CN113548048B - Intelligent electric power transport vehicle - Google Patents
Intelligent electric power transport vehicle Download PDFInfo
- Publication number
- CN113548048B CN113548048B CN202110797529.0A CN202110797529A CN113548048B CN 113548048 B CN113548048 B CN 113548048B CN 202110797529 A CN202110797529 A CN 202110797529A CN 113548048 B CN113548048 B CN 113548048B
- Authority
- CN
- China
- Prior art keywords
- transport vehicle
- vehicle
- tracking
- speed
- sensing device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000006698 induction Effects 0.000 claims description 53
- 238000000034 method Methods 0.000 claims description 21
- 238000012360 testing method Methods 0.000 claims description 9
- 244000309464 bull Species 0.000 claims description 3
- 238000005265 energy consumption Methods 0.000 abstract description 5
- 230000000694 effects Effects 0.000 abstract description 4
- 230000008569 process Effects 0.000 description 11
- 238000013461 design Methods 0.000 description 8
- 230000007547 defect Effects 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 4
- 230000009193 crawling Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000013480 data collection Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 241000834287 Cookeolus japonicus Species 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses an intelligent electric transport vehicle, wherein a route sensing device is transversely arranged at the front end of the transport vehicle, the route sensing device comprises a tracking sensing unit for tracking and a limiting sensing unit for limiting, and when the tracking sensing unit fails to acquire route information at a certain time, the transport vehicle is corrected to return to a correct road through the route information sensed by the limiting sensing unit. When the transport vehicle deviates from the path, the sensing device on at least one side of the limiting sensing unit can sense the path; the route information acquired by the limit sensing unit is corrected, so that the driving accuracy and stability of the transport vehicle are improved, the rapidity of the transport vehicle can be further improved, a network is not needed, intelligent transportation can be performed according to a specified route, and the effects of accurate, rapid and stable intelligent transportation are achieved; the problems of low resource utilization rate of transport vehicles in the market, higher risk coefficient of manual driving transportation, high transportation cost, heavier vehicle weight, high energy consumption and low efficiency are solved.
Description
Technical Field
The invention belongs to the technical field of automatic tracking transport vehicles, and particularly relates to an intelligent electric transport vehicle.
Background
The electric transport vehicle is a product combining typical battery technology, electric drive and control technology thereof and whole vehicle technology, and generally comprises a power supply system, an electric drive system, an auxiliary system and the like. In order to accurately control the body, the power supply system needs to supply the power of the whole vehicle electric equipment; the electric drive system should efficiently convert the electric energy stored in the battery into kinetic energy of the wheels and be able to convert the kinetic energy of the wheels into electric energy to be flushed into the battery when the vehicle is braked at a reduced speed. The transport vehicle completes various expected tasks through manual driving, and the transport task means that the purposeful position movement of passengers and goods is realized on a certain traffic route. The transport vehicle can be provided with different carriages to finish the goods transportation work of different types and shapes. But the transportation vehicle in the market has the problems of low resource utilization rate, higher risk coefficient of manual driving transportation, high transportation cost, heavier vehicle weight, high energy consumption and low efficiency.
Disclosure of Invention
The invention aims to provide an intelligent electric power transport vehicle which does not need a network, can carry out intelligent transport according to a specified route and achieves the effect of accurate, quick and stable intelligent transport; the problems of low resource utilization rate of transport vehicles in the market, higher risk coefficient of manual driving transportation, high transportation cost, heavier vehicle weight, high energy consumption and low efficiency are solved.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention provides an intelligent electric transport vehicle, wherein a route sensing device is transversely arranged at the front end of the transport vehicle, the route sensing device comprises a tracking sensing unit for tracking, the route sensing device also comprises a limiting sensing unit for limiting, the limiting sensing unit comprises a first sensing device and a second sensing device, and the first sensing device and the second sensing device are respectively positioned at two sides of the tracking sensing unit; when the tracking induction unit fails to collect the route information at a certain time, the transport vehicle is corrected to return to the correct road through the route information induced by the limit induction unit.
According to the technology, the tracking induction unit is arranged in a traditional arrangement mode and used for tracking the transport vehicle, the limiting induction unit is arranged and used for limiting the transport vehicle, the limiting induction unit comprises a first induction device and a second induction device, the first induction device and the second induction device are respectively positioned on two sides of the tracking induction unit, and when the transport vehicle deviates from a path, at least one induction device on one side of the limiting induction unit can sense the path; thereby, the first sensing device and the second sensing device can sense the driving route; when the tracking induction unit can acquire the route information, the transport vehicle still runs on the route according to the route information sensed by the tracking induction unit, when the tracking induction unit fails to acquire the route information for a certain time, the transport vehicle is corrected to return to the correct road according to the route information sensed by the limit induction unit, the vehicle head possibly deviates from the running route when the tracking induction unit fails to acquire the route information, or the tracking induction unit fails, the transport vehicle is corrected according to the route information acquired by the limit induction unit, the running accuracy and stability of the transport vehicle are improved, the rapidity of the transport vehicle can be improved, a network is not needed, intelligent transportation can be performed according to the designated route, and the effects of accurate, rapid and stable intelligent transportation are achieved; the problems of low resource utilization rate of transport vehicles in the market, higher risk coefficient of manual driving transportation, high transportation cost, heavier vehicle weight, high energy consumption and low efficiency are solved.
In one possible design, the tracking sensing unit comprises three infrared sensors, the three infrared sensors are arranged in a transverse row at the front end of the transport vehicle and are arranged at equal intervals, and the distance between every two adjacent infrared sensors is smaller than the width of the path. The three sensors in the middle are arranged at equal intervals, and the distance between two adjacent infrared sensors is smaller than the width of the path, so that the installation is only slightly smaller than the width of the path, and at least one sensor can detect the road under the ordinary condition.
In one possible design, the transport vehicle includes front wheels and rear wheels, the front wheels include bull's eye universal wheels, the rear wheels include left wheel and right wheel, left wheel and right wheel drive through independent motor respectively, control the direction of travel of transport vehicle through the rotational speed of controlling left wheel and right wheel. In order to reduce a transmission mechanism and reduce the self weight of a vehicle body, the front wheels of the transport vehicle adopt bull-eye universal wheels to replace the traditional left and right wheels, so that the self weight of the vehicle is reduced, and the transport cost is greatly reduced. Simple structure and flexible driving.
In one possible design, if the tracking sensing unit can normally acquire the route information, the transport vehicle is controlled to run straight. The tracking induction unit is arranged to normally collect the route information, the transport vehicle is controlled to run linearly, the speed of the left wheel and the right wheel is adjusted when the road is not detected, the defect of crawling caused by frequently adjusting the speed of the left wheel and the right wheel in the running process of the vehicle is overcome, the defects of left and right fluctuation times and overlarge fluctuation amplitude of the vehicle in the running process are reduced, the vehicle is enabled to be smoother in the running process, the overall speed is improved, and the non-differential road tracking is realized.
In one possible design, the driving path is segmented according to the actual situation of the preset driving path, each segment of the driving path is matched with a corresponding preset speed, the first speed is used for straight driving, the second speed is used for curve driving, and the first speed is greater than the second speed; and after the vehicle starts to run, judging the real-time position of the transport vehicle on the preset path, and then distributing corresponding speed according to the position information. The method comprises the steps of dividing the road into a plurality of sections according to actual road conditions, dividing the road into one section with consistent road conditions, namely dividing the road into one section with a relatively straight road condition, dividing the road into one section with a relatively curved road condition, dividing the road into one section with a very curved road condition, and matching each section of the road with corresponding speed, wherein the speed is high when the vehicle is driven in a straight line and the speed is low when the vehicle is driven in a curved road condition, calculating the position of the vehicle on a preset path by a program, and then distributing the corresponding speed to achieve the purpose of smooth driving. The segmented approach is to test the time that the vehicle has reached a certain period based on the test results, and then to invoke different speeds based on the measured time in the program. Through practical test, the vehicle operates steadily, and the total operation time of the automobile on the road is reduced.
In one possible design, the real-time position of the transport vehicle on the preset path is judged by testing the specific time required by the vehicle to reach a certain section of the driving section as the preset time, and when the actual driving time reaches the preset time, calling the corresponding speed.
In one possible design, when the real-time position of the transport vehicle on the preset path is judged, if the transport vehicle is judged to enter the curve within the preset time, the second speed is called for running. The transportation vehicle enters the curve in the preset time by judging, and then the second speed is called to drive, namely the speed is reduced in advance when the curve is formed, so that the curve is more stable to drive.
In one possible design, the first and second sensing devices are both infrared sensors.
In a possible design, when the tracking induction unit fails to collect the route information at a certain time, and when the deviation of the transport vehicle is not enough to enable the limiting induction unit to collect the route information, the deviation of the transport vehicle is judged by combining the data collected last time by the tracking induction unit, and the driving direction is adjusted according to the deviation result.
Has the advantages that:
1. according to the intelligent electric transport vehicle, the traditional arrangement mode is adopted to arrange the tracking induction unit for tracking the transport vehicle, the limit induction unit is also arranged for limiting the transport vehicle, the limit induction unit comprises the first induction device and the second induction device, the first induction device and the second induction device are respectively positioned at two sides of the tracking induction unit, and when the transport vehicle deviates from a path, the induction device at least on one side of the limit induction unit can sense the path; thereby, the first sensing device and the second sensing device can sense the driving route; when the tracking induction unit can acquire the route information, the transport vehicle still runs on the route according to the route information sensed by the tracking induction unit, when the tracking induction unit fails to acquire the route information for a certain time, the transport vehicle is corrected to return to the correct road according to the route information sensed by the limit induction unit, the vehicle head possibly deviates from the running route when the tracking induction unit fails to acquire the route information, or the tracking induction unit fails, the transport vehicle is corrected according to the route information acquired by the limit induction unit, the running accuracy and stability of the transport vehicle are improved, the rapidity of the transport vehicle can be improved, a network is not needed, intelligent transportation can be performed according to the designated route, and the effects of accurate, rapid and stable intelligent transportation are achieved; the problems of low utilization rate of resources of transport vehicles in the market, higher risk coefficient of manual driving and transportation, high transportation cost, heavier vehicle weight, high energy consumption and low efficiency are solved;
2. according to the intelligent electric power transport vehicle, the three sensors in the middle are arranged at equal intervals, the distance between two adjacent infrared sensors is smaller than the width of a path, and the distance is only slightly smaller than the width of the path during installation, so that at least one sensor can detect a road under a general condition;
3. according to the intelligent electric transport vehicle provided by the invention, the tracking induction unit is arranged to normally acquire the route information, the transport vehicle is controlled to run linearly, and the speeds of the left wheel and the right wheel are adjusted when the road is not detected, so that the defect of crawling caused by frequently adjusting the speeds of the left wheel and the right wheel during the running process of the vehicle is solved, the defects of left-right fluctuation times and overlarge fluctuation amplitude of the vehicle during the running process are reduced, the vehicle is relatively smooth during the running process, the overall speed is improved, and the purpose of tracking the road without difference is realized.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below.
FIG. 1 is a flow chart illustrating the operation of an intelligent electric transportation vehicle according to an embodiment of the present invention;
FIG. 2 is a schematic view of an internal structure of an intelligent electric transportation vehicle according to the present invention;
Detailed Description
The invention is further described with reference to the following figures and specific embodiments. It should be noted that the description of the embodiments is provided to help understanding of the present invention, but the present invention is not limited thereto. It will be understood that, although the terms first, second, etc. may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element, without departing from the scope of example embodiments of the present invention.
As shown in fig. 1, in the intelligent electric transport vehicle provided by the first aspect of the present invention, a route sensing device is transversely disposed at a front end of the transport vehicle, the route sensing device includes a tracking sensing unit for tracking, the route sensing device further includes a limit sensing unit for limiting, the limit sensing unit includes a first sensing device and a second sensing device, and the first sensing device and the second sensing device are respectively located at two sides of the tracking sensing unit; when the tracking induction unit fails to collect the route information at a certain time, the transport vehicle is corrected to return to the correct road through the route information induced by the limit induction unit. Specifically, as an example, the transportation vehicle includes a mechanical structure and an electric control element, and the electric control element includes a single chip microcomputer, a sensor, a motor driving board, a direct current motor, a step-down transformer, a power supply, and the like. The direct current motor changes the rotating speed through a motor driving plate. The motor driving board changes voltage and transmits the voltage to the direct current motor through signals transmitted by the single chip microcomputer, and the rotating speed of the motor is changed. The sensor transmits signals to the single chip microcomputer after reflecting the emitted light, and has the function of data collection. The single chip microcomputer has the functions of data collection, operation, control, instruction output, storage and the like. As shown in figure 1, when the trolley is in operation, a power supply is switched on, the single chip microcomputer starts an initialization process, so that the projection surface of the middle sensor at the head of the trolley is on a black track, light emitted by the sensor is absorbed by the black track, namely a red light is turned off, a signal is transmitted to the single chip microcomputer, a reset button of the single chip microcomputer is pressed first, then a start button is pressed, and the single chip microcomputer controls a motor drive plate to drive a motor to rotate. When the head of the trolley deviates from the track, the corresponding sensor immediately feeds back a signal to the single chip microcomputer, after the single chip microcomputer reads the data, the rotating speed of the left and right rear wheels of the trolley is changed, the intelligent trolley automatically adjusts to the track and continues to move forwards until the intelligent trolley automatically stops after the intelligent trolley moves to the tail end of the track. When the vehicle head deviates from the track, the vehicle head sensor acquires data and feeds the data back to the single chip microcomputer, the single chip microcomputer sends control signals to the left motor and the right motor after calculation, and the intelligent vehicle is automatically adjusted to the track and continuously runs forwards.
Specifically, the tracking sensing unit of the electric transport vehicle adopts 3 sensors, judges whether the vehicle deviates from the road after acquiring data of the sensors, identifies that the road is 1 by the sensors, does not identify that the road is 0, if 001 and 011, the vehicle head deviates from the road and deviates to the left side, the speed of the left wheel and the speed of the right wheel are changed by an algorithm, so that the speed of the left wheel is greater than that of the right wheel, the vehicle body can return to the track, otherwise, the vehicle body is reversely adjusted, and the conventional algorithm has the defects that the vehicle body is easy to deviate from the road, and finally, the vehicle body is in an adjusted state all the time and crawls. There is also a scheme of increasing the number of sensors, and the number of sensors increases, so that the judgment conditions of the program increase, and the uncertain factors also increase. There is also a conventional solution to increase the distance between the sensors, which makes the vehicle body adjusted at a position deviated greatly, increasing the tracking error and causing a problem that the vehicle fluctuates greatly on both sides of the track.
In a possible embodiment, the tracking sensing unit includes three infrared sensors, the three infrared sensors are arranged in a transverse row at the front end of the transporter and are arranged at equal intervals, the distance between two adjacent infrared sensors is smaller than the width of the path, as shown in fig. 2, for example, a sensor mounting seat 1 is arranged at the front end of the transporter, the sensor mounting seat 1 includes a flat plate arranged transversely, a plurality of mounting holes are arranged transversely and at equal intervals on the flat plate, and the sensors of the tracking sensing unit and the limit sensing unit are both mounted on the sensor mounting seat 1. In terms of installation, the three sensors in the middle are arranged at equal intervals, and the distance between two adjacent sensors is slightly smaller than the width of a path, so that at least one sensor can detect a road under a common condition.
In one possible embodiment, as shown in fig. 2, the transportation vehicle comprises front wheels and rear wheels, the front wheels comprise bullseye universal wheels 4, the rear wheels comprise left wheels 3 and right wheels 2, the left wheels 3 and the right wheels 2 are respectively driven by independent motor driving systems 5 and 6, and the driving direction of the transportation vehicle is controlled by controlling the rotating speed of the left wheels and the right wheels. Therefore, the transmission mechanism is greatly reduced to reduce the self weight of the vehicle body. The front wheel of the automobile adopts a bull's eye universal wheel to replace the traditional left and right wheels, thereby reducing the self weight of the automobile and greatly reducing the transportation cost. Simple structure and flexible driving.
In one possible implementation, if the tracking sensing unit can normally acquire the route information, the transport vehicle is controlled to run straight. When the tracking induction unit fails to collect the route information at a certain time, and when the deviation of the transport vehicle is not enough to enable the limiting induction unit to collect the route information, the deviation of the transport vehicle is judged by combining the data collected last time by the tracking induction unit, and the driving direction is adjusted according to the deviation result. Specifically, the transport vehicle not only takes the currently acquired data as a basis, but also combines the data acquired last time, if any sensor of the currently acquired real-time data returns to '1' (a road is detected), the two wheels are at the same speed and move straight; if the currently collected real-time data of 3 sensors are all '0' (no road is detected), the judgment is carried out according to the last result, if the last result is '001' or '011', the automobile can be judged to be right-handed, a command of turning left is executed (left wheel speed < right wheel speed), and if the last result is '100' or '110', the automobile can be judged to be left-handed, and a command of turning right is executed (left wheel speed > right wheel speed). When the 3 sensors do not detect the road, the speed of the left wheel and the right wheel is adjusted, so that the defect of crawling caused by frequently adjusting the speed of the left wheel and the right wheel in the running process of the automobile is overcome, the defects of left and right fluctuation times and overlarge fluctuation amplitude of the automobile in the running process are reduced, the automobile is relatively smooth in the running process, the overall speed is improved, and the non-differential road tracking is realized.
In one possible implementation mode, the running path is segmented according to the actual situation of the preset running path, each segment of the running path is matched with a corresponding preset speed, the first speed is used for straight running, the second speed is used for curve running, and the first speed is greater than the second speed; and after the vehicle starts to run, judging the real-time position of the transport vehicle on the preset path, and then distributing corresponding speed according to the position information. The driving path is segmented, each segment of the path is matched with a corresponding speed, the speed is high when the vehicle is driven in a straight line, the speed is low when the vehicle is driven in a curve, the position of the vehicle on the preset path is calculated through a program, and then the corresponding speed is distributed to achieve the purpose of stable driving; during specific implementation, the road condition can be divided into a plurality of sections according to the actual road condition, the road condition is divided into one section in a consistent way, for example, the road is divided into one section in a straight way, the road is divided into one section in a curved way, the road is divided into one section in a very curved way, each section of route is matched with corresponding speed, for example, the speed is high when the vehicle runs in a straight line, the speed is low when the vehicle runs in a curved way, the position of the vehicle on the preset route is calculated through a program, and then the corresponding speed is distributed to achieve the purpose of smooth running. The segmented approach is to test the time that the vehicle has reached a certain period based on the test results, and then to invoke different speeds based on the measured time in the program. Through practical test, the vehicle operates steadily, and the total operation time of the automobile on the road is reduced.
In one possible implementation, the real-time position of the transport vehicle on the preset path is judged by testing the specific time required by the vehicle to reach a certain section of the driving section as the preset time, and when the actual driving time reaches the preset time, calling the corresponding speed.
In one possible embodiment, when the real-time position of the transport vehicle on the preset path is judged, if the transport vehicle is judged to enter the curve within the preset time, the second speed is called for running.
In one possible embodiment, the first and second sensing devices are both infrared sensors. As an example, five sensors are employed, the middle three being used for tracking; the two outermost sides are used for limiting; when the middle three sensors fail to acquire data at a certain time, correcting the vehicle to return to the correct road through the two sensors at the outermost sides; the middle three sensors ensure that the vehicle runs on a specified path, once the vehicle deviates from the track due to any reason and exceeds the detection area of the middle three sensors, the two outermost sensors on the two sides of the vehicle head can be used for adjusting the direction of the vehicle head, and finally the vehicle can automatically run according to the preset path.
The transport vehicle provided by the invention has a larger difference from a common trolley in structure, the front wheel abandons the traditional wheel form and adopts a relatively flexible and lower-cost bullseye universal wheel; the team quickly and stably realizes multiple times of various complex track transportation in actual control, and the use of the sensor ensures that the automobile can automatically run according to a preset path under the conditions of not deviating from the specified path and not needing a network; due to the adoption of a specific algorithm, the automobile can run efficiently, quickly and stably in the running process.
Finally, it should be noted that the above-mentioned embodiments are only preferred embodiments of the present invention, and are not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. A control method of an intelligent electric transport vehicle is characterized in that a route sensing device is transversely arranged at the front end of the transport vehicle and comprises a tracking sensing unit for tracking, and the control method is characterized in that the route sensing device also comprises a limiting sensing unit for limiting, the limiting sensing unit comprises a first sensing device and a second sensing device, and the first sensing device and the second sensing device are respectively positioned at two sides of the tracking sensing unit; when the tracking induction unit fails to collect the route information for a certain time, the transport vehicle is corrected to return to the correct road through the route information induced by the limit induction unit;
when the tracking induction unit fails to collect the route information at a certain time, and when the deviation of the transport vehicle is not enough to enable the limiting induction unit to collect the route information, the deviation of the transport vehicle is judged by combining the data collected last time by the tracking induction unit, and the driving direction is adjusted according to the deviation result.
2. The method for controlling the intelligent electric transport vehicle according to claim 1, wherein the tracking induction unit comprises three infrared sensors, the three infrared sensors are arranged in a transverse row at the front end of the transport vehicle and are arranged at equal intervals, and the distance between two adjacent infrared sensors is smaller than the width of the path.
3. The method for controlling the intelligent electric transport vehicle according to any one of claims 1 or 2, wherein the transport vehicle comprises a front wheel and a rear wheel, the front wheel comprises a bull's eye universal wheel, the rear wheel comprises a left wheel and a right wheel, the left wheel and the right wheel are respectively driven by independent motors, and the driving direction of the transport vehicle is controlled by controlling the rotating speed of the left wheel and the right wheel.
4. The control method of the intelligent electric transport vehicle according to claim 1, wherein if the tracking induction unit can normally collect the route information, the transport vehicle is controlled to run straight.
5. The control method of the intelligent electric transportation vehicle as claimed in claim 1, wherein the driving path is segmented according to the actual condition of the predetermined driving path, each segment of the driving path is matched with a corresponding preset speed, the first speed is used for driving in a straight line, the second speed is used for driving in a curve, and the first speed is higher than the second speed; and after the driving starts, judging the real-time position of the transport vehicle on the preset path, and then distributing the corresponding speed according to the position.
6. The control method of the intelligent electric transportation vehicle as claimed in claim 5, wherein the step of judging the real-time position of the transportation vehicle on the predetermined path is to take the specific time required by the test vehicle to reach a certain section of the driving section as the preset time, and when the actual driving time reaches the preset time, the corresponding speed is called.
7. The method as claimed in claim 5, wherein when the real-time position of the transportation vehicle on the predetermined path is determined, if it is determined that the transportation vehicle will enter the curve within the preset time, the second speed is called to travel.
8. The control method of an intelligent electric transportation vehicle of claim 1, wherein the first sensing device and the second sensing device are both infrared sensors.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110797529.0A CN113548048B (en) | 2021-07-14 | 2021-07-14 | Intelligent electric power transport vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110797529.0A CN113548048B (en) | 2021-07-14 | 2021-07-14 | Intelligent electric power transport vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113548048A CN113548048A (en) | 2021-10-26 |
| CN113548048B true CN113548048B (en) | 2022-04-01 |
Family
ID=78103192
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110797529.0A Active CN113548048B (en) | 2021-07-14 | 2021-07-14 | Intelligent electric power transport vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113548048B (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102012208256A1 (en) * | 2012-05-16 | 2013-11-21 | Continental Teves Ag & Co. Ohg | Method and system for autonomously tracking a follower vehicle on the track of a Leader vehicle |
| CN204374769U (en) * | 2014-11-11 | 2015-06-03 | 浙江大学城市学院 | Based on the Intelligent tracking trolley of photoelectric sensor and photoelectric encoder |
| CN109542097A (en) * | 2018-10-24 | 2019-03-29 | 中国矿业大学 | The unmanned railless free-wheeled vehicle in underground and its travel control method of infrared top set tracking |
| CN212859480U (en) * | 2020-05-26 | 2021-04-02 | 广东机电职业技术学院 | Low-cost ground tracking industrial robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7953526B2 (en) * | 2006-01-18 | 2011-05-31 | I-Guide Robotics, Inc. | Robotic vehicle controller |
-
2021
- 2021-07-14 CN CN202110797529.0A patent/CN113548048B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102012208256A1 (en) * | 2012-05-16 | 2013-11-21 | Continental Teves Ag & Co. Ohg | Method and system for autonomously tracking a follower vehicle on the track of a Leader vehicle |
| CN204374769U (en) * | 2014-11-11 | 2015-06-03 | 浙江大学城市学院 | Based on the Intelligent tracking trolley of photoelectric sensor and photoelectric encoder |
| CN109542097A (en) * | 2018-10-24 | 2019-03-29 | 中国矿业大学 | The unmanned railless free-wheeled vehicle in underground and its travel control method of infrared top set tracking |
| CN212859480U (en) * | 2020-05-26 | 2021-04-02 | 广东机电职业技术学院 | Low-cost ground tracking industrial robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113548048A (en) | 2021-10-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107089458B (en) | Novel automatic recovery system of intelligence environmental protection rubbish | |
| US7561254B2 (en) | Traveling system for mobile bodies and control method therefor | |
| CN109279543B (en) | Forklift AGV magnetic guide rail tracking control system and method | |
| CN206657243U (en) | The list of magnetic stripe navigation drives unidirectional automatical pilot transportation vehicle deviation correction control system | |
| CN107065864A (en) | The list of magnetic stripe navigation drives unidirectional automatical pilot transportation vehicle deviation correction control system and method | |
| CN201569917U (en) | Intelligent tracking drift dolly | |
| TWI526352B (en) | Coupler systems and railway vehicles | |
| CN107719356A (en) | Pure electronic special-purpose vehicle Unmanned Systems and method | |
| CN201799111U (en) | Autonomous tracking model car based on single chip microcomputer (SCM) | |
| CN207311425U (en) | A kind of control system for improving automatic parking success rate | |
| CN201218917Y (en) | Simple intelligent electric luggage car system in hotel | |
| CN206606278U (en) | A kind of towed AGV dollies | |
| CN109144071A (en) | AGV traffic control method in a kind of narrow lane | |
| CN111620022A (en) | Control system of special storage carrier | |
| CN113548048B (en) | Intelligent electric power transport vehicle | |
| CN109318987B (en) | Vehicle with a steering wheel | |
| CN206096930U (en) | Friehgt dolly | |
| CN114212432A (en) | Photoelectric positioning system applied to warehouse four-way shuttle | |
| CN1113280C (en) | Automatic guide method for vehicles | |
| CN218072556U (en) | Vehicle-mounted road greening trimmer | |
| CN202472461U (en) | High speed intelligent tracking dolly | |
| CN109131236A (en) | A kind of unattended carwash guidance equipment and system | |
| CN209757324U (en) | Automatic tracking obstacle-crossing trolley | |
| CN207826229U (en) | A kind of Intelligent unattended transport vehicle with visual identity function | |
| CN111399521A (en) | Intelligent robot control system for substation inspection |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |