every in the first modular cart group 1
First position controller in modular cart is arranged in second position controller in the second modular cart group 2 in every modular cart, and
First position controller in one modular cart group 1 in same modular cart is connected with the first alignment sensor group, the second modular cart
Second position controller in group 2 in same modular cart is connected with the second alignment sensor group.The setting of first position controller
One, i.e. two the first alignment sensors in every modular cart are connected with the first position controller on the trolley；Second
Positioner is also provided with one, and two the second alignment sensors in every modular cart and the second position on the trolley control
Device is connected.
Master controller group, for establishing simultaneously vehicle model, including the first master controller being arranged in the first modular cart group 1
50, the second master controller 51 in the second modular cart group 2 is set, is owned in the first master controller 50 and the first modular cart group 1
The first position controller of modular cart is connected, the second of all modular carts in the second master controller 51 and the second modular cart group 2
Positioner is connected.First master controller 50, the second respectively setting one of master controller 51, the first master controller 50, second
One in master controller 51 is master controller.
And vehicle cable 6, for connecting the first master controller 50, the second master controller 51.
The method for rapidly positioning of lower the present embodiment is illustrated in detail below:
As shown in Figure 1, 2: the first modular cart group 1 includes two modular carts, and six axis modular carts 10 are connected to six axis modular carts
Four axistyle modular cart 11 after 10；Likewise, the second modular cart group 2 also includes two modular carts, six axis modular carts 20, connection
Four axistyle modular cart 21 after six axis modular carts 20.Modular cart group is only explained with two modular carts in the present embodiment, real
It can connect multiple six axis modular carts and multiple four axistyle modular carts or other axis modular carts on border after power unit.
In six axis modular carts 10, two first alignment sensor 30a, 30b, a first position controller 40a are set；
In four axistyle modular cart 11, two first alignment sensor 30c, 30d, a first position controller 40b are set；In the first mould
First power unit 70(PPU I of block vehicle group 1) on be arranged first master controller 50.Two the first alignment sensor 30a,
30b is attached with first position controller 40a, two first alignment sensors 30c, 30d and first position controller 40b into
Row connection, first position controller 40a, first position controller 40b and the first master controller 50 are attached.
In six axis modular carts 20, two second alignment sensor 31a, 31b, a second position controller 41a are set；
In four axistyle modular cart 21, two first alignment sensor 31c, 31d, a second position controller 41b are set；In the second mould
Second power unit 71(PPU II of block vehicle group 2) on be arranged second master controller 51.Two the second alignment sensor 31a,
31b is attached with second position controller 41a, two second alignment sensors 31c, 31d and second position controller 41b into
Row connection, first position controller 41a, first position controller 41b and the first master controller 51 are attached.
The first master controller 50, the first master controller in the second master controller 51 are set as master controller, and vehicle cable 6
Connect the first master controller 50, the second master controller 51.
Two first alignment sensors 30a, 30b of six axis modular carts 10 respectively believe the coordinate of be collected into two points
Breath is sent to first position controller 40a；Four axistyle modular cart 11 two first alignment sensors 30c, 30d will be collected respectively
To the coordinate informations of two points be sent to first position controller 40b；First position controller 40a, first position controller
40b calculates the position of six axis modular carts 10 and four axistyle modular cart 11 according to two coordinate informations respectively, and by the position
Information is sent to the first master controller 50.
Two second alignment sensors 31a, 31b of six axis modular carts 11 respectively believe the coordinate of be collected into two points
Breath is sent to second position controller 41a；Four axistyle modular cart 21 two second alignment sensors 31c, 31d will be collected respectively
To the coordinate informations of two points be sent to second position controller 41b；Second position controller 41a, second position controller
41b calculates the position of six axis modular carts 20 and four axistyle modular cart 21 according to two coordinate informations respectively, and by the position
Information is sent to the second master controller 51.
Information is fed back between first master controller 50, the second master controller 51, and by first master controller 50 therein
It is believed that breath establishes quickly simultaneously vehicle model, the first modular cart group 1, the second modular cart group 2 is completed according to simultaneously vehicle model and vehicle.
Due to the use of the positioning device, each modular cart group can also move quickly and accurately according to the information positioned in real time
To the demand position for the workpiece for needing to transport, and can be according to real-time position information quickly and accurately by workpiece transport to target position
It sets.
The above embodiments merely illustrate the technical concept and features of the present invention, and its object is to allow person skilled in the art
Scholar cans understand the content of the present invention and implement it accordingly, and it is not intended to limit the scope of the present invention.It is all according to the present invention
Equivalent change or modification made by Spirit Essence, should be covered by the protection scope of the present invention.
Claims (7)
1. a kind of hydraulic module vehicle fast-positioning device, it is characterised in that: include:
Alignment sensor group, for obtaining the coordinate information of modular cart group, including setting every module in the first modular cart group
The first alignment sensor group on vehicle, the second alignment sensor group being arranged in the second modular cart group in every modular cart；
Positioner group, for obtaining the location information of modular cart group, including setting every module in the first modular cart group
Second position controller in the second modular cart group in every modular cart, the first mould is arranged in first position controller on vehicle
First position controller described in same modular cart is connected with the first alignment sensor group in block vehicle group, the second mould
Second position controller described in same modular cart is connected with the second alignment sensor group in block vehicle group；
Master controller group, for establish and vehicle model, including be arranged in the first modular cart group the first master controller, setting exist
The of all modular carts in the second master controller in second modular cart group, first master controller and the first modular cart group
One positioner is connected, the second position control of all modular carts in second master controller and the second modular cart group
Device is connected；
And vehicle cable, for connecting first master controller, the second master controller.
2. a kind of hydraulic module vehicle fast-positioning device according to claim 1, it is characterised in that: first master control
One in device processed, the second master controller is master controller.
3. a kind of hydraulic module vehicle fast-positioning device according to claim 1, it is characterised in that: first master control
Device processed is arranged on the first power unit of the first modular cart group, and the second modular cart group is arranged in second master controller
On second power unit.
4. a kind of hydraulic module vehicle fast-positioning device according to claim 1, it is characterised in that: first master control
Device processed, the second master controller are respectively arranged one.
5. a kind of hydraulic module vehicle fast-positioning device according to claim 1, it is characterised in that: the first position
Controller, second position controller are respectively arranged one.
6. a kind of hydraulic module vehicle fast-positioning device according to claim 1, it is characterised in that: first positioning
Sensor group includes two the first alignment sensors, and the second alignment sensor group includes two the second alignment sensors.
7. a kind of hydraulic module vehicle method for rapidly positioning, it is characterised in that: include:
A, first master controller is set in the first modular cart group, is arranged in every modular cart in the first modular cart group
First alignment sensor, first position controller, by the first alignment sensor and first position controller in same modular cart
It is attached, the first position controller in all first modular cart groups in modular cart is attached with the first master controller；
One the second master controller is set in the second modular cart group, the is arranged in every modular cart in the second modular cart group
Two alignment sensors, second position controller, by same modular cart the second alignment sensor and second position controller into
Row connection, the second position controller in all second modular cart groups in modular cart is attached with the second master controller；
B, set the first master controller, one in the second master controller be master controller, and the first main control of vehicle cable connection
Device, the second master controller；
C, the coordinate information for being collected into the vehicle is sent to by the first alignment sensor in the first modular cart group in every modular cart
First position controller, first position controller calculate the position of the modular cart according to coordinate information, and by the letter of the position
Breath is sent to the first master controller；
The coordinate information for being collected into the vehicle is sent to by the second alignment sensor in the second modular cart group in every modular cart
Two-position controller, second position controller calculate the position of the modular cart according to coordinate information, and by the information of the position
It is sent to the second master controller；
D, information is fed back between the first master controller, the second master controller, and is established fastly by master controller therein according to information
Speed and vehicle model, the first modular cart group, the second modular cart group is completed according to simultaneously vehicle model and vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811493852.3A CN109343542A (en) | 2018-12-07 | 2018-12-07 | A kind of hydraulic module vehicle fast-positioning device and localization method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811493852.3A CN109343542A (en) | 2018-12-07 | 2018-12-07 | A kind of hydraulic module vehicle fast-positioning device and localization method |
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| Publication Number | Publication Date |
|---|---|
| CN109343542A true CN109343542A (en) | 2019-02-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811493852.3A Pending CN109343542A (en) | 2018-12-07 | 2018-12-07 | A kind of hydraulic module vehicle fast-positioning device and localization method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111873792A (en) * | 2020-07-31 | 2020-11-03 | 湖北航天技术研究院特种车辆技术中心 | Synchronous drive control method and device |
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| CN202294610U (en) * | 2011-08-19 | 2012-07-04 | 上海太腾机械设备有限公司 | Car synchronization system used in full-hydraulic module cars |
| CN104058004A (en) * | 2013-10-10 | 2014-09-24 | 湖北三江航天万山特种车辆有限公司 | Multiple module vehicle parallel operation steering control method and parallel operation system |
| CN106354923A (en) * | 2016-08-27 | 2017-01-25 | 湖北三江航天万山特种车辆有限公司 | Module vehicle load analysis device |
| CN208922119U (en) * | 2018-12-07 | 2019-05-31 | 苏州大方特种车股份有限公司 | A kind of hydraulic module vehicle fast-positioning device |
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2018
- 2018-12-07 CN CN201811493852.3A patent/CN109343542A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202294610U (en) * | 2011-08-19 | 2012-07-04 | 上海太腾机械设备有限公司 | Car synchronization system used in full-hydraulic module cars |
| CN104058004A (en) * | 2013-10-10 | 2014-09-24 | 湖北三江航天万山特种车辆有限公司 | Multiple module vehicle parallel operation steering control method and parallel operation system |
| CN106354923A (en) * | 2016-08-27 | 2017-01-25 | 湖北三江航天万山特种车辆有限公司 | Module vehicle load analysis device |
| CN208922119U (en) * | 2018-12-07 | 2019-05-31 | 苏州大方特种车股份有限公司 | A kind of hydraulic module vehicle fast-positioning device |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111873792A (en) * | 2020-07-31 | 2020-11-03 | 湖北航天技术研究院特种车辆技术中心 | Synchronous drive control method and device |
| CN111873792B (en) * | 2020-07-31 | 2022-02-22 | 湖北航天技术研究院特种车辆技术中心 | Synchronous drive control method and device |
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