CN109532379A - Adaptive adjustment balancing transporter and its intelligence control system and method - Google Patents
Adaptive adjustment balancing transporter and its intelligence control system and method Download PDFInfo
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- CN109532379A CN109532379A CN201811339081.2A CN201811339081A CN109532379A CN 109532379 A CN109532379 A CN 109532379A CN 201811339081 A CN201811339081 A CN 201811339081A CN 109532379 A CN109532379 A CN 109532379A
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- Prior art keywords
- reservation
- balancing transporter
- server
- controller
- balancing
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
- B60G17/0165—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input to an external condition, e.g. rough road surface, side wind
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
- B62D61/12—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with variable number of ground engaging wheels, e.g. with some wheels arranged higher than others, or with retractable wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2500/00—Indexing codes relating to the regulated action or device
- B60G2500/30—Height or ground clearance
Abstract
The invention discloses a kind of adaptive adjustment balancing transporter and its intelligence control systems and method, including carrier plate and controller, and carrier plate is supported through supporting leg to be arranged, the connection of supporting leg and controller；It is additionally provided with RFID label tag on carrier plate, path indicator and route instruction display screen are provided on carrier plate, path indicator and route instruction display screen are connect with the indication end group of controller；Reservation device or two dimensional code are provided on carrier plate；Reservation device is connect with controller, and two dimensional code and controller are bound, and reservation link is labeled in two dimensional code；It is linked by the reservation or reservation device sets destination；Vehicle wireless transmission module is connected on the data transmission terminal of controller, vehicle wireless transmission module with server for connecting；Register is provided in controller.The utility model has the advantages that route of making rational planning for, saves the time.It proposes that reservation operation rate-determining steps, route indicate rate-determining steps, self_adaptive adjusting step, realizes system intelligent control.
Description
Technical field
The present invention relates to balance car technical field, specifically a kind of adaptive adjustment balancing transporter and its intelligence control
System and method processed.
Background technique
With the development of intellectualized technology, balance car is occurred gradually in the visual field of people.In the prior art, balance car
Also rest on the vehicles or recreation etc. use.And in existing balance car, human body tendency is mostly used to control it
Anterior-posterior balance is kept, it is substantially impassable when encountering rugged location.And existing balance vehicle load is small, and to load-carrying
Object is configured with particular/special requirement, big with limitation.In medical or industrial applicability, balance car is substantially at blank.
Based on the above reasons, it is necessary to propose a kind of device, system, build a kind of infant industry transport vehicle.
Summary of the invention
The present invention provides a kind of adaptive adjustment balancing transporter and its intelligence control systems and method, realize that intelligence is pre-
About, the functions such as route planning, automatic adjusument.
In order to achieve the above objectives, the specific technical solution that the present invention uses is as follows:
A kind of adaptive adjustment balancing transporter, key are: including carrier plate and controller, the carrier plate is through N item
The supporting leg of telescopic folding supports setting, N number of elevating control end one-to-one correspondence of all supporting legs and the controller
Connection；
It is additionally provided with RFID label tag on the carrier plate, the RFID label tag and the controller correspond；
M path indicator and route instruction display screen, M path indicator and route are provided on the carrier plate
Instruction display screen is connect with the indication end group of the controller；
Reservation device or two dimensional code are provided on the carrier plate；The reservation device is connect with the controller, institute
It states two dimensional code and the controller is bound, and be labeled with reservation link in the two dimensional code；It links or reserves by the reservation
Device sets destination；
Vehicle wireless transmission module is connected on the data transmission terminal of the controller, the vehicle wireless transmission module is used
It is connect in server；Register is provided in the controller.
Through the above scheme, by controlling the telescopic folding of the supporting leg of N telescopic folding, realize that balancing transporter is more
Kind midstance is adjusted.Realize the functions such as folding, movement, height adjustment.And height adjustment can select wherein Y item support respectively
Leg, to shift to an earlier date automatic adjusument.To adapt to rugged section, guarantee that the cargo or the sick and wounded on carrier plate keep balance.And
Carrier plate bottom is provided with balanced detector, balanced detector is connect with controller, in real time to the balance of carrier plate and inclination
Angle is calculated.
By in RFID tag number, establish with balancing transporter, balancing transporter controller one-to-one relationship, with reality
Present balancing transporter running region carries out identification and control, carries out route planning, reservation operation and automatic adjusument.
Pass course indicator light realizes that route direction is guided.When wherein showing route direction guide, it can pass through and change route
Position is arranged to indicate instruction direction in indicator light display color, display number.Such as: if there are four colors, it is respectively adopted one
A color indicates a direction；Example indicates M direction using the display number lighted；Or M path indicator setting is existed
In M orientation of carrier plate, it is used to indicate direction.
By reservation device or two dimensional code, reservation operation is realized.Wherein reservation device at least display screen, key etc. or for touch
Screen carries out reservation operation by the way that reservation device or two dimensional code are entered server.Also, after reserving successfully, reservation data is saved
In a register.After completing reservation process, the data of register can be deleted either automatically or manually.Wherein data transmission passes through
The transmitting-receiving of wireless transport module realization data.
Further, the supporting leg includes Buffer Unit and telescopic component；
Wherein, the Buffer Unit includes spring and orientation lever, and the orientation lever is threaded through in the spring, the orientation
The length of bar is less than the spring-compressed length, and the spring one end is connect with the mounting surface of the carrier plate, and the spring is another
One end is connect with the telescopic component；
The telescopic component includes electric motor protecting shell, telescopic rod loop bar, telescopic rod and motor, the electric motor protecting shell,
Telescopic rod loop bar is integrally formed；
The telescopic rod is provided with sliding slot/sliding block along bar extending direction, and the telescopic rod is set in the telescopic rod loop bar
It is interior, and be slidably connected with the sliding block on the telescopic rod loop bar inner wall/sliding slot cooperation；
Telescopic rod driving end is provided with drive hole, the motor is mounted in the electric motor protecting shell, the electricity
Machine drive rod protrudes into the drive hole of the telescopic rod and is threadedly engaged connection；
Universal wheel is hinged in the one end at the driving end far from the telescopic rod；
The motor is connect with the elevating control end of the controller.
By above-mentioned design, Buffer Unit plays the role of buffering in rugged section, reduces degree of jolting.Wherein orientation lever
The fixed other end activity setting in one end.Telescopic component realize supporting leg it is intelligent elevated, wherein the telescopic rod loop bar of telescopic component,
Telescopic rod, motor driven bar three are assembled into screw rod connection structure, and driving telescopic rod is back and forth transported along motor driven bar extending direction
It is dynamic.It is hinged with universal wheel at the driving end of telescopic rod, the bending of universal wheel link block may be implemented.The driving end and ten thousand of telescopic rod
When being in bending to wheel hinged place, balancing transporter can be stopped.When the driving end of telescopic rod and universal wheel hinged place are in straight
When line connection status, universal wheel can be pushed to be balanced transport vehicle mobile.In order to improve reliability, in the driving of the telescopic rod
End is provided with fastener with universal wheel hinged place, for fastening hinged state.
A kind of adaptive adjustment balancing transporter intelligence control system, key technology are: including server, in the clothes
Reservation module, route indicating module, adaptive adjustment module are provided in business device；I RFID is connected on the server to read
Device is taken, the RFID reader is mounted at the branch crossing of balancing transporter stop over, and the RFID reader passes through reading
RFID label tag is determined the current location of balancing transporter；
The server is connect with database；
The server is connected with server wireless transport module, which is provided with Z wirelessly
Connectivity port, for being connect respectively with a vehicle wireless transmission module；
The server is connect with all lifts；
The reservation module is used to receive the reservation operation of any balancing transporter, which includes at least reservation and rise
Drop ladder, reservation place, reservation participate in staff using tool, reservation；
The route indicating module cooks up traveling road according to the reservation place of any balancing transporter and current location
Line；And driving direction signal is sent to corresponding balancing transporter；
The adaptive adjustment module is according to the out-of-flatness distributed point and corresponding out-of-flatness trend of travel route, to i.e.
The supporting leg bearing height that will travel to balancing transporter herein is adjusted.
By above-mentioned design, server realization is managed and controls to all balancing transporters, realizes balancing transporter
Intelligent transport.Wherein, the connection relationship between all balancing transporters is established by server wireless transport module.Server
The reservation module of setting is, it can be achieved that have the staff of reservation permission to pass through the reservation device or two dimensional code on balancing transporter
Into the reservation module, reservation operation is carried out.Wherein reservation lift is reserved during route planning.
The route indicating module of server setting realizes and carries out route planning to all balancing transporters, wherein route is advised
When drawing, when getting the FRID label information of the balancing transporter to be planned according to any RFID reader, positioning RFID is read
The current location of device is balanced transport vehicle current location to position to the balancing transporter, according to current location and
Place is reserved, travel route is obtained.Reservation lift operation can be carried out according to travel route.And it under steam, is mounted on each
The RFID reader of a branch road obtains balancing transporter position in real time, and controls the path indicator instruction row of balancing transporter
Sail direction.
The adaptive adjustment module of server setting passes through to the supporting leg branch that will travel to balancing transporter herein
Support height is adjusted, and realizes and adapts to different tilt angles, when ground inclination, by adjusting supporting leg bearing height, makes
Carrier plate is approached to horizontal plane always, guarantees the horizontality of loading, reduces degree of jolting.Wherein, carrier plate passes through balance detection
Device is to current tilt angle.It after the height of supporting leg by detecting in advance, saves in the database, and balancing transporter needs
Chinese herbaceous peony tailstock position is set, when adjusting height, needs to specify corresponding supporting leg.
It further describes, the database includes at least:
Balancing transporter can travel region route map, this can travel all out-of-flatness distributed points of region route map and right
The out-of-flatness trend answered；Wherein out-of-flatness trend includes tilt angle, length trend.
The number of I RFID reader and the RFID label tag of the position, all balancing transporters that are correspondingly arranged and right
Answer the number of controller, all balancing transporter supporting legs that height threshold, balancing transporter precedence information is adjusted；
All lift positions and accommodate information, can reserve can be reserved in the period lift information, can reserve place letter
Breath can be reserved using tool information, can reserve participation worker information；
All reservation operation reservation informations: reservation initial time, reservation terminate the time, have reserved lift number, in advance
About place, reserved using tool, reserved participate in staff；
All authority recognition data with reservation operation permission, the authority recognition data include staff's identity number
According to, authority recognition code data, balancing transporter permissions data, reservation range data, reserve priority data.
A kind of adaptive adjustment balancing transporter intelligent control method, it is crucial in the following steps are included:
For the step of carrying out reservation operation control；
For the step of carrying out route instruction control；
For the step of carrying out self_adaptive adjusting.
Further, wherein for the step of carrying out reservation operation control are as follows:
SA1: server obtains the reservation operation request that any balancing transporter issues；
The reservation operation or the reservation device by the way that corresponding carrier plate is arranged in issue；Or scanning is passed through using intelligent terminal
After two dimensional code on corresponding carrier plate is set, carries out corresponding A PP application/webpage/small routine and issue；
SA2: server proofreads balancing transporter identity, and obtains authority recognition data；If by capable of emitting pre-
About operation response, enters step SA3；Otherwise prompt reservation operation failure；
SA3: server obtains balancing transporter and issues all reservation informations；
SA4: server sorts according to balancing transporter precedence information and reservation order synthesis.
Further, wherein for the step of carrying out route instruction control are as follows:
SB1: the FRID label information that server is read according to any RFID reader obtains the FRID label information pair
The current location for the balancing transporter answered；
SB2: server carries out travel route rule to balancing transporter according to reservation place, the current location of reservation information
It draws, and pass course instruction display screen is shown；
SB3: server to corresponding balancing transporter issue route direction indicate information, and light it is right on balancing transporter
Answer the path indicator in direction.
Further, in step SB3, when encountering lift, all balancing transporters of lift real-time detection
FRID label information, and precedence information to the corresponding balancing transporter of the FRID label information got and reservation sequence are comprehensive
Sequence is closed, sequence of batching products is obtained；
When integrated ordered, it is suitable to obtain the conveying according to weight calculation for the weight ratio of setting precedence information, reservation sequence
Sequence.
Wherein, the weight ratio of reservation sequence is the value of customized setting.
Further, in step SB3, the path indicator or by color carry out direction show；Or by setting
Seated position carries out direction and shows.
Further, for carrying out self_adaptive adjusting the step of are as follows:
SC1: server obtains travel route and the current location of balancing transporter；
SC2: server according to the travel route of balancing transporter, current location obtain the balancing transporter it is next not
Smooth distributed point position and corresponding out-of-flatness trend；
SC3: the smooth operating range of server real-time detection balancing transporter and next out-of-flatness distributed point position；
SC4: when smooth operating range is less than Xmm, server, which issues, enters out-of-flatness distributed point preconditioning signals, adjusts
Wherein the bearing height of Y supporting leg is to adapt to the out-of-flatness trend；
SC5: when balancing transporter sails out of the out-of-flatness distributed point position, out-of-flatness distributed point letter is sailed out of in server sending
Number, the bearing height for adjusting all supporting legs is consistent.
Wherein, N, M, I, Z, Y are positive integer, and Y is less than or equal to N；X is the value of customized setting.I is according to branch road
Mouth quantity changes and changes.Z is more than or equal to balancing transporter vehicle fleet.
Beneficial effects of the present invention: specific structure and liftable supporting leg by designing balancing transporter are realized flat
Weighing apparatus transport vehicle is able to achieve height adjustment.And in conjunction with control system realize system multiple balancing transporters are controlled respectively and
Instruction facilitates staff to operate and search corresponding reservation place, guides route for staff, and can be according to urgent journey
Degree reserves lift in advance, and carries out priority ranking to lift.It makes rational planning for route, in emergency circumstances saves the time.And
It proposes that reservation operation rate-determining steps, route indicate rate-determining steps, self_adaptive adjusting step, realizes system intelligent control.
Detailed description of the invention
Fig. 1 is balancing transporter three-dimensional structure diagram of the invention；Front view
Fig. 2 is balancing transporter front view of the invention；
Fig. 3 is balancing transporter telescopic component cross-sectional view of the invention；
Fig. 4 is the enlarged drawing of A in Fig. 1；
Fig. 5 is balancing transporter control block diagram of the invention；
Fig. 6 is balancing transporter intelligence control system block diagram of the invention；
Fig. 7 is the step flow chart of progress reservation operation control of the invention；
Fig. 8 is the step flow chart for carrying out route instruction control of the invention；
Fig. 9 is the step flow chart of progress self_adaptive adjusting of the invention.
Specific embodiment
Specific embodiment and working principle of the present invention will be described in further detail with reference to the accompanying drawing.
It is a kind of adaptively to adjust balancing transporter and its intelligence control system and method in conjunction with Fig. 1-9, in implementation process
In, it can be by the transport of balancing transporter and its intelligence control system and approach application to precise lathe cutting parts either hospital pair
In the transport of first-aid patients.
From Fig. 1-5 as can be seen that a kind of adaptive adjustment balancing transporter, key are: including carrier plate 1 and control
Device 3, the carrier plate 1 support setting, all supporting legs 2 and the 4 of the controller 3 through the supporting leg 2 of 4 telescopic foldings
A elevating control end connects one to one；It is additionally provided with RFID label tag on the carrier plate 1, the RFID label tag and the control
Device 3 corresponds.In the present embodiment, RFID label tag is high-frequency label.
M path indicator 4a and route instruction display screen 4b, M path indicator are provided on the carrier plate 1
4a and route instruction display screen 4b are connect with the indication end group of the controller 3；Wherein, M=3.
Reservation device 5 or two dimensional code are provided on the carrier plate 1；The reservation device 5 connects with the controller 3
It connects, the two dimensional code and the controller 3 are bound, and reservation link is labeled in the two dimensional code；Linked by the reservation or
Person's reservation device 5 sets destination；Vehicle wireless transmission module 6a, the vehicle are connected on the data transmission terminal of the controller 3
Wireless transport module 6 with server 7 for connecting；Register is provided in the controller 3.
In the present embodiment, display is provided on carrier plate 1.In the present embodiment, reservation device is embedded in display
On, and it is used to show travel route, the data of reservation operation, power module electricity data of planning in display.
In the present embodiment, 1 loading surface of carrier plate is rectangle, and one short end of setting is front end, and a short end is tail end.
4 supporting legs 2 are uniformly arranged on four angles.
It can also be seen that from Fig. 2 and Fig. 5 and 1 bottom of carrier plate be provided with balanced detector, balanced detector and controller
3 connections.In the present embodiment, balanced detector circulating line is marked with the water of 3/4ths pipelines, ring pipe in circulating line
Road is parallel with 1 loading surface of carrier plate and is arranged along 1 edge of carrier plate.There are two centers pair for setting on the circulating line
The liquid level sensor of title, and it is separately positioned on 1 front end of carrier plate and tail end, 2 liquid level sensors are connect with controller 3, when it
In the liquid level that detects of any one liquid level sensor when being equal to 0, then the supporting leg 2 for controlling corresponding direction carries out height tune
Section.
Voice prompting device 4c is provided on carrier plate 1, which connect with the controller 3.
1 bottom of carrier plate is provided with power module, in the present embodiment, power module be arranged battery, reduction voltage circuit,
Voltage regulator circuit, in use process, using the form of charging.
In the present embodiment, controller 3 uses STM32F103VET6 for main control chip.
From Fig. 1-5 it can also be seen that the supporting leg 2 includes Buffer Unit 21 and telescopic component 22；Wherein, the buffering
Component 21 includes spring 21a and orientation lever 21b, and the orientation lever 21b is threaded through in the spring 21a, the orientation lever 21b's
Length is less than the spring 21a reduction length, and the one end the spring 21a is connect with the mounting surface of the carrier plate 1, the spring
The 21a other end is connect with the telescopic component 22；The telescopic component 22 include electric motor protecting shell 22a, telescopic rod loop bar 22b,
Telescopic rod 22c and motor 22d, the electric motor protecting shell 22a, telescopic rod loop bar 22b are integrally formed；The edge the telescopic rod 22c
Bar extending direction is provided with sliding block, and the telescopic rod 22c is set in the telescopic rod loop bar 22b, and with the flexible rod set
Sliding slot cooperation on bar 22b inner wall is slidably connected；Telescopic rod 22c driving end is provided with drive hole, the motor 22d peace
In the electric motor protecting shell 22a, the motor 22d drive rod protrudes into the drive hole of the telescopic rod 22c and matches through screw thread
Close connection.
From figure 3, it can be seen that being hinged with universal wheel 23 in the one end at the driving end far from the telescopic rod 22c.
From fig. 5, it can be seen that the motor 22d is connect with the elevating control end of the controller 3.
In the present embodiment, motor-drive circuit is provided between the motor 22d and controller 3.
In the present embodiment, carrier plate 1 is provided with push rod and handrail, wherein the height of handrail can according to loading height into
Row is adjusted.
It can also be seen that a kind of adaptive adjustment balancing transporter intelligence control system from Fig. 5 and Fig. 6, it is characterised in that:
Including server 7, reservation module 7a, route indicating module 7b, adaptive adjustment module 7c are provided in the server 7；Institute
It states and is connected with I RFID reader 8 on server 7, the RFID reader 8 is mounted on the branch crossing of balancing transporter stop over
Place, the RFID reader 8 are determined the current location of balancing transporter by reading RFID label tag；Wherein I is according to branch
Road crossing quantity is set.The server 7 is connect with database 9.
The server 7 is connected with server wireless transport module 6b, and server wireless transport module 6b is provided with Z
Wireless connection port, for being connect respectively with a vehicle wireless transmission module 6a；Wherein, Z is transported more than or equal to all balances
The sum of vehicle.Balancing transporter sum is z.
The server 7 is connect with all lifts；In the present embodiment, it is provided in lift carriage and outside carriage
RFID reader carries out vehicle identification verification, carries out the control of car switch door by reading vehicle RFID label tag.
In the present embodiment, the reservation module 7a is used to receive the reservation operation of any balancing transporter, reservation behaviour
Make to include reserving lift, reservation place, reserving using tool, reservation participation staff；
In the present embodiment, the route indicating module 7b is according to the reservation place of any balancing transporter and present bit
It sets, planning department's travel route；And driving direction signal is sent to corresponding balancing transporter；
In the present embodiment, the adaptive adjustment module 7c is according to the out-of-flatness distributed point of travel route and corresponding
2 bearing height of supporting leg that will travel to balancing transporter herein is adjusted in out-of-flatness trend.
In the present embodiment, the database 9 includes at least: balancing transporter can travel region route map, this can travel
All out-of-flatness distributed points and corresponding out-of-flatness trend of region route map；The number and correspondence of I RFID reader 8
Number, all balancing transporter supporting legs 2 of the position of setting, the RFID label tag of all balancing transporters and corresponding controller
Adjustable height threshold, balancing transporter precedence information；All lift positions and accommodate that information, can reserve can in the period
Reservation lift information can reserve Locale information, can reserve using tool information, can reserve participation worker information；It is all
Reservation operation reservation information: reservation initial time, reservation terminate the time, have reserved lift number, reserved place, reserved
Using tool, participation staff is reserved；All authority recognition data with reservation operation permission.
A kind of adaptive adjustment balancing transporter intelligent control method, key be the following steps are included:
In conjunction with Fig. 7, for the step of carrying out reservation operation control, specifically:
SA1: server obtains the reservation operation request that any balancing transporter issues；
The reservation operation or the reservation device 5 by the way that corresponding carrier plate 1 is arranged in issue；Or using intelligent terminal by sweeping
After retouching the two dimensional code being arranged on corresponding carrier plate 1, carries out corresponding A PP application/webpage/small routine and issue；
SA2: server proofreads balancing transporter identity, and obtains authority recognition data；If by capable of emitting pre-
About operation response, enters step SA3；Otherwise prompt reservation operation failure；
SA3: server obtains balancing transporter and issues all reservation informations；
SA4: server sorts according to balancing transporter precedence information and reservation order synthesis.
In conjunction with Fig. 8, for carrying out the step of route instruction controls, specifically:
SB1: the FRID label information that server is read according to any RFID reader 8 obtains the FRID label information
The current location of corresponding balancing transporter；
SB2: server carries out travel route rule to balancing transporter according to reservation place, the current location of reservation information
It draws, and pass course instruction display screen 4b is shown；
SB3: server to corresponding balancing transporter issue route direction indicate information, and light it is right on balancing transporter
Answer the path indicator 4a in direction.
In step SB3, when encountering lift, the RFID label tag of all balancing transporters of lift real-time detection is believed
Breath, and to the precedence information of the corresponding balancing transporter of the FRID label information got and reservation order synthesis sequence, it obtains
To sequence of batching products；
When integrated ordered, it is suitable to obtain the conveying according to weight calculation for the weight ratio of setting precedence information, reservation sequence
Sequence.
In step SB3, the path indicator 4a or by color carry out direction show；Or it is carried out by setting position
Direction is shown.
In conjunction with Fig. 9, for the step of carrying out self_adaptive adjusting, specifically:
SC1: server obtains travel route and the current location of balancing transporter；
SC2: server according to the travel route of balancing transporter, current location obtain the balancing transporter it is next not
Smooth distributed point position and corresponding out-of-flatness trend；
SC3: the smooth operating range of server real-time detection balancing transporter and next out-of-flatness distributed point position；
SC4: when smooth operating range is less than Xmm, server, which issues, enters out-of-flatness distributed point preconditioning signals, adjusts
Wherein the bearing height of Y supporting leg 2 is to adapt to the out-of-flatness trend；
In the present embodiment, X=2000mm.Y=2.
SC5: when balancing transporter sails out of the out-of-flatness distributed point position, out-of-flatness distributed point letter is sailed out of in server sending
Number, the bearing height for adjusting all supporting legs 2 is consistent.
It should be pointed out that the above description is not a limitation of the present invention, the present invention is also not limited to the example above,
Variation, modification, addition or the replacement that those skilled in the art are made within the essential scope of the present invention, are also answered
It belongs to the scope of protection of the present invention.
Claims (10)
1. a kind of adaptive adjustment balancing transporter, it is characterised in that: including carrier plate (1) and controller (3), the carrier plate
(1) supporting leg (2) through N telescopic folding supports setting, N number of liter of all supporting legs (2) and the controller (3)
Drop control terminal connects one to one；
It is additionally provided with RFID label tag on the carrier plate (1), the RFID label tag and the controller (3) correspond；
M path indicator (4a) and route instruction display screen (4b), M route instruction are provided on the carrier plate (1)
Lamp (4a) and route instruction display screen (4b) are connect with the indication end group of the controller (3)；
Reservation device (5) or two dimensional code are provided on the carrier plate (1)；The reservation device (5) and the controller (3)
Connection, the two dimensional code and the controller (3) are bound, and reservation link is labeled in the two dimensional code；Pass through the reservation chain
It connects or reservation device (5) sets destination；
It is connected with vehicle wireless transmission module (6a) on the data transmission terminal of the controller (3), the vehicle wireless transmission mould
Block (6) with server (7) for connecting；Register is provided in the controller (3).
2. adaptive adjustment balancing transporter according to claim 1, it is characterised in that: the supporting leg (2) includes slow
Rush component (21) and telescopic component (22)；
Wherein, the Buffer Unit (21) includes spring (21a) and orientation lever (21b), and the orientation lever (21b) is threaded through described
In spring (21a), the length of the orientation lever (21b) is less than the spring (21a) reduction length, described spring (21a) one end
It is connect with the mounting surface of the carrier plate (1), spring (21a) other end is connect with the telescopic component (22)；
The telescopic component (22) includes electric motor protecting shell (22a), telescopic rod loop bar (22b), telescopic rod (22c) and motor
(22d), the electric motor protecting shell (22a), telescopic rod loop bar (22b) are integrally formed；
The telescopic rod (22c) is provided with sliding slot/sliding block along bar extending direction, and the telescopic rod (22c) is set in described flexible
In rod set bar (22b), and it is slidably connected with the sliding block on telescopic rod loop bar (22b) inner wall/sliding slot cooperation；
The telescopic rod (22c) driving end is provided with drive hole, the motor (22d) is mounted on the electric motor protecting shell
In (22a), motor (22d) drive rod protrudes into the drive hole of the telescopic rod (22c) and is threadedly engaged connection；
Universal wheel (23) are hinged in the one end at the driving end far from the telescopic rod (22c)；
The motor (22d) connect with the elevating control end of the controller (3).
3. a kind of adaptive adjustment balancing transporter intelligence control system, it is characterised in that: including server (7), in the service
Reservation module (7a), route indicating module (7b), adaptive adjustment module (7c) are provided in device (7)；On the server (7)
It is connected with I RFID reader (8), the RFID reader (8) is mounted at the branch crossing of balancing transporter stop over, described
RFID reader (8) is determined the current location of balancing transporter by reading RFID label tag；
The server (7) connect with database (9)；
The server (7) is connected with server wireless transport module (6b), which is provided with Z
A wireless connection port, for being connect respectively with a vehicle wireless transmission module (6a)；
The server (7) connect with all lifts；
The reservation module (7a) is used to receive the reservation operation of any balancing transporter, which includes at least reservation and rise
Drop ladder, reservation place, reservation participate in staff using tool, reservation；
The route indicating module (7b) travels road according to the reservation place of any balancing transporter and current location, planning department
Line；And driving direction signal is sent to corresponding balancing transporter；
The adaptive adjustment module (7c) is according to the out-of-flatness distributed point and corresponding out-of-flatness trend of travel route, to i.e.
Supporting leg (2) bearing height that will travel to balancing transporter herein is adjusted.
4. adaptive adjustment balancing transporter intelligence control system according to claim 3, it is characterised in that: the data
Library (9) includes at least:
Balancing transporter can travel region route map, this can travel all out-of-flatness distributed points of region route map and corresponding
Out-of-flatness trend；
The number of I RFID reader (8) and the RFID label tag and correspondence of the position, all balancing transporters that are correspondingly arranged
Height threshold, balancing transporter precedence information is adjusted in the number of controller, all balancing transporter supporting legs (2)；
All lift positions and accommodate information, can reserve can be reserved in the period lift information, Locale information can be reserved, can
Reservation uses tool information, can reserve participation worker information；
All reservation operation reservation informations: reservation initial time, reservation terminate the time, have reserved lift number, reserved field
Institute has reserved using tool, has reserved participation staff；
All authority recognition data with reservation operation permission.
5. a kind of adaptive adjustment balancing transporter intelligent control method, it is characterised in that the following steps are included:
For the step of carrying out reservation operation control；
For the step of carrying out route instruction control；
For the step of carrying out self_adaptive adjusting.
6. adaptive adjustment balancing transporter intelligent control method according to claim 5, it is characterised in that for carrying out
The step of reservation operation controls are as follows:
SA1: server obtains the reservation operation request that any balancing transporter issues；
The reservation operation is issued by setting in the reservation device (5) for corresponding to carrier plate (1)；Or using intelligent terminal by sweeping
Setting is retouched after the two dimensional code on corresponding carrier plate (1), corresponding A PP application/webpage/small routine is carried out and issues；
SA2: server proofreads balancing transporter identity, and obtains authority recognition data；If being grasped by capable of emitting reservation
It responds, enters step SA3；Otherwise prompt reservation operation failure；
SA3: server obtains balancing transporter and issues all reservation informations；
SA4: server sorts according to balancing transporter precedence information and reservation order synthesis.
7. adaptive adjustment balancing transporter intelligent control method according to claim 6, it is characterised in that for carrying out
The step of route instruction control are as follows:
SB1: the FRID label information that server is read according to any RFID reader (8) obtains the FRID label information pair
The current location for the balancing transporter answered；
SB2: server carries out travel route planning to balancing transporter according to reservation place, the current location of reservation information, and
Pass course indicates display screen (4b) display；
SB3: server issues route direction to corresponding balancing transporter and indicates information, and lights counterparty on balancing transporter
To path indicator (4a).
8. adaptive adjustment balancing transporter intelligent control method according to claim 7, it is characterised in that in step SB3
In, when encountering lift, the FRID label information of all balancing transporters of lift real-time detection, and to the RFID got
The precedence information of the corresponding balancing transporter of label information and reservation order synthesis sequence, obtain sequence of batching products；
When integrated ordered, the weight ratio of setting precedence information, reservation sequence obtains the sequence of batching products according to weight calculation.
9. adaptive adjustment balancing transporter intelligent control method according to claim 7, it is characterised in that in step SB3
In, the path indicator (4a) or by color carry out direction show；Or direction is carried out by setting position and is shown.
10. adaptive adjustment balancing transporter intelligent control method according to claim 7, it is characterised in that for into
The step of row self_adaptive adjusting are as follows:
SC1: server obtains travel route and the current location of balancing transporter；
SC2: server obtains next out-of-flatness of the balancing transporter according to the travel route of balancing transporter, current location
Distributed point position and corresponding out-of-flatness trend；
SC3: the smooth operating range of server real-time detection balancing transporter and next out-of-flatness distributed point position；
SC4: when smooth operating range is less than Xmm, server, which issues, enters out-of-flatness distributed point preconditioning signals, adjusts wherein
The bearing height of Y supporting leg (2) is to adapt to the out-of-flatness trend；
SC5: when balancing transporter sails out of the out-of-flatness distributed point position, out-of-flatness distributed point signal is sailed out of in server sending,
The bearing height for adjusting all supporting legs (2) is consistent.
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| CN113187264A (en) * | 2021-05-12 | 2021-07-30 | 江苏省苏中建设集团股份有限公司 | Adopt shaped steel and fastener for slat to carry out assembled building who connects |
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