CN111638734B - Intelligent power output system of telescopic stand and control method thereof - Google Patents
Intelligent power output system of telescopic stand and control method thereof Download PDFInfo
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- CN111638734B CN111638734B CN202010456915.9A CN202010456915A CN111638734B CN 111638734 B CN111638734 B CN 111638734B CN 202010456915 A CN202010456915 A CN 202010456915A CN 111638734 B CN111638734 B CN 111638734B
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- 238000004891 communication Methods 0.000 claims description 23
- 230000008602 contraction Effects 0.000 claims description 2
- 238000009434 installation Methods 0.000 description 6
- 238000001514 detection method Methods 0.000 description 5
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D13/00—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover
- G05D13/62—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover characterised by the use of electric means, e.g. use of a tachometric dynamo, use of a transducer converting an electric value into a displacement
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H3/00—Buildings or groups of buildings for public or similar purposes; Institutions, e.g. infirmaries or prisons
- E04H3/10—Buildings or groups of buildings for public or similar purposes; Institutions, e.g. infirmaries or prisons for meetings, entertainments, or sports
- E04H3/12—Tribunes, grandstands or terraces for spectators
- E04H3/123—Telescopic grandstands
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Abstract
The invention discloses an intelligent power output system of a telescopic stand, which comprises a controller, a driving motor, speed sensors and the telescopic stand, wherein the driving motor is arranged on the driving stand, at least two groups of speed sensors are arranged on the driving stand, a power signal extraction end of the driving motor is connected with a power signal input end of a control motor, an output power control end of the driving motor is connected with a power signal output end of the controller, and a speed signal output end of the speed sensors is connected with the controller.
Description
Technical Field
The invention relates to the field of control of telescopic stands, in particular to an intelligent power output system of a telescopic stand and a control method thereof.
Background
The main advantages of the current telescopic stand are high flexibility, safety and high value. The creative multifunctional conversion concept can meet the requirements of different sites, opens up a road for the most challenging public set, enables limited space to be infinitely applied, and brings brand new concepts for stadium seats.
The telescopic stand can be used in places at any time according to the needs, which is very important, so that a venue with huge investment or different types of games and other commercial activities can be supported, the utilization rate of the telescopic stand is greatly improved, the closed multifunctional use trend is met, and the telescopic stand is generated. However, when the movable audience platform stretches and contracts, the resistance distribution is uneven due to the fact that the moving distance of each part is large, and the movable audience platform often faces the problem of locking.
The invention discloses an automatic correction system for a movable stand, which is disclosed in China patent publication No. CN105484527A, and is named as an automatic correction system for the movable stand in the publication of year 2016 and 13, and comprises a first ranging sensor and a second ranging sensor of the first automatic correction system, wherein the first ranging sensor and the second ranging sensor are respectively arranged at the front end and the rear end of the side surface of the movable stand; otherwise, the controller controls the first driving motor and the second driving motor to operate in a differential mode. The automatic deviation correcting mode is that a distance measuring sensor is required to be installed, and the speed cannot be controlled while deviation correction is performed.
Disclosure of Invention
The invention provides an intelligent power output system of a telescopic stand and a control method thereof, which aim to solve the problem that the power output of the telescopic stand in the prior art cannot be adaptively changed due to the telescopic operation of the telescopic stand.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the technical scheme adopted for solving the technical problems is as follows: the utility model provides a flexible stand intelligence power output system, includes flexible stand, including controller, driving motor, speed sensor, flexible stand includes the driving platform, and driving motor sets up on the driving platform, sets up two at least groups speed sensor on the driving platform, and driving motor power signal draws end connection control motor power signal input, and driving motor output power control end connection controller motor power signal output, speed sensor speed signal output end connection controller. The controller controls the output power of the driving motor according to the signal of the speed sensor, and is used for driving the driving table to move at a uniform speed, and if the telescopic speed is changed into the uniform speed in the telescopic stand, the controller is convenient for operators to operate, and meanwhile, all working parts are enabled to be worn consistently, so that the working parts are matched better.
Preferably, the telescopic stand intelligent power output system further comprises a wireless remote controller, the wireless remote controller comprises a display screen, a wireless communication module, a retraction button, an extension button and a stop button, the wireless communication module is in wireless connection with the controller, a video signal output end of the wireless communication module is connected with a signal output end of the display screen, a retraction button signal output end is connected with a retraction signal receiving end of the wireless communication module, an extension button signal output end is connected with an extension signal receiving end of the wireless communication module, and a stop button signal output end is connected with a stop signal receiving end of the wireless communication module. The wireless remote controller can be used for controlling the extension and retraction of the telescopic stand by wireless, so that the control process is more convenient and quick, and the maintenance of workers is also facilitated.
Preferably, the telescopic stand further comprises a plurality of movable tables capable of being nested, the movable tables are provided with a first position sensor and a second position sensor, the first position sensor detects whether another movable table nested in the movable table is contracted and nested in place, the second position sensor detects whether another movable table nested in the movable table is stretched out in place, the first position sensor position signal output end is connected with the controller contraction signal receiving end, and the second position sensor position signal output end is connected with the controller stretching out of the signal receiving end. The position sensor can acquire whether the mobile station stretches out to the signal in place or contracts to the signal in place, so that the telescopic state of the telescopic stand can be accurately mastered, and fault detection and fault positioning are facilitated.
The intelligent power output system of the telescopic stand and the control method thereof are adopted, and the method comprises the following steps:
s1: the controller collects a speed signal of the driving platform and a telescopic in-place signal of each mobile platform, and calculates the moving distance of the mobile platform;
s2: the controller controls the output power of a driving motor, and the driving motor drives the mobile station to move at a uniform speed;
s3: the controller identifies whether the mobile station is nested in place based on the mobile station speed and the respective mobile station telescoping in place signal. The controller collects the speed of the driving platform through the speed sensor, controls the output power of the driving motor, is used for driving the driving platform to move at a uniform speed, and can change the telescopic speed into uniform speed in the telescopic stand to ensure that all working parts are worn consistently, and the telescopic state of the telescopic stand can be accurately grasped through the signals of the sensor until the telescopic stand is worn consistently, so that fault detection and fault positioning are convenient.
Preferably, the step S1 includes the steps of:
s11: the controller collects speed signals of the driving platform from the speed sensor, and the first position sensor and the second position sensor collect telescopic signals of each mobile platform;
s12: the controller sets a speed error threshold, if the range of the speed values acquired by each speed sensor is smaller than the speed error threshold, the step S13 is started, otherwise, the step S14 is skipped;
s13: establishing a speed function according to the speed value and time acquired by each speed sensor, integrating the speed function to obtain the moving distance of each speed sensor, and taking the moving distance of each speed sensor as the moving distance of the driving platform;
s14: and establishing a speed function according to the speed value and time acquired by each speed sensor, integrating the speed function to obtain the moving distance of each speed sensor, calculating the moving distance of the transverse middle position of the driving platform according to the transverse position of each speed sensor on the driving platform, and calculating the displacement deviation of the driving platform in the telescopic direction. The collected speeds are integrated respectively, errors are avoided, the moving distance of each sensor can be obtained, the installation positions of the position sensors are in a straight line, and if the moving distances of the position sensors are inconsistent, the moving distances of the two ends of the driving platform can be calculated according to the installation positions of the sensors and the moving distances of the sensors.
Preferably, the specific process in step S2 is as follows: the controller sets a plurality of groups of power output thresholds, establishes a corresponding relation between the power output thresholds and the number of the mobile stations dragged by the driving platform, and controls the driving motor to output corresponding power when the driving platform drags different numbers of mobile stations, and the driving motor drives the driving platform to move at a uniform speed. The method can be used for testing the driving platform in a pre-test mode, when the number of different driving platforms is dragged to reach a set speed, the controller collects the output power of the driving motor, a corresponding relation is established between the output power and the number of the driving platforms dragged by the driving platform, and when the controller knows that the number of the driving platforms driven by the driving platform is reduced or increased through the first position sensor or the second position sensor, the controller controls the driving motor to output power corresponding to the number of the driving platforms driven by the driving platform, so that the speed of the driving platform is ensured to be uniform.
Preferably, when the first position sensor or the second position sensor transmits a signal, the controller controls the driving motor to change the output power, and the driving motor drives the driving table to move at a constant speed. When the controller acquires that the number of the mobile stations driven by the driving platform is reduced or increased through the first position sensor or the second position sensor, the controller controls the driving motor to output power corresponding to the number of the mobile stations driven by the driving platform, so that the speed of the driving platform is ensured to be uniform.
Preferably, the moving distance of the driving platform is calculated in real time, the real-time moving distance of the driving platform is added into a real-time data queue, when the moving distance of the driving platform exceeds the width of the moving platform, the moving distance of the driving platform in the real-time data queue is cleared, the controller controls the driving motor to change the output power, and the driving motor drives the driving platform to move at a constant speed. The controller judges the moving distance of the driving platform, when the moving distance exceeds the width of one moving platform, the number of the moving platforms driven by the driving platform is stated to change, the driving motor is controlled to output power corresponding to the number of the moving platforms driven by the driving platform, the speed of the driving platform is ensured to move at a uniform speed, and thus the problem that the driving motor cannot change the output power when some moving platforms do not stretch in place, namely, the first position sensor or the second position sensor is not triggered is avoided.
Preferably, the specific procedure of the step S3 is as follows: if the moving distance of the driving platform exceeds the width of the moving platform, the first position sensor or the second position sensor transmits a signal, and then the device works normally, otherwise, the card foreign matter fault is reported, the controller takes the moving platform where the first position sensor or the second position sensor which does not transmit the signal is located as a card foreign matter fault moving platform, and the controller transmits the card foreign matter fault signal and card foreign matter fault moving platform information to a display screen of the wireless remote controller. When the telescopic stand is retracted, the mobile station which is not retracted is the last mobile station which is transmitted with the retracted signal, so that the mobile station which is not retracted in place can be determined, the mobile station which is not retracted in place can be checked according to the information, and thus, the situation that the mobile station is not retracted in place can be rapidly and efficiently mastered, the mobile station which is not retracted in place can be reserved on the telescopic stand according to the telescopic state, and the telescopic in place of the mobile station is blocked, so that the abnormal mobile station is rapidly positioned by the identification method of the invention, the situation that the articles are further damaged is avoided, if the pets are retracted on the telescopic stand, the pets can be prevented from dying, and the situation that the telescopic stand is more seriously damaged by the personnel is not formed by the telescopic stand is also possible.
Preferably, in the step S14, the displacement deviation of the driving stage in the telescopic direction is calculated as follows: the controller calculates the moving distance of the two ends of the driving table according to the transverse positions of the speed sensors on the driving table, and subtracts the moving distances of the two ends of the driving table to obtain the displacement deviation of the driving table in the telescopic direction; the controller sets a deviation threshold, when the displacement deviation of the driving platform in the telescopic direction is smaller than the deviation threshold, the driving platform works normally, otherwise, the controller reports a dead early warning alarm, the controller controls different rotation speeds of the output of the driving motor, the driving platform is driven by the driving motor to obtain a torque in the reverse deviation direction, and the displacement deviation of the driving platform in the telescopic direction is eliminated. Through obtaining the travel distance at drive platform both ends, can right the flexible circuit of drive platform, do not cause flexible stand to be blocked, when the displacement deviation of drive platform in flexible direction is greater than the deviation threshold value, the controller carries out differential regulation to the driving motor on the drive platform, when flexible stand stretches out, the controller increases the driving motor's of one side that the drive platform stretches out the distance weak point, or the controller reduces the driving motor's of one side that the drive platform stretches out the distance weak point rotational speed, or the controller again increases the driving motor's of one side that the drive platform stretches out the distance weak point rotational speed, the controller simultaneously reduces the driving motor's of one side that the drive platform stretches out the distance weak point rotational speed, until the displacement deviation of drive platform in flexible direction is less than the deviation threshold value, guarantee that the displacement deviation is not greater than the deviation threshold value in flexible in-process of drive platform.
Therefore, the invention has the following beneficial effects: (1) The controller controls the output power of the driving motor according to the signal of the speed sensor, so as to drive the driving table to move at a uniform speed, and if the telescopic speed is changed into the uniform speed in the telescopic stand, the operation of workers is facilitated, and meanwhile, all working parts are enabled to be worn uniformly, so that the working parts are matched better;
(2) The wireless remote controller can control the extension and retraction of the telescopic stand by wireless, so that the control process is more convenient and quicker, and the overhaul by staff is also facilitated;
(3) The position sensor can acquire whether the mobile station stretches out to the proper position signal or contracts to the proper position signal, so that the telescopic state of the telescopic stand can be accurately mastered, and fault detection and fault positioning are facilitated;
(4) The acquired speeds are integrated respectively, so that errors can be avoided, the moving distances of all the sensors can be obtained, the installation positions of all the position sensors are in a straight line, if the moving distances of all the position sensors are inconsistent, the moving distances of all the sensors can be calculated according to the installation positions of all the sensors and the moving distances of all the sensors, the moving distances of the two ends of the driving table can be calculated, and the moving distances of the two ends of the driving table are calculated, so that whether the driving table stretches out and contracts or not can be known;
(5) When the controller acquires that the number of the mobile stations driven by the driving table is reduced or increased through the first position sensor or the second position sensor, the controller controls the driving motor to output power corresponding to the number of the mobile stations driven by the driving table, so that the speed of the driving table can be ensured to be uniform;
(6) The controller judges the moving distance of the driving platform, when the moving distance exceeds the width of one moving platform, the number of the moving platforms driven by the driving platform is stated to change, the driving motor is controlled to output power corresponding to the number of the moving platforms driven by the driving platform, the speed of the driving platform is ensured to move at a uniform speed, and thus the problem that the driving motor cannot change the output power when some moving platforms do not stretch in place, namely, the first position sensor or the second position sensor is not triggered is avoided;
(7) When the moving distance of the driving platform exceeds the width of the moving platform, the controller does not receive the signals transmitted by the first position sensor or the second position sensor, and the moving platform does not stretch to the right, according to the stretching state, when the stretching stand stretches out, the moving platform which does not stretch to the right is the next moving platform of the moving platform which finally transmits the stretching to the right, when the stretching stand stretches back, the moving platform which does not stretch to the right is the last moving platform which transmits the stretching to the right, so that the moving platform which does not stretch to the right can be checked according to the information, and thus, the moving platform can be rapidly and efficiently mastered that the moving platform does not stretch to the right, and the moving platform which does not stretch to the right can be left on the stretching stand, and the stretching to the right of the moving platform is blocked, so that the abnormal moving platform is rapidly positioned by the recognition method of the invention, the moving platform is prevented from being further damaged, if the pet is the moving platform which does not stretch to the right, the pet can be prevented from dying, and the person who is also can be prevented from being seriously harmed by stretching on the stretching stand;
(8) Through obtaining the travel distance at drive platform both ends, can right the flexible circuit of drive platform, do not cause flexible stand to be blocked, when the displacement deviation of drive platform in flexible direction is greater than the deviation threshold value, the controller carries out differential regulation to the driving motor on the drive platform, when flexible stand stretches out, the controller increases the driving motor's of one side that the drive platform stretches out the distance weak point, or the controller reduces the driving motor's of one side that the drive platform stretches out the distance weak point rotational speed, or the controller again increases the driving motor's of one side that the drive platform stretches out the distance weak point rotational speed, the controller simultaneously reduces the driving motor's of one side that the drive platform stretches out the distance weak point rotational speed, until the displacement deviation of drive platform in flexible direction is less than the deviation threshold value, guarantee that the displacement deviation is not greater than the deviation threshold value in flexible in-process of drive platform.
Drawings
FIG. 1 is a schematic view of a structure of the present invention
Fig. 2 is a schematic diagram of a mobile station according to the present invention
FIG. 3 is a schematic view of a driving stage according to the present invention
FIG. 4 is a schematic view of a second position sensor mounting location of the present invention
FIG. 5 is a block diagram of a connection of the present invention
FIG. 6 is a schematic diagram of a wireless remote control according to the present invention
In the figure: 1. the mobile station comprises a telescopic stand, a mobile station, a first position sensor, a second position sensor, a driving station, a controller, a driving motor, a speed sensor, a wireless remote controller, a display screen, a wireless communication module, a retracting button, a stretching button and a stopping button.
Detailed Description
The invention is further described below with reference to the drawings and detailed description.
Examples: the utility model provides a flexible stand intelligence power output system, including flexible stand 1, as shown in figures 1 and 3, including controller 2, driving motor 3, speed sensor 4, flexible stand includes driving table 112, and driving motor sets up on the driving table, sets up two at least groups speed sensor on the driving table, and driving motor power signal draws end connection control motor power signal input, as shown in figure 5, driving motor output power control end connection controller motor power signal output, speed sensor speed signal output end connection controller. The telescopic stand comprises a plurality of movable tables 11 which can be nested, as shown in fig. 2 and 4, a first position sensor 111 and a second position sensor 112 are arranged on the movable tables, the first position sensor detects whether another movable table nested in the movable table is nested in place in a shrinkage mode, the second position sensor detects whether another movable table nested in the movable table is stretched out in place, a position signal output end of the first position sensor is connected with a shrinkage signal receiving end of the controller, and a position signal output end of the second position sensor is connected with the stretching signal receiving end of the controller. As shown in fig. 6, the wireless remote controller 5 further comprises a display screen 51, a wireless communication module 52, a retracting button 53, an extending button 54 and a stopping button 55, wherein the wireless communication module is in wireless connection with the controller, a video signal output end of the wireless communication module is connected with a signal output end of the display screen, a retracting button signal output end is connected with a retracting signal receiving end of the wireless communication module, a stretching button signal output end is connected with a stretching signal receiving end of the wireless communication module, and a stopping button signal output end is connected with a stopping signal receiving end of the wireless communication module.
The controller controls the output power of the driving motor according to the signal of the speed sensor, and is used for driving the driving table to move at a uniform speed, and if the telescopic speed is changed into the uniform speed in the telescopic stand, the controller is convenient for operators to operate, and meanwhile, all working parts are enabled to be worn consistently, so that the working parts are matched better.
The wireless remote controller can be through the extension and the withdrawal of the flexible stand of wireless control, the staff presses the withdrawal button, wireless communication module passes the controller with the withdrawal signal, the controller controls driving motor turns to, make driving motor drive the driving platform withdraw, the staff presses the button that stretches out, wireless communication module passes the signal that stretches out to the controller, the controller controls driving motor turns to, make driving motor drive the driving platform stretch out, the staff presses the stop button, wireless communication module passes the stop signal to the controller, the controller controls driving motor no longer rotates, make driving motor drive driving platform motion, the controller passes through wireless communication module and conveys video signal to the display screen, the display screen can show report unusual signal, whether the signal is transmitted to first position sensor and second position sensor on each mobile station, the real-time speed of display driving platform still shows the displacement deviation of driving platform, because wireless control, make control process convenient and fast more, also make the staff examine and repair.
The position sensor can acquire whether the mobile station stretches out to the signal in place or contracts to the signal in place, so that the telescopic state of the telescopic stand can be accurately mastered, and fault detection and fault positioning are facilitated.
The invention also comprises an intelligent power output system of the telescopic stand and a control method thereof, wherein the intelligent power output system of the telescopic stand is adopted, and the method comprises the following steps:
s1: the controller collects a speed signal of the driving platform and a telescopic in-place signal of each mobile platform, and calculates the moving distance of the mobile platform;
s11: the controller collects speed signals of the driving platform from the speed sensor, and the first position sensor and the second position sensor collect telescopic signals of each mobile platform;
s12: the controller sets a speed error threshold, if the range of the speed values acquired by each speed sensor is smaller than the speed error threshold, the step S13 is started, otherwise, the step S14 is skipped;
s13: establishing a speed function according to the speed value and time acquired by each speed sensor, integrating the speed function to obtain the moving distance of each speed sensor, and taking the moving distance of each speed sensor as the moving distance of the driving platform;
s14: and establishing a speed function according to the speed value and time acquired by each speed sensor, integrating the speed function to obtain the moving distance of each speed sensor, calculating the moving distance of the transverse middle position of the driving platform according to the transverse position of each speed sensor on the driving platform, and calculating the displacement deviation of the driving platform in the telescopic direction. The displacement deviation of the calculation driving platform in the telescopic direction is as follows: the controller calculates the moving distance of the two ends of the driving table according to the transverse positions of the speed sensors on the driving table, and subtracts the moving distances of the two ends of the driving table to obtain the displacement deviation of the driving table in the telescopic direction; the controller sets a deviation threshold, when the displacement deviation of the driving platform in the telescopic direction is smaller than the deviation threshold, the driving platform works normally, otherwise, the controller reports a dead early warning alarm, the controller controls different rotation speeds of the output of the driving motor, the driving platform is driven by the driving motor to obtain a torque in the reverse deviation direction, and the displacement deviation of the driving platform in the telescopic direction is eliminated.
S2: the controller controls the output power of a driving motor, and the driving motor drives the mobile station to move at a uniform speed; the specific process is as follows: the controller sets a plurality of groups of power output thresholds, establishes a corresponding relation between the power output thresholds and the number of the mobile stations dragged by the driving platform, and controls the driving motor to output corresponding power when the driving platform drags different numbers of mobile stations, and the driving motor drives the driving platform to move at a uniform speed. The process of controlling the driving motor to output the corresponding power by the controller may be realized by the following processes: when a signal is transmitted from the first position sensor or the second position sensor, the controller controls the driving motor to change the output power, and the driving motor drives the driving table to move at a uniform speed. The process of controlling the driving motor to output the corresponding power by the controller can also be realized by the following processes: calculating the moving distance of the driving platform in real time, adding the real-time moving distance of the driving platform into a real-time data queue, clearing the moving distance of the driving platform in the real-time data queue when the moving distance of the driving platform exceeds the width of the moving platform, and controlling a driving motor to change the output power by a controller, wherein the driving motor drives the driving platform to move at a uniform speed.
S3: the controller identifies whether the mobile station is nested in place based on the mobile station speed and the respective mobile station telescoping in place signal. The specific process is as follows: if the moving distance of the driving platform exceeds the width of the moving platform, the first position sensor or the second position sensor transmits a signal, and then the device works normally, otherwise, the card foreign matter fault is reported, the controller takes the moving platform where the first position sensor or the second position sensor which does not transmit the signal is located as a card foreign matter fault moving platform, and the controller transmits the card foreign matter fault signal and card foreign matter fault moving platform information to a display screen of the wireless remote controller.
The controller collects the speed of the driving platform through the speed sensor, controls the output power of the driving motor, is used for driving the driving platform to move at a uniform speed, and can change the telescopic speed into uniform speed in the telescopic stand to ensure that all working parts are worn consistently, and the telescopic state of the telescopic stand can be accurately grasped through the signals of the sensor until the telescopic stand is worn consistently, so that fault detection and fault positioning are convenient.
The collected speeds are integrated respectively, errors are avoided, the moving distance of each sensor can be obtained, the installation positions of the position sensors are in a straight line, and if the moving distances of the position sensors are inconsistent, the moving distances of the two ends of the driving platform can be calculated according to the installation positions of the sensors and the moving distances of the sensors.
The method can be used for testing the driving platform in a pre-test mode, when the number of different driving platforms is dragged to reach a set speed, the controller collects the output power of the driving motor, a corresponding relation is established between the output power and the number of the driving platforms dragged by the driving platform, and when the controller knows that the number of the driving platforms driven by the driving platform is reduced or increased through the first position sensor or the second position sensor, the controller controls the driving motor to output power corresponding to the number of the driving platforms driven by the driving platform, so that the speed of the driving platform is ensured to be uniform.
When the controller acquires that the number of the mobile stations driven by the driving platform is reduced or increased through the first position sensor or the second position sensor, the controller controls the driving motor to output power corresponding to the number of the mobile stations driven by the driving platform, so that the speed of the driving platform is ensured to be uniform.
The controller judges the moving distance of the driving platform, when the moving distance exceeds the width of one moving platform, the number of the moving platforms driven by the driving platform is stated to change, the driving motor is controlled to output power corresponding to the number of the moving platforms driven by the driving platform, the speed of the driving platform is ensured to move at a uniform speed, and thus the problem that the driving motor cannot change the output power when some moving platforms do not stretch in place, namely, the first position sensor or the second position sensor is not triggered is avoided.
When the telescopic stand is retracted, the mobile station which is not retracted is the last mobile station which is transmitted with the retracted signal, so that the mobile station which is not retracted in place can be determined, the mobile station which is not retracted in place can be checked according to the information, and thus, the situation that the mobile station is not retracted in place can be rapidly and efficiently mastered, the mobile station which is not retracted in place can be reserved on the telescopic stand according to the telescopic state, and the telescopic in place of the mobile station is blocked, so that the abnormal mobile station is rapidly positioned by the identification method of the invention, the situation that the articles are further damaged is avoided, if the pets are retracted on the telescopic stand, the pets can be prevented from dying, and the situation that the telescopic stand is more seriously damaged by the personnel is not formed by the telescopic stand is also possible.
Through obtaining the travel distance at drive platform both ends, can right the flexible circuit of drive platform, do not cause flexible stand to be blocked, when the displacement deviation of drive platform in flexible direction is greater than the deviation threshold value, the controller carries out differential regulation to the driving motor on the drive platform, when flexible stand stretches out, the controller increases the driving motor's of one side that the drive platform stretches out the distance weak point, or the controller reduces the driving motor's of one side that the drive platform stretches out the distance weak point rotational speed, or the controller again increases the driving motor's of one side that the drive platform stretches out the distance weak point rotational speed, the controller simultaneously reduces the driving motor's of one side that the drive platform stretches out the distance until the displacement deviation of drive platform in the direction is less than the deviation threshold value, guarantee that the displacement deviation is not greater than the deviation threshold value in the process of stretching out of drive platform. When the telescopic stand is retracted, the controller regulates down the rotating speed of the driving motor on the side with the short retraction distance of the driving stand, or the controller regulates up the rotating speed of the driving motor on the side with the long extension distance of the driving stand, or the controller regulates down the rotating speed of the driving motor on the side with the short extension distance of the driving stand, and meanwhile, the controller regulates up the rotating speed of the driving motor on the side with the long extension distance of the driving stand until the displacement deviation of the driving stand in the retraction direction is smaller than a deviation threshold value, so that the displacement deviation of the driving stand in the retraction process is not larger than the deviation threshold value.
Claims (7)
1. The intelligent power output system of the telescopic stand comprises a controller, a driving motor, a speed sensor and the telescopic stand, and is characterized in that the telescopic stand comprises a driving stand, the driving motor is arranged on the driving stand, at least two groups of speed sensors are arranged on the driving stand, a power signal extraction end of the driving motor is connected with a power signal input end of a motor of the controller, an output power control end of the driving motor is connected with a power signal output end of the motor of the controller, a speed signal output end of the speed sensor is connected with the controller, the telescopic stand comprises a plurality of movable stands which can be nested, a first position sensor and a second position sensor are arranged on the movable stands, the first position sensor detects whether another movable stand which is nested in the movable stand is contracted and nested in place, the second position sensor detects whether another movable stand which is nested in the movable stand is extended and positioned, the position signal output end of the first position sensor is connected with a contraction signal receiving end of the controller, and the position signal output end of the second position sensor is connected with the extension signal receiving end of the controller, and the corresponding method comprises the following steps:
s1: the controller collects a speed signal of the driving platform and a telescopic in-place signal of each mobile platform, and calculates the moving distance of the mobile platform;
s2: the controller controls the output power of the driving motor, and the driving motor drives the mobile station to move at a uniform speed, and the specific process is as follows: the controller sets a plurality of groups of power output thresholds, establishes a corresponding relation between the power output thresholds and the number of the mobile stations dragged by the driving platform, and controls the driving motor to output corresponding power when the driving platform drags different numbers of mobile stations, and the driving motor drives the driving platform to move at a uniform speed;
s3: the controller identifies whether the mobile station is nested in place based on the mobile station speed and the respective mobile station telescoping in place signal.
2. The telescopic stand intelligent power output system according to claim 1, further comprising a wireless remote controller, wherein the wireless remote controller comprises a display screen, a wireless communication module, a retracting button, an extending button and a stopping button, the wireless communication module is in wireless connection with the controller, a video signal output end of the wireless communication module is connected with a signal output end of the display screen, a retracting button signal output end is connected with a retracting signal receiving end of the wireless communication module, an extending button signal output end is connected with an extending signal receiving end of the wireless communication module, and a stopping button signal output end is connected with a stopping signal receiving end of the wireless communication module.
3. The telescopic stand intelligent power output system according to claim 1, wherein step S1 comprises the steps of:
s11: the controller collects speed signals of the driving platform from the speed sensor, and the first position sensor and the second position sensor collect telescopic signals of each mobile platform;
s12: the controller sets a speed error threshold, if the range of the speed values acquired by each speed sensor is smaller than the speed error threshold, the step S13 is started, otherwise, the step S14 is skipped;
s13: establishing a speed function according to the speed value and time acquired by each speed sensor, integrating the speed function to obtain the moving distance of each speed sensor, and taking the moving distance of each speed sensor as the moving distance of the driving platform;
s14: and establishing a speed function according to the speed value and time acquired by each speed sensor, integrating the speed function to obtain the moving distance of each speed sensor, calculating the moving distance of the transverse middle position of the driving platform according to the transverse position of each speed sensor on the driving platform, and calculating the displacement deviation of the driving platform in the telescopic direction.
4. The intelligent power output system of the telescopic stand according to claim 1, wherein the controller controls the driving motor to change the output power when the first position sensor or the second position sensor transmits a signal, and the driving motor drives the driving stand to move at a uniform speed.
5. The intelligent power output system of the telescopic stand according to claim 1, wherein the moving distance of the driving platform is calculated in real time, the real-time moving distance of the driving platform is added into a real-time data queue, when the moving distance of the driving platform exceeds the width of the moving platform, the moving distance of the driving platform in the real-time data queue is cleared, the controller controls the driving motor to change the output power, and the driving motor drives the driving platform to move at a uniform speed.
6. The intelligent power output system of the telescopic stand according to claim 1, 4 or 5, wherein the specific process of step S3 is as follows: if the moving distance of the driving platform exceeds the width of the moving platform, the first position sensor or the second position sensor transmits a signal, and then the device works normally, otherwise, the card foreign matter fault is reported, the controller takes the moving platform where the first position sensor or the second position sensor which does not transmit the signal is located as a card foreign matter fault moving platform, and the controller transmits the card foreign matter fault signal and card foreign matter fault moving platform information to a display screen of the wireless remote controller.
7. A telescopic stand intelligent power output system according to claim 3, wherein in step S14, the displacement deviation of the computing driving stand in the telescopic direction is: the controller calculates the moving distance of the two ends of the driving table according to the transverse positions of the speed sensors on the driving table, and subtracts the moving distances of the two ends of the driving table to obtain the displacement deviation of the driving table in the telescopic direction; the controller sets a deviation threshold, when the displacement deviation of the driving platform in the telescopic direction is smaller than the deviation threshold, the driving platform works normally, otherwise, the controller reports a dead early warning alarm, the controller controls different rotation speeds of the output of the driving motor, the driving platform is driven by the driving motor to obtain a torque in the reverse deviation direction, and the displacement deviation of the driving platform in the telescopic direction is eliminated.
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