CN110696634A - Intelligent posture correction method for heavy rail type petroleum special pipe conveying vehicle body - Google Patents
Intelligent posture correction method for heavy rail type petroleum special pipe conveying vehicle body Download PDFInfo
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- CN110696634A CN110696634A CN201910926301.XA CN201910926301A CN110696634A CN 110696634 A CN110696634 A CN 110696634A CN 201910926301 A CN201910926301 A CN 201910926301A CN 110696634 A CN110696634 A CN 110696634A
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- vehicle body
- conveying vehicle
- laser
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/28—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed without contact making and breaking, e.g. using a transductor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/36—Vehicles designed to transport cargo, e.g. trucks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/421—Speed
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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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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The intelligent correction method for the body posture of the heavy rail type petroleum special pipe conveying vehicle can solve the problem that the existing conveying vehicle is difficult to butt joint with other equipment due to the fact that the length direction of the vehicle body cannot be perpendicular to the length direction of a rail in transverse conveying, and the conveying vehicle is influenced to take and place goods at a target station. The intelligent control system comprises a laser receiver arranged on one side of the conveying vehicle body, a laser transmitter arranged at the end of the track system and fixed on the ground, and a control system for intelligently controlling and adjusting the posture of the vehicle body; the laser receiver and the laser transmitter are respectively in communication connection with the control system; the calibration system composed of the sensor and the ground induction plate is more direct and reliable as an absolute calibration mode than an analog signal of laser measurement, and the double-insurance correction method can ensure that the posture of the vehicle body of the transport vehicle is always in a controlled state in the running and station docking processes, thereby avoiding various risks caused by vehicle body deflection.
Description
Technical Field
The invention relates to the technical field of logistics systems, in particular to an intelligent correction method for the posture of a body of a heavy rail type petroleum special pipe conveying vehicle.
Background
In the logistics industry, particularly in enterprises with large workshops, the traditional method for carrying goods by manpower cannot meet the requirements of the enterprises on efficiency, and more enterprises begin to release workers from heavy physical labor by using modern carrying equipment; the conveying equipment is commonly provided with a conveyor and a conveying vehicle, the conveying vehicle is further divided into a transverse conveying mode, a longitudinal conveying mode, a multi-dimensional conveying mode and the like, wherein when the longitudinal conveying mode is used for conveying along the length direction of the conveying vehicle, the vehicle body shape can be generally limited through wheel rims or guide wheels of wheels due to small vehicle body width and short track gauge; when transverse conveying is carried along the length direction of the body of the conveying vehicle perpendicular to the length direction of the body of the conveying vehicle, the body of the heavy conveying vehicle is longer, in the transverse running process, the gap between wheels and a track is multiplied, the length direction of the body of the conveying vehicle cannot be kept perpendicular to the length direction of the track, and therefore the conveying vehicle is difficult to butt joint with other equipment, and the conveying vehicle is influenced to take and place goods at a target station.
Disclosure of Invention
The intelligent correction method for the body posture of the heavy rail type petroleum special pipe conveying vehicle can solve the problem that the existing conveying vehicle is difficult to butt with other equipment due to the fact that the length direction of the vehicle body cannot be perpendicular to the length direction of a rail in transverse conveying, and the conveying vehicle is influenced to take and place goods at a target station.
In order to achieve the purpose, the invention adopts the following technical scheme:
an intelligent correction method for the posture of a heavy rail type petroleum special pipe conveying vehicle body is based on an intelligent correction system for the posture of the heavy rail type petroleum special pipe conveying vehicle body, wherein,
the system comprises a track system and a delivery wagon body, wherein the delivery wagon body runs depending on the track system;
the intelligent control system comprises a conveying vehicle body, a laser receiver, a laser transmitter and a control system, wherein the conveying vehicle body is arranged on one side of the conveying vehicle body;
the laser receiver and the laser transmitter are respectively in communication connection with the control system;
the intelligent correction method for the body posture of the heavy rail type petroleum special pipe conveying vehicle comprises the following steps:
after the petroleum pipe is conveyed into the conveying vehicle body, the control system sends a starting signal to the vehicle body, and the conveying vehicle starts to run along the rail system;
the laser transmitter arranged on the ground transmits laser to the direction of the conveying vehicle, the laser receiver arranged on the vehicle body receives and returns a laser signal, and the control system monitors data fed back by the laser transmitter in real time;
when the control system receives asynchronous data fed back by the laser emitter, the control system detects deviation data in real time, after calculation, the deviation data is transmitted and converted into a motor rotating speed adjusting signal, then an adjusting signal is sent to the frequency converter, an acceleration curve and a deceleration curve are generated, the frequency converter reduces the rotating speed of a driving motor on one side with high speed and improves the rotating speed of a driving motor on one side with low speed, and the process control system monitors the data fed back by the laser emitter all the time until the data fed back by the laser emitter is adjusted to a set range.
Furthermore, the intelligent correction method for the body posture of the heavy rail type petroleum special pipe conveying vehicle further comprises station detection systems arranged at two ends of the conveying vehicle body;
the station detection system comprises a sensor arranged on the conveying vehicle body, an induction sheet arranged on the ground of a target position of the conveying vehicle body, and an adjusting plate used for finely adjusting the position of the induction sheet;
the sensor is in communication connection with a control system;
the control system is used for adjusting in real time according to information fed back by the laser emitter during the operation process of the conveying vehicle body, when the conveying vehicle body reaches a target station and is ready to stop, the control system triggers a working signal of the station detection system, so that two sensors arranged at one end of the conveying vehicle body are set to be a set distance d, the distance d is larger than the width of an induction plate arranged on the ground, and the difference value between the distance d of the two sensors and the width of the induction plate is the allowable deviation amount of the vehicle body posture of the conveying vehicle.
According to the technical scheme, the intelligent correction method for the posture of the body of the heavy rail type petroleum special pipe conveying vehicle has the following beneficial effects:
the intelligent correction system for the vehicle body of the delivery vehicle is used for carrying out real-time feedback and adjustment in the running process of the delivery vehicle by two sets of laser emitting and receiving mechanisms and carrying out final verification on the vehicle body posture when the delivery vehicle enters a parking area and is about to park by two sets of station detection systems; the calibration system composed of the sensor and the ground induction plate is more direct and reliable as an absolute calibration mode than an analog signal of laser measurement, and the double-insurance correction method can ensure that the posture of the vehicle body of the transport vehicle is always in a controlled state in the running and station docking processes, thereby avoiding various risks caused by the deflection of the vehicle body.
Drawings
FIG. 1 is a schematic diagram of the system of the present invention;
FIG. 2 is a schematic diagram of a partial system configuration according to the present invention;
fig. 3 is a schematic diagram of the correction of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention.
As shown in fig. 1, the method for intelligently correcting the vehicle body posture of the heavy rail type petroleum dedicated pipe transportation vehicle according to this embodiment is based on the method for intelligently correcting the vehicle body posture of the heavy rail type petroleum dedicated pipe transportation vehicle, and the system includes a rail system 1 and a transportation vehicle body 2, wherein the transportation vehicle body 2 runs on the rail system 1, two sets of laser receivers 21 are installed at one side of the transportation vehicle body 2, the laser receivers 21 are installed at positions close to two ends of the vehicle body, two sets of station detection systems 22 are respectively installed at two ends of the transportation vehicle body 2, a laser emitter 3 is installed at an end of the rail system 1 and fixed on the ground, and a control system 4 is used for intelligently controlling and adjusting the vehicle body posture;
the laser receiver 21 and the laser transmitter 3 are respectively in communication connection with the control system 4.
The specific correction process is as follows: as can be known from fig. 3, after the petroleum pipe is conveyed to the conveying vehicle body 2, the control system 4 sends a start signal to the vehicle body, the conveying vehicle starts to run along the track system 1, the laser emitter 3 mounted on the ground emits laser to the conveying vehicle, the laser receiver 21 mounted on the vehicle body receives and returns a laser signal, and at this time, the control system 4 monitors data fed back by the two sets of laser emitters 3 in real time; due to factors such as track installation errors, gaps between guide wheels and tracks, asynchronous errors of the rotating speeds of a plurality of driving wheels and the like, the vehicle body of the conveying vehicle begins to incline; at this moment, the control system 4 receives that the data fed back by the two sets of laser transmitters 3 are asynchronous, the control system 4 detects deviation data in real time, after calculation, the deviation data are transmitted and converted into motor rotating speed adjusting signals to be sent to the PLC, further, the PLC sends adjusting signals to the frequency converter, acceleration and deceleration curves are generated, the frequency converter reduces the rotating speed of the driving motor on the side with high speed and improves the rotating speed of the driving motor on the side with low speed, and the process control system 4 monitors the data fed back by the two sets of laser transmitters 3 all the time until the data fed back by the two sets of laser transmitters 3 are adjusted to a safety range.
As shown in fig. 2, the two sets of station detection systems 22 are respectively installed at two ends of the conveying vehicle body 2, the station detection systems 22 include a vehicle body fixing member 221 fixed on the conveying vehicle body 2 through the vehicle body fixing member 221, two sensors 223 respectively arranged at the left and right sides, the sensors 223 being fixed on the vehicle body fixing member 221 through photoelectric fixing members 222, a sensing board 224 for finally positioning the conveying vehicle body 2, an adjusting board 225 for finely adjusting the position of the sensing board 224, and a base 226 for fixing the whole set of station detection systems 22 on the ground.
Specifically, the installation position of the sensing plate 224 is the ground, and the specific location is determined according to the target position of the parking.
The adjusting plate 225 is connected with the induction plate 224 through a bolt, a guide groove is formed in the adjusting plate 225, the adjusting plate 225 is movably connected with the vehicle body fixing part 221 through the guide groove and can move left and right, and the position of the induction plate 224 is finely adjusted by moving the left and right positions of the adjusting plate 225;
the adjusting plate 225 is used for fine adjustment of the position of the sensing plate 224, when a deviation between the vehicle body and a target position is found, the position of the sensing plate 224 needs to be fine adjusted until the target position is adjusted, and the adjusting plate 225 is used for ensuring that the sensing plate 224 can be adjusted left and right.
The station detection system 22 is installed at both ends of the carrier body 2, and includes a sensor 223 installed on the carrier body 2 and a sensing board 224 installed on the ground of the target position of the carrier body 2; in the running process of the conveying vehicle body 2, the sensing system carries out real-time adjustment according to information fed back by the laser emitter 3, when the conveying vehicle body 2 reaches a target station and is ready to stop, the intelligent control system 4 triggers a working signal of the station detection system 22, two sensors 223 mounted at one end of the conveying vehicle body 2 are set to be a set distance, the distance is slightly larger than the width of a sensing plate mounted on the ground, and the difference value between the distance of the two sensors 223 and the width of the sensing plate 224 is the allowable deviation amount of the vehicle body posture of the conveying vehicle.
In conclusion, the intelligent vehicle body correction system of the conveying vehicle is provided with two sets of laser emitting and receiving mechanisms for real-time feedback and adjustment in the running process of the conveying vehicle and two sets of station detection systems for final verification of the vehicle body posture when the conveying vehicle enters a parking area and is about to park; the calibration system composed of the sensor and the ground induction plate is more direct and reliable as an absolute calibration mode than an analog signal of laser measurement, and the double-insurance correction method can ensure that the posture of the vehicle body of the transport vehicle is always in a controlled state in the running and station docking processes, thereby avoiding various risks caused by the deflection of the vehicle body.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (7)
1. The intelligent correction method for the body posture of the heavy rail type petroleum special pipe conveying vehicle is characterized by comprising the following steps of:
based on the track system (1) and the conveying vehicle body (2), the conveying vehicle body (2) runs depending on the track system (1);
a laser receiver (21) is arranged on one side of the conveying vehicle body (2), a laser transmitter (3) is arranged at the end of the track system (1) and fixed on the ground, and a control system (4) for intelligently controlling and adjusting the posture of the vehicle body is arranged;
the laser receiver (21) and the laser transmitter (3) are respectively in communication connection with the control system (4);
after the petroleum pipe is conveyed into the conveying vehicle body (2), the control system (4) sends a starting signal to the vehicle body, and the conveying vehicle starts to run along the track system (1);
the laser transmitter (3) arranged on the ground transmits laser to the direction of the conveying vehicle, the laser receiver (21) arranged on the vehicle body receives and returns a laser signal, and the control system (4) monitors data fed back by the laser transmitter (3) in real time;
when the control system (4) receives data fed back by the laser emitter (3) and is asynchronous, the control system (4) detects deviation data in real time, after calculation, the deviation data is transmitted and converted into a motor rotating speed adjusting signal, then an adjusting signal is sent to the frequency converter, an acceleration curve and a deceleration curve are generated, the frequency converter reduces the rotating speed of a driving motor on one side with high speed and improves the rotating speed of a driving motor on one side with low speed, and the process control system (4) monitors the data fed back by the laser emitter (3) all the time until the data fed back by the laser emitter (3) are adjusted to a set range.
2. The intelligent body posture correction method for the heavy rail type petroleum dedicated pipe conveying vehicle as claimed in claim 1, characterized in that:
the conveying vehicle further comprises a station detection system (22) arranged at the end part of the conveying vehicle body (2);
the two station detection systems (22) are respectively fixed at one end of the conveying vehicle body (2);
the station detection system (22) comprises a left sensor (223) and a right sensor (223) which are arranged at the end part of the conveying vehicle body (2), and a sensing piece (224) which is arranged at the target ground position of the conveying vehicle body (2);
the sensor (223) is in communication connection with the control system (4);
the control system (4) performs real-time adjustment according to information fed back by the laser emitter (3) in the running process of the conveying vehicle body (2), when the conveying vehicle body (2) reaches a target station and is ready to stop, the control system (4) triggers a working signal of the station detection system (22), so that two sensors (223) installed at one end of the conveying vehicle body (2) are set to be a set distance d, the distance d is larger than the width of a sensing plate (224) installed on the ground, and the difference between the distance d of the two sensors (223) and the width of the sensing plate is the allowable deviation amount of the posture of the conveying vehicle body.
3. The intelligent body posture correction method for the heavy rail type petroleum dedicated pipe conveying vehicle as claimed in claim 2, characterized in that: the station detection system (22) is fixed on the ground by arranging a base (226).
4. The intelligent body posture correction method for the heavy rail type petroleum dedicated pipe conveying vehicle as claimed in claim 2, characterized in that:
the station detection system (22) is fixed on the conveying vehicle body (2) through arranging a vehicle body fixing piece (221).
5. The intelligent posture correction method for the body of the heavy rail type petroleum dedicated pipe conveying vehicle as claimed in claim 4, wherein the method comprises the following steps: the sensor (223) is fixed to the body mount (221) by a photoelectric mount (222).
6. The intelligent body posture correction method for the heavy rail type petroleum dedicated pipe conveying vehicle as claimed in claim 1, characterized in that: the laser receivers (21) are installed at positions close to both ends of the vehicle body.
7. The intelligent body posture correction method for the heavy rail type petroleum dedicated pipe conveying vehicle as claimed in claim 1, characterized in that: the induction plate (224) is fixed on the adjusting plate (225) through a bolt, the adjusting plate (225) is movably connected with the vehicle body fixing part (221) through a guide groove, the adjusting plate can move left and right relative to the vehicle body fixing part (221), and the position of the induction plate (224) is finely adjusted by moving the left and right positions of the adjusting plate (225).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910926301.XA CN110696634B (en) | 2019-09-27 | 2019-09-27 | Intelligent posture correction method for heavy rail type petroleum special pipe conveying vehicle body |
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| CN201910926301.XA CN110696634B (en) | 2019-09-27 | 2019-09-27 | Intelligent posture correction method for heavy rail type petroleum special pipe conveying vehicle body |
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| CN110696634A true CN110696634A (en) | 2020-01-17 |
| CN110696634B CN110696634B (en) | 2021-05-28 |
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Citations (6)
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| CN201367306Y (en) * | 2009-02-23 | 2009-12-23 | 黄石市奇迅自动化工程有限公司 | Automatic correction control system for long-span programme-controlled travelling crane with accurate positioning function |
| CN203637861U (en) * | 2013-12-31 | 2014-06-11 | 中国中建设计集团有限公司 | Traveling crane laser deviation rectifying device |
| CN205002742U (en) * | 2015-03-03 | 2016-01-27 | 保定市特种设备监督检验所 | Hoist laser detector of rectifying |
| CN106318412A (en) * | 2015-06-30 | 2017-01-11 | 上海梅山钢铁股份有限公司 | Track cart deviation auto-rectifying method |
| CN206557604U (en) * | 2017-03-09 | 2017-10-13 | 扬州大学 | A kind of outdoor large span load-carrying driving is prevented walking deflection device |
| CN108178066A (en) * | 2017-12-28 | 2018-06-19 | 河南工学院 | A kind of method for correcting error of double girder crane trolley |
-
2019
- 2019-09-27 CN CN201910926301.XA patent/CN110696634B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201367306Y (en) * | 2009-02-23 | 2009-12-23 | 黄石市奇迅自动化工程有限公司 | Automatic correction control system for long-span programme-controlled travelling crane with accurate positioning function |
| CN203637861U (en) * | 2013-12-31 | 2014-06-11 | 中国中建设计集团有限公司 | Traveling crane laser deviation rectifying device |
| CN205002742U (en) * | 2015-03-03 | 2016-01-27 | 保定市特种设备监督检验所 | Hoist laser detector of rectifying |
| CN106318412A (en) * | 2015-06-30 | 2017-01-11 | 上海梅山钢铁股份有限公司 | Track cart deviation auto-rectifying method |
| CN206557604U (en) * | 2017-03-09 | 2017-10-13 | 扬州大学 | A kind of outdoor large span load-carrying driving is prevented walking deflection device |
| CN108178066A (en) * | 2017-12-28 | 2018-06-19 | 河南工学院 | A kind of method for correcting error of double girder crane trolley |
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