CN109911059A - Power induction type follows trolley - Google Patents
Power induction type follows trolley Download PDFInfo
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- CN109911059A CN109911059A CN201910214522.4A CN201910214522A CN109911059A CN 109911059 A CN109911059 A CN 109911059A CN 201910214522 A CN201910214522 A CN 201910214522A CN 109911059 A CN109911059 A CN 109911059A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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Abstract
The present invention relates to a kind of power induction types to follow trolley, the car body of more than one four motorized wheels of fleet is formed including connecting for front and back, one push-pull mechanism and more than one power induction mechanism, each power induction mechanism includes the first strut and tie and the second strut and tie, first strut and tie and the second strut and tie are respectively by two first connecting rods and the first pull pressure sensor, two second connecting rods and the second pull pressure sensor are fixedly connected into rod-shaped, one end of first strut and tie and the second strut and tie is respectively hinged at corresponding car body front end right side and left side, the other end of first strut and tie and the second strut and tie is connected with each other integral, formed can pitching triangular connector, the other end of first strut and tie and the second strut and tie is used to be rotatablely connected the rear end of push-pull mechanism or adjacent car body；The push-pull mechanism includes pull rod, and pull rod one end is rotatably connected on the other end of the first strut and tie and the second strut and tie positioned at fleet's foremost car body, and the pull rod other end is equipped with push-and-pull tractive unit and control switch.
Description
Technical field
The present invention relates to equipment technical field is followed, trolley is followed more particularly, to a kind of power induction type.
Background technique
Based on the system for tracking of the non-contact wireless technology such as infrared, vision, RFID, all exists and be difficult in complicated traffic environment
The problem of lower use.For example, target is easily lost in the environment that People are hurrying to and fro using the Following Car of above-mentioned wireless technology, or
Person be easy to cause the erroneous judgement of Following Car when passerby passes through between the person of being followed and Following Car.In addition, using above-mentioned wireless skill
The Following Car of art, there is also structure is complicated, cost is high, and asks the motion change responding ability deficiency etc. for the person of being followed
Topic.
Summary of the invention
In view of the above-mentioned deficiencies in the prior art, it is an object of the present invention to provide, a kind of design is reasonable, and structure is simple, at low cost
It is honest and clean, it follows responding ability strong and the power induction type of good reliability follows trolley.
To achieve the above object, the invention adopts the following technical scheme:
Power induction type follows trolley comprising more than one car body to form fleet is connected for front and back, each car body is equipped with
Four wheels, four driving motors, braking system and entire car controller, four wheels are respectively arranged on vehicle bottom two sides,
Four wheels are respectively by four driving motor driving rotations, and four wheels are braked by braking system respectively, the vehicle control
Device processed further includes one respectively with braking system and four driving motor communication connections for controlling four wheel brakings and rotation
Push-pull mechanism and more than one power induction mechanism；Wherein,
More than one power induction mechanism, which respectively corresponds, to be arranged on more than one car body, and each power induction mechanism includes the first drawing
Compression bar and the second strut and tie, first strut and tie are drawn by two first connecting rods and first between two first connecting rods
Pressure sensor is fixedly connected into rod-shaped, and second strut and tie is by two second connecting rods and is located between two second connecting rods
The second pull pressure sensor be fixedly connected into rod-shaped, one end of first strut and tie and the second strut and tie is respectively hinged at phase
Car body front end right side and left side are answered, the other end interconnection of the first strut and tie and the second strut and tie is integral, and formation can pitching
Triangular connector, the other end of first strut and tie and the second strut and tie is for being rotatablely connected push-pull mechanism or adjacent
The rear end of car body；
The push-pull mechanism includes pull rod, and pull rod one end is rotatably connected on the first strut and tie and positioned at fleet's foremost car body
The other end of two strut and ties, the pull rod other end are equipped with push-and-pull tractive unit and control switch；
The control switch is used to send to each entire car controller is synchronous respectively with the entire car controller communication connection of all car bodies
The working signal whether started to work；
First pull pressure sensor and the second pull pressure sensor are detected respectively suffered by the first strut and tie and the second strut and tie
Pulling force or pressure size, and generate the entire car controller that corresponding tension and compression force signal is sent to corresponding car body；
The entire car controller working signal and tension and compression force signal based on the received control braking system to four wheel systems
Dynamic or releasing braking controls four driving motors driving corresponding wheels rotations.
Preferably, each car body side is equipped with crash sensor for detecting whether colliding, and generate collision
Signal is sent to the entire car controller of corresponding car body, and collision alarm controls braking system to four to entire car controller based on the received
Wheel is braked.
Preferably, each car body both ends are equipped with signaling interface, the signaling interface is interior equipped with Internal cable and corresponding
Entire car controller communication connection is connect by External cable and the signal of control switch or adjacent car body abutting end at signaling interface
Mouth communication connection.
Preferably, each car body front end is equipped with the indicator light for display working condition, the indicator light and vehicle
Controller communication connection, the vehicle control unit controls indicator light and control switch open-shut linkage, and after indicator light unlatching, control
Indicator light processed shows different colours when driving motor rotates and stops.
Preferably, each body rear end be equipped with it is another for connecting adjacent the first strut and tie of car body and the second strut and tie
The rotational connector at end.This rotational connector is articulated with body rear end, and free pitching movement can be done relative to car body.
Preferably, each car body includes cabin and power supply unit, the nacelle top is equipped with plummer, plummer two
End is respectively equipped with Anti-fall baffle, and the power supply unit and entire car controller are arranged in cabin, the power supply unit difference
It is electrically connected with four driving motors, braking system and entire car controller to provide power supply.
Preferably, the push-and-pull tractive unit is handle.
Preferably, the control switch is non-self-lock-ing formula push switch.
Preferably, the control method of the entire car controller includes the following steps:
1) entire car controller receives the working signal that control switch is sent, then enters working condition, executes step 2；
2) entire car controller receives the tension and compression force signal that the first pull pressure sensor and the second pull pressure sensor are sent respectively, sentences
Disconnected first strut and tie and the second strut and tie whether under tension or pressure, if so, control braking system to four wheels into
Row releases braking, and executes step 3), brakes if it is not, then controlling braking system to four wheels；
3) entire car controller analyzes the first strut and tie and the second strut and tie is pulling force or pressure, and according to the first strut and tie
The size of pulling force L2 suffered by the size of suffered pulling force L1 or pressure Y1 and the second strut and tie or pressure Y2 controls four drives
Dynamic motor respectively drives car body right side wheels and left side wheel rotation, and Controlling principle is as follows:
A) when the first strut and tie and the second strut and tie while under tension, and when L1=L2, car body right side wheels and left side are controlled
Wheel rotates forward, and the revolving speed for controlling car body right side wheels is equal to the revolving speed of left side wheel with straight ahead, and pulling force is got over
Greatly, vehicle wheel rotation is faster；
B) when the first strut and tie and the second strut and tie while under tension, and when L1 < L2, car body right side wheels and left side are controlled
Wheel rotates forward, and the revolving speed for controlling car body right side wheels is less than the revolving speed of left side wheel and is advanced with turning right, and pulling force is poor
Bigger, rotational speed difference is bigger；
C) when the first strut and tie and the second strut and tie while under tension, and when L1 > L2, car body right side wheels and left side are controlled
Wheel rotates forward, and the revolving speed for controlling car body right side wheels is greater than the revolving speed of left side wheel to turn left to advance, and pulling force is poor
Bigger, rotational speed difference is bigger；
D) when the first strut and tie and the second strut and tie are under pressure simultaneously, and when Y1=Y2, car body right side wheels and left side are controlled
Wheel rotates backward, and the revolving speed for controlling car body right side wheels is retreated equal to the revolving speed of left side wheel with straight line, and pressure is got over
Greatly, vehicle wheel rotation is faster；
E) when the first strut and tie and the second strut and tie are under pressure simultaneously, and when Y1 < Y2, car body right side wheels and left side are controlled
Wheel rotates backward, and the revolving speed for controlling car body right side wheels is less than the revolving speed of left side wheel and is retreated with turning right, and pressure difference
Bigger, rotational speed difference is bigger；
F) when the first strut and tie and the second strut and tie are under pressure simultaneously, and when Y1 > Y2, car body right side wheels and left side are controlled
Wheel rotates backward, and the revolving speed for controlling car body right side wheels is greater than the revolving speed of left side wheel to turn left to retreat, and pressure difference
Bigger, rotational speed difference is bigger；
G) when the first strut and tie under tension L1(pulling force is denoted as positive value), and the second strut and tie be under pressure Y2(pressure be denoted as it is negative
Value) when, control car body right side wheels rotate forward and (rotate forward speed and be denoted as positive value), and control vehicle body left side wheel and reversely turn
Dynamic (rotate backward speed and be denoted as negative value), with left face to and rotational speed difference is determined by the difference of L1 and Y2；
H) when the first strut and tie Y1(pressure that is under pressure is denoted as negative value), and the second strut and tie under tension L2(pulling force is denoted as just
Value) when, control car body right side wheels rotate backward and (rotate backward speed and be denoted as negative value), and control vehicle body left side wheel forward direction and turn
Dynamic (rotate forward speed and be denoted as positive value), is turned to the right, and rotational speed difference is determined by the difference of Y1 and L2 with original place.
The invention adopts the above technical scheme, in the power induction mechanism that each car body front end is added, lead to it can not only
It crosses the first pull pressure sensor and the second pull pressure sensor detects pulling force suffered by the first strut and tie and the second strut and tie respectively
Or pressure size, consequently facilitating entire car controller controls four driving motors and braking system work according to its tension and compression force signal
Make, this kind of power induction mechanism structure is simple, low in cost, easy operation, response quickly, reliable operation, and being capable of the company of rotation
It connects on the rotational connector that the adjacent body rear end in front is equipped with, thus connect to form the fleet that front and back sequentially links into an integrated entity,
Conevying efficiency is high, manipulates simple and convenient, effectively overcomes conventional wireless techniques Following Car and is easily lost and follows target and Following Car
The defect of erroneous judgement.
Detailed description of the invention
Now in conjunction with attached drawing, the present invention is further elaborated:
Fig. 1 is the schematic top plan view that power induction type of the present invention follows trolley；
Fig. 2 is the schematic front view of car body of the present invention；
Fig. 3 is the schematic top plan view of car body of the present invention；
Fig. 4 is the control principle block diagram of car body of the present invention.
Specific embodiment
Shown in one of picture 1-4, power induction type of the invention follows trolley comprising connects to form fleet for front and back
More than one car body 1, each car body 1 is all provided with there are four wheel, four driving motors, braking system and entire car controller, described
Four wheels are respectively arranged on 1 two sides of the bottom of car body, and four wheels are respectively by four driving motor driving rotations, four wheel difference
It is braked by braking system, the entire car controller is respectively with braking system and four driving motor communication connections for controlling
Four wheel brakings and rotation further include a push-pull mechanism 2 and more than one power induction mechanism 3；Wherein,
More than one power induction mechanism 3, which respectively corresponds, to be arranged on more than one car body 1, and each power induction mechanism 3 includes the
One strut and tie 31 and the second strut and tie 32, first strut and tie 31 is by two first connecting rods 311 and is located at two first companies
The first pull pressure sensor 312 between bar 311 is fixedly connected into rod-shaped, and second strut and tie 32 is by two second connecting rods
321 and the second pull pressure sensor 322 between two second connecting rods 321 be fixedly connected into it is rod-shaped, it is described first draw
One end of compression bar 31 and the second strut and tie 32 is respectively hinged at corresponding 1 front end right side and left side of car body, the first strut and tie 31 and
The other ends of two strut and ties 32 be connected with each other it is integral, formed can pitching triangular connector, 31 He of the first strut and tie
The other end of second strut and tie 32 is used to be rotatablely connected the rear end of push-pull mechanism 2 or adjacent car body 1；
The push-pull mechanism 2 includes pull rod 21, and 21 one end of pull rod is rotatably connected on the first tension and compression positioned at fleet's foremost car body 1
The other end of bar 31 and the second strut and tie 32,21 other end of pull rod are equipped with push-and-pull tractive unit 22 and control switch 23；
The control switch 23 is used for hair synchronous to each entire car controller with the entire car controller communication connection of all car bodies 1 respectively
Send the working signal whether started to work；
First pull pressure sensor 312 and the second pull pressure sensor 322 detect the first strut and tie 31 and second respectively and draw
Pulling force suffered by compression bar 32 or pressure size, and generate the entire car controller that corresponding tension and compression force signal is sent to corresponding car body 1；
The entire car controller working signal and tension and compression force signal based on the received control braking system to four wheel systems
Dynamic or releasing braking controls four driving motors driving corresponding wheels rotations.
Preferably, first strut and tie 31 and the second strut and tie 32 are formed by hard material.
Preferably, the push-and-pull tractive unit 22 is handle.
Preferably, the control switch 23 is non-self-lock-ing formula push switch.
Preferably, each 1 rear end of car body is equipped with for connecting adjacent 1 first strut and tie 31 of car body and the second strut and tie
The rotational connector 11 of 32 other ends.This rotational connector 11 is articulated with 1 rear end of car body, can do relative to car body 1 and freely bow
Face upward movement.The design enables more than one car body 1 front and back from structure to link into an integrated entity, so that multiple car bodies 1 are concatenated
Together, fleet is formed.
Preferably, each 1 front end of car body is equipped with the indicator light 12 for display working condition, the indicator light 12 with
Entire car controller communication connection, the vehicle control unit controls indicator light 12 and 23 open-shut linkage of control switch, and in indicator light
After 12 open, control instructions lamp 12 shows different colours when driving motor rotates and stops.
The invention adopts the above technical scheme, first strut and tie 31 and the other end interconnected of the second strut and tie 32
The one end that car body 1 can be articulated with respect to the first strut and tie 31 and the second strut and tie 32 moves in a circle in perpendicular, described
After the rotation connection of the other end of push-pull mechanism 2 or rotational connector 11 and the first strut and tie 31 and the second strut and tie 32,
It planar moves in a circle around tie point in the triangular connector that the first strut and tie 31 and the second strut and tie 32 are constituted；Institute
Stating the first pull pressure sensor 312 and the second pull pressure sensor 322 is one-dimensional force snesor, can experience the first strut and tie
31 and the positive negative force (that is, pulling force or pressure) in 32 axial direction of the second strut and tie variation, therefore, the first strut and tie 31 and second
Pulling force suffered by strut and tie 32 or pressure can be detected by corresponding pull pressure sensor；The pull rod 21 of the push-pull mechanism 2 is
Trolley is pulled or pushed for user and is designed, 21 one end of pull rod is connected on triangular connector, and the other end is equipped with handle,
Control switch 23 on hand is non-self-lock-ing formula push switch, and user only presses lower switch, and trolley can just work, 12 electricity of indicator light
It connects, if trolley does not move at this time, indicator light 12 shows yellow, if trolley is mobile at this time, indicator light 12 shows green, such as
Fruit user's trip switch, switch can bounce automatically, and trolley will stop working immediately, and indicator light 12 then extinguishes.
Preferably, each 1 side of car body is equipped with crash sensor 13 for detecting whether colliding, and generates and touch
The entire car controller that signal is sent to corresponding car body 1 is hit, collision alarm controls braking system pair to entire car controller based on the received
Four wheels are braked.The design judges whether to collide so that entire car controller collision alarm based on the received, if
It is then to control braking system to carry out braking brake to four wheels immediately, while control instructions lamp 12 is displayed in red.
Preferably, each 1 both ends of car body are equipped with signaling interface 14, be equipped in the signaling interface 14 Internal cable with
Corresponding entire car controller communication connection passes through External cable 15 and 1 phase of control switch 23 or adjacent car body at signaling interface 14
14 communication connection of signaling interface of neighboring terminal.Before the design can will be located at fleet foremost car body 1 using External cable 15
Control switch 23 on the signaling interface 14 at end and 21 handle of pull rod carries out signal connection, and by the signaling interface of 1 rear end of car body
14 carry out signal connection with the signaling interface 14 of adjacent 1 abutting end of car body, so that the car body 1 being serially connected realizes that signal is total
It enjoys, as long as control switch 23 is capable of emitting signal and leads to so that user presses the control switch 23 on 21 handle of pull rod
Cross each cable transmitting signal, all car bodies 1 to link together by cable obtain to synchronize immediately after the signal entering work
Make state；For example, when user has found that it is likely that the collision or other danger of generation, control that can immediately on 21 handle of releasing lever
Switch 23 is made, preferably, the control switch 23 is non-self-lock-ing formula push switch, push switch can bounce automatically immediately, by
Signal is shared by cable and each car body 1 in the signal of push switch, all car bodies 1 can all obtain the signal at this time, and immediately
Brake, to guarantee safety, for another example, when the crash sensor 13 of any car body 1 in fleet is touched, due to each
Car body 1 shares signal by cable, and all car bodies 1 can all obtain the signal, judge whether to be immediately controlled by entire car controller
Brake, to guarantee safety.
Preferably, each car body 1 includes cabin 16 and power supply unit (not shown), set at the top of the cabin 16
There is plummer 17,17 both ends of plummer are respectively equipped with Anti-fall baffle 18, and the power supply unit and entire car controller are arranged at
In cabin 16, the power supply unit is electrically connected respectively with four driving motors, braking system and entire car controller to provide power supply.
The power supply unit is the power supply unit of the routine such as battery in the prior art, and its object is to provide electricity for each electrical equipment
Source.
For the convenience of description, the one end for assuming that car body 1 is equipped with triangular connector is front end, it is denoted as X-axis positive direction, it is another
End is rear end, and the side that car body 1 connects the first strut and tie 31 is right side, is denoted as Y-axis positive direction, and car body 1 connects the second strut and tie
32 other side is left side, and wheel rolls to rotate forward forward, and wheel rolls to rotate backward backward.
Preferably, the control method of the entire car controller includes the following steps:
1) entire car controller receives the working signal that control switch 23 is sent, then enters working condition, executes step 2；
2) entire car controller receives the pressure that the first pull pressure sensor 312 and the second pull pressure sensor 322 are sent respectively
Signal, judge the first strut and tie 31 and the second strut and tie 32 whether under tension or pressure, if so, control braking system pair
Four wheels carry out releasing braking, and execute step 3), brake if it is not, then controlling braking system to four wheels；
3) entire car controller analyzes the first strut and tie 31 and the second strut and tie 32 is pulling force or pressure, and draws according to first
The size of pulling force L2 or pressure Y2 suffered by the size of pulling force L1 or pressure Y1 suffered by compression bar 31 and the second strut and tie 32, control
It makes four driving motors and respectively drives 1 right side wheels of car body and left side wheel rotation, Controlling principle is as follows:
A) when the first strut and tie 31 and the second strut and tie 32 under tension simultaneously, and when L1=L2, control 1 right side wheels of car body and
Left side wheel rotates forward, and the revolving speed for controlling 1 right side wheels of car body is equal to the revolving speed of left side wheel with straight ahead, and draws
Power is bigger, and vehicle wheel rotation is faster；
B) when the first strut and tie 31 and the second strut and tie 32 while under tension, and when L1 < L2,1 right side wheels of car body are controlled
The revolving speed for rotating forward with left side wheel, and controlling 1 right side wheels of car body is less than the revolving speed of left side wheel and is advanced with turning right, and
Rotational speed difference determines that pulling force difference is bigger, and rotational speed difference is bigger by the pulling force difference of L1 and L2；
C) when the first strut and tie 31 and the second strut and tie 32 while under tension, and when L1 > L2,1 right side wheels of car body are controlled
The revolving speed for rotating forward with left side wheel, and controlling 1 right side wheels of car body is greater than the revolving speed of left side wheel to turn left to advance, and
Rotational speed difference determines that pulling force difference is bigger, and rotational speed difference is bigger by the pulling force difference of L1 and L2；
D) when the first strut and tie 31 and the second strut and tie 32 are under pressure simultaneously, and when Y1=Y2, control 1 right side wheels of car body and
Left side wheel rotates backward, and the revolving speed for controlling 1 right side wheels of car body is retreated equal to the revolving speed of left side wheel with straight line, and is pressed
Power is bigger, and vehicle wheel rotation is faster；
E) when the first strut and tie 31 and the second strut and tie 32 are under pressure simultaneously, and when Y1 < Y2,1 right side wheels of car body are controlled
The revolving speed for rotating backward with left side wheel, and controlling 1 right side wheels of car body is less than the revolving speed of left side wheel and is retreated with turning right, and
Rotational speed difference determines that pressure difference is bigger by the pressure difference of Y1 and Y2, and rotational speed difference is bigger；
F) when the first strut and tie 31 and the second strut and tie 32 are under pressure simultaneously, and when Y1 > Y2,1 right side wheels of car body are controlled
The revolving speed for rotating backward with left side wheel, and controlling 1 right side wheels of car body is greater than the revolving speed of left side wheel to turn left to retreat, and
Rotational speed difference determines that pressure difference is bigger by the pressure difference of Y1 and Y2, and rotational speed difference is bigger；
G) when 31 under tension L1(pulling force of the first strut and tie is denoted as positive value), and the second strut and tie 32 be under pressure Y2(pressure note
For negative value) when, control 1 right side wheels of car body rotate forward and (rotate forward speed and be denoted as positive value), and control 1 left side wheel of car body
It rotates backward and (rotates backward speed and be denoted as negative value), with left face to and rotational speed difference is determined by the difference of L1 and Y2；
H) when the first strut and tie 31 Y1(pressure that is under pressure is denoted as negative value), and 32 under tension L2(pulling force of the second strut and tie is remembered
For positive value) when, control 1 right side wheels of car body rotate backward and (rotate backward speed and be denoted as negative value), and control 1 left side wheel of car body
It rotates forward and (rotates forward speed and be denoted as positive value), turned to the right with original place, and rotational speed difference is determined by the difference of Y1 and L2.
The invention adopts the above technical scheme, when the power of the first strut and tie 31 and the second strut and tie 32 by different directions
When (that is, a under tension, another is under pressure), ipsilateral wheel is rotated forward with the strut and tie of under tension, with by
The wheel ipsilateral to the strut and tie of pressure rotates backward, and the rotational speed difference of two sides wheel (rotates forward and is denoted as positive value, negative sense rotates
It is denoted as negative value) determine that stress difference is got over by the difference of two strut and tie institute stress (pulling force is denoted as positive value, and pressure is denoted as negative value)
Greatly, then rotational speed difference is bigger.Based on this working principle, the present invention can control trolley and realize straight ahead, turn right and advance, turn left
Advance, straight line retreats, turn right retreat, turn left to retreat, left face turns to and stops to the right and stop, while can control to, original place
Mobile linear velocity, turning radius or pivot stud speed of trolley processed etc..
The power induction mechanism 3 that the present invention is added in each 1 front end of car body sense it can not only by the first pressure
Device 312 and the second pull pressure sensor 322 detect pulling force or pressure suffered by the first strut and tie 31 and the second strut and tie 32 respectively
Power size, consequently facilitating entire car controller controls four driving motors according to its tension and compression force signal and braking system works, this kind
3 structure of power induction mechanism is simple, low in cost, easy operation, response quickly, reliable operation, and before capable of being rotatably connected on
On the rotational connector 11 that 1 rear end of Fang Xianglin car body is equipped with, and can be around tie point in the first strut and tie 31 and the second strut and tie 32
Movement is rotated freely in plane where the triangular connector of composition, or the linkwork on rotational connector 11 exists
Movement is rotated freely in perpendicular, to connect to form the fleet that front and back sequentially links into an integrated entity, and is suitable for fleet
The gradient and the continually changing road surface of direction of travel, in the case where more car bodies 1 form fleet, when a car body 1 for being located at front
Because when power induction mechanism 3 experiences power and carries out straight line, steering or variable motion, latter car body 1 is by previous car body 1
Traction, push-and-pull, the pull pressure sensor on the triangular connector of latter car body 1 can experience corresponding pulling force or pressure
Power, therefore according to the Controlling principle of 1 entire car controller of aforementioned vehicle body, latter car body 1 can cooperate previous car body 1 traction,
Push-and-pull is made follows movement accordingly；Thus the model- following control that can realize the fleet as composed by more car bodies 1, effectively overcomes
Conventional wireless techniques Following Car is easily lost the defect for following target and Following Car to judge by accident.
Above description should not have any restriction to protection scope of the present invention.
Claims (8)
1. power induction type follows trolley, more than one car body of fleet is formed including connecting for front and back, each car body is equipped with
Four wheels, four driving motors, braking system and entire car controller, four wheels are respectively arranged on vehicle bottom two sides,
Four wheels are respectively by four driving motor driving rotations, and four wheels are braked by braking system respectively, the vehicle control
Device processed exists with braking system and four driving motor communication connections for controlling four wheel brakings and rotation, feature respectively
In: it further includes a push-pull mechanism and more than one power induction mechanism；Wherein,
More than one power induction mechanism, which respectively corresponds, to be arranged on more than one car body, and each power induction mechanism includes the first drawing
Compression bar and the second strut and tie, first strut and tie are drawn by two first connecting rods and first between two first connecting rods
Pressure sensor is fixedly connected into rod-shaped, and second strut and tie is by two second connecting rods and is located between two second connecting rods
The second pull pressure sensor be fixedly connected into rod-shaped, one end of first strut and tie and the second strut and tie is respectively hinged at phase
Car body front end right side and left side are answered, the other end interconnection of the first strut and tie and the second strut and tie is integral, and formation can pitching
Triangular connector, the other end of first strut and tie and the second strut and tie is for being rotatablely connected push-pull mechanism or adjacent
The rear end of car body；
The push-pull mechanism includes pull rod, and pull rod one end is rotatably connected on the first strut and tie and positioned at fleet's foremost car body
The other end of two strut and ties, the pull rod other end are equipped with push-and-pull tractive unit and control switch；
The control switch with the entire car controller communication connection of all car bodies, is sent respectively for synchronizing to each entire car controller
The working signal whether started to work；
First pull pressure sensor and the second pull pressure sensor are detected respectively suffered by the first strut and tie and the second strut and tie
Pulling force or pressure size, and generate the entire car controller that corresponding tension and compression force signal is sent to corresponding car body；
The entire car controller working signal and tension and compression force signal based on the received control braking system to four wheel systems
Dynamic or releasing braking controls four driving motors driving corresponding wheels rotations.
2. power induction type according to claim 1 follows trolley, it is characterised in that: each car body side is equipped with collision and passes
Sensor is for detecting whether collide, and generate the entire car controller that collision alarm is sent to corresponding car body, entire car controller
Collision alarm control braking system brakes four wheels based on the received.
3. power induction type according to claim 1 follows trolley, it is characterised in that: each car body both ends are equipped with signal and connect
Mouthful, it is equipped with Internal cable and corresponding entire car controller communication connection in the signaling interface, passes through External cable at signaling interface
With the signaling interface communication connection of control switch or adjacent car body abutting end.
4. power induction type according to claim 1 follows trolley, it is characterised in that: each car body front end is equipped with for showing
Show the indicator light of working condition, the indicator light and entire car controller communication connection, the vehicle control unit controls indicator light with
Control switch open-shut linkage, and after indicator light unlatching, control instructions lamp shows different face when driving motor rotates and stops
Color.
5. power induction type according to claim 1 follows trolley, it is characterised in that: each body rear end is equipped with for connecting
Connect the rotational connector of adjacent the first strut and tie of car body and the second strut and tie other end；After this rotational connector is articulated with car body
End, can do free pitching movement relative to car body.
6. power induction type according to claim 1 follows trolley, it is characterised in that: each car body includes cabin and power supply
Device, the nacelle top are equipped with plummer, and plummer both ends are respectively equipped with Anti-fall baffle, the power supply unit and vehicle control
Device processed is arranged in cabin, and the power supply unit is electrically connected with four driving motors, braking system and entire car controller respectively
To provide power supply.
7. power induction type according to claim 1 follows trolley, it is characterised in that: the push-and-pull tractive unit is handle；Institute
Stating control switch is non-self-lock-ing formula push switch.
8. power induction type according to claim 1 follows trolley, it is characterised in that: the control method of the entire car controller
Include the following steps:
1) entire car controller receives the working signal that control switch is sent, then enters working condition, executes step 2；
2) entire car controller receives the tension and compression force signal that the first pull pressure sensor and the second pull pressure sensor are sent respectively, sentences
Disconnected first strut and tie and the second strut and tie whether under tension or pressure, if so, control braking system to four wheels into
Row releases braking, and executes step 3), brakes if it is not, then controlling braking system to four wheels；
3) entire car controller analyzes the first strut and tie and the second strut and tie is pulling force or pressure, and according to the first strut and tie
The size of pulling force L2 suffered by the size of suffered pulling force L1 or pressure Y1 and the second strut and tie or pressure Y2 controls four drives
Dynamic motor respectively drives car body right side wheels and left side wheel rotation, and Controlling principle is as follows:
A) when the first strut and tie and the second strut and tie while under tension, and when L1=L2, car body right side wheels and left side are controlled
Wheel rotates forward, and the revolving speed for controlling car body right side wheels is equal to the revolving speed of left side wheel with straight ahead, and pulling force is got over
Greatly, vehicle wheel rotation is faster；
B) when the first strut and tie and the second strut and tie while under tension, and when L1 < L2, car body right side wheels and a left side are controlled
Side wheel rotates forward, and the revolving speed for controlling car body right side wheels is less than the revolving speed of left side wheel and is advanced with turning right, and pulling force
Difference is bigger, and rotational speed difference is bigger；
C) when the first strut and tie and the second strut and tie while under tension, and when L1 > L2, car body right side wheels and a left side are controlled
Side wheel rotates forward, and the revolving speed for controlling car body right side wheels is greater than the revolving speed of left side wheel to turn left to advance, and pulling force
Difference is bigger, and rotational speed difference is bigger；
D) when the first strut and tie and the second strut and tie are under pressure simultaneously, and when Y1=Y2, car body right side wheels and left side are controlled
Wheel rotates backward, and the revolving speed for controlling car body right side wheels is retreated equal to the revolving speed of left side wheel with straight line, and pressure is got over
Greatly, vehicle wheel rotation is faster；
E) when the first strut and tie and the second strut and tie are under pressure simultaneously, and when Y1 < Y2, car body right side wheels and a left side are controlled
Side wheel rotates backward, and the revolving speed for controlling car body right side wheels is less than the revolving speed of left side wheel and is retreated with turning right, and pressure
Difference is bigger, and rotational speed difference is bigger；
F) when the first strut and tie and the second strut and tie are under pressure simultaneously, and when Y1 > Y2, car body right side wheels and a left side are controlled
Side wheel rotates backward, and the revolving speed for controlling car body right side wheels is greater than the revolving speed of left side wheel to turn left to retreat, and pressure
Difference is bigger, and rotational speed difference is bigger；
G) as the first strut and tie under tension L1, pulling force is denoted as positive value, and the second strut and tie is under pressure Y2, and pressure is denoted as negative value
When, control car body right side wheels rotate forward, and it rotates forward speed and is denoted as positive value, and control vehicle body left side wheel and rotate backward,
It rotates backward speed and is denoted as negative value, with left face to and rotational speed difference is determined by the difference of L1 and Y2；
H) when the first strut and tie is under pressure Y1, pressure is denoted as negative value, and the second strut and tie under tension L2, pulling force are denoted as positive value
When, control car body right side wheels rotate backward, and it rotates backward speed and is denoted as negative value, and control vehicle body left side wheel and rotate forward,
It rotates forward speed and is denoted as positive value, turned to the right with original place, and rotational speed difference is determined by the difference of Y1 and L2.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910214522.4A CN109911059A (en) | 2019-03-20 | 2019-03-20 | Power induction type follows trolley |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910214522.4A CN109911059A (en) | 2019-03-20 | 2019-03-20 | Power induction type follows trolley |
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| CN109911059A true CN109911059A (en) | 2019-06-21 |
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| CN201910214522.4A Pending CN109911059A (en) | 2019-03-20 | 2019-03-20 | Power induction type follows trolley |
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