CN114637297A - Control method and system for traveling vehicle - Google Patents
Control method and system for traveling vehicle Download PDFInfo
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- CN114637297A CN114637297A CN202210263381.7A CN202210263381A CN114637297A CN 114637297 A CN114637297 A CN 114637297A CN 202210263381 A CN202210263381 A CN 202210263381A CN 114637297 A CN114637297 A CN 114637297A
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- 230000002159 abnormal effect Effects 0.000 claims description 10
- 241001061260 Emmelichthys struhsakeri Species 0.000 claims description 5
- 230000005012 migration Effects 0.000 description 27
- 238000013508 migration Methods 0.000 description 27
- 230000007257 malfunction Effects 0.000 description 3
- 230000008439 repair process Effects 0.000 description 3
- 210000000988 bone and bone Anatomy 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
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Abstract
The application relates to the field of product transportation, in particular to a control method and a control system of a traveling block, wherein the method comprises the steps of obtaining a moving instruction for controlling the traveling block to move; controlling the traveling vehicle to move to the corresponding working platform according to the priority sequence of the moving instruction based on the priority sequence of the moving instruction; judging whether the traveling vehicle is loaded with products or not; if so, controlling the traveling vehicle to move the product to the next working platform; if not, controlling the traveling vehicle to keep a waiting state until the traveling vehicle is loaded with products, and executing the steps. Through the intelligent control wandering vehicle, the wandering vehicle moves between different stations, and the product is not moved manually between the working platforms, so that the manpower resource is saved, and the working efficiency is improved.
Description
Technical Field
The application relates to the field of product transportation, in particular to a control method and a control system of a traveling block.
Background
A production process of a product usually needs a plurality of processing procedures, different processing platforms carry out different processing on the product, and the production of the product carries out different processing according to different process sequences and circulation among different processing platforms according to the process sequences.
In the related art, a traveling vehicle is generally used when products are circulated among different processing platforms, and after workers place the products on the traveling vehicle, the traveling vehicle moves on a rail and pushes the traveling vehicle to the next processing platform.
To the correlation technique among the above-mentioned, the inventor thinks, when the product circulates between different stations, need artifical promotion excursion car to circulate, wasted manpower resources, influenced work efficiency.
Disclosure of Invention
In order to save human resources and improve the working efficiency, the application provides a control method and a control system of a traveling vehicle.
The control method and the system for the traveling vehicle adopt the following technical scheme:
a control method of a traveling block comprises the steps of obtaining a moving instruction for controlling the traveling block to move;
controlling the traveling vehicle to move to the corresponding working platform according to the priority sequence of the moving instruction based on the priority sequence of the moving instruction;
judging whether the traveling vehicle is loaded with products or not;
if yes, controlling the traveling vehicle to move the product to the next working platform;
if not, controlling the traveling vehicle to keep a waiting state until the traveling vehicle is loaded with products, and executing the steps.
Through adopting above-mentioned technical scheme, obtain the removal instruction after, according to the priority of removal instruction, control the migration car and remove to the high work platform of priority, the migration car removes behind the work platform, judge whether loaded the product on the migration car, if loaded the product after, remove next work platform, if do not load the product, then wait for, after having loaded the product on the migration car, just remove next work platform, through intelligent control migration car, the migration car removes between different stations, the product is circulated between work platform and is not promoted at needs manual work, manpower resources are saved, and work efficiency is improved.
Optionally, the obtaining of the moving instruction for controlling the traveling block to move includes:
acquiring the current position of the traveling vehicle;
acquiring the moving direction of the traveling vehicle based on the current position of the traveling vehicle;
and acquiring the moving instruction for controlling the moving of the traveling block based on the moving direction of the traveling block.
Through adopting above-mentioned technical scheme, acquire the current position of migration car, according to the position between current position and the work platform, acquire the moving direction of migration car, according to the moving direction of migration car, acquire the removal instruction of control migration car removal, through the removal instruction, control the migration car and remove, determine the position relation between migration car and the work platform to this moving direction who judges the migration car, messenger's migration car that can be quick removes required work platform.
Optionally, the controlling the traveling vehicle to move to the corresponding working platform according to the priority order based on the moving instruction includes:
acquiring process steps corresponding to different moving instructions;
judging the sequence of the process steps;
and if the process steps are in the front, controlling the traveling vehicle to move to the corresponding working platform according to the priority sequence when the priority of the moving instruction is in the front.
By adopting the technical scheme, the process steps corresponding to different moving instructions are obtained, and the traveling vehicle is controlled to move to the working platform corresponding to the previous process step according to the sequence of the process steps.
Optionally, before the controlling the traveling carriage to move the product to the next working platform, the method includes:
acquiring the moving time for the traveling vehicle to move from one of the working platforms to the next working platform, and judging whether the moving time is greater than a time threshold value;
if yes, the traveling vehicle breaks down, and an alarm is given;
if not, the traveling vehicle does not have a fault.
By adopting the technical scheme, when the traveling block moves between the two stations, the traveling block can not reach the next working platform on time due to some faults, whether the traveling block breaks down or not is judged firstly, the moving time for the traveling block to move from one working platform to the next working platform is obtained, whether the moving time is greater than a time threshold value or not is judged, if the moving time is greater than the time threshold value, the traveling block is indicated to break down in the moving process, an alarm is given, if the moving time is not greater than the time threshold value, the traveling block is indicated to not break down in the moving process, and whether the traveling block breaks down or not is judged according to the moving time of the traveling block between the two working platforms, so that the working efficiency is prevented from being influenced due to the fact that a worker cannot find the traveling block for a long time after the traveling block breaks down.
Optionally, after the moving time is greater than the preset time threshold, the method includes:
acquiring a pressure signal on the traveling vehicle;
judging whether the pressure signal is greater than a pressure threshold value;
if yes, an alarm is given, and the product is overweight;
if not, obtaining the tire information to judge the fault type of the traveling vehicle.
By adopting the technical scheme, after the product is loaded on the traveling vehicle, the pressure signal on the traveling vehicle is acquired, whether the pressure signal is greater than the pressure threshold value or not is judged, when the pressure signal is greater than the pressure threshold value, the product is overweight, the working personnel is reminded that the amount of the product placed at present exceeds the bearing capacity of the traveling vehicle, if the pressure signal is not greater than the pressure threshold value, the tire information is acquired to judge the fault type of the traveling vehicle, and whether the reason that the traveling vehicle cannot reach the next destination on time through the pressure signal is caused by the overweight of the product or not is primarily screened for faults.
Optionally, the tire information includes a tire temperature and a tire rotation speed, and the step of obtaining the tire information to determine the type of the malfunction of the traveling vehicle includes the following steps:
judging whether the tire rotating speed is within a rotating speed threshold value;
if so, the traveling vehicle is normal;
if not, judging whether the temperature of the tire is abnormal or not;
if yes, the fault type is tire damage;
if not, the fault type is derailment.
By adopting the technical scheme, when the fault type is not caused by overweight of the product, whether the fault is caused by the tire rotating speed is judged, whether the rotating speed of the tire is within the rotating speed threshold value is judged, if yes, the engine of the traveling vehicle is normal, if the rotating speed of the tire is abnormal, whether the temperature of the tire of the traveling vehicle is abnormal is judged, when the temperature of the tire of the traveling vehicle is abnormal, the fault type is judged to be tire damage, if the temperature of the tire is normal, the fault type is derailed, the fault type of the traveling vehicle is judged through different conditions, and when a worker repairs the tire, the worker can directly find out what fault type to repair, so that the time for troubleshooting is saved.
Optionally, the controlling the traveling vehicle to move to the corresponding working platform according to the priority order includes;
acquiring the height of the corresponding working platform;
and adjusting the height of the traveling vehicle to the corresponding height of the working platform based on the height of the working platform.
Through adopting above-mentioned technical scheme, after the migration car moved work platform, according to work platform's high difference, adjust the height that highly corresponds to work platform of migration car, make things convenient for the staff to directly put the product on the migration car, alleviate staff's manual labor.
A rover control system comprising: the acquisition module is used for acquiring a movement instruction for controlling the traveling vehicle to move;
the control module is used for controlling the traveling vehicle to move to the corresponding working platform according to the priority sequence of the moving instruction;
the judging module is used for judging whether the traveling vehicle is loaded with products or not;
if so, controlling the traveling vehicle to move the product to the next working platform;
if not, controlling the traveling vehicle to keep a waiting state until the traveling vehicle is loaded with products, and executing the steps.
Through adopting above-mentioned technical scheme, after the acquisition module acquires the movement command that control migration car removed, control module control migration car root bone movement command's priority removes corresponding work platform, then judge whether the piece judges that whether the loading has the product on the migration car, if be equipped with the product, remove the product to next work platform, if do not load the product, control migration car keeps waiting to remove next work platform after loading the product, through intelligent control migration car, the migration car removes between different stations, the product is not promoted in the needs manual work in circulation between work platform, manpower resources have been saved, and the work efficiency is improved.
Optionally, the control module includes:
the position sensing unit is used for acquiring the current position of the traveling vehicle;
the moving unit is used for acquiring the moving direction of the traveling vehicle based on the current position of the traveling vehicle;
and the control unit is used for acquiring the moving instruction for controlling the moving of the traveling block based on the moving direction of the traveling block.
By adopting the technical scheme, the position sensing unit acquires the current position of the traveling block, the moving unit determines the moving direction of the traveling block according to the position of the traveling block, and the control unit acquires the moving instruction for controlling the traveling block to move according to the moving direction of the traveling block.
To sum up, the application comprises the following beneficial technical effects:
after the moving instruction is acquired, the traveling vehicle is controlled to move to a working platform with high priority according to the priority of the moving instruction, after the traveling vehicle moves to the working platform, whether products are loaded on the traveling vehicle is judged, if the products are loaded, the traveling vehicle moves to the next working platform, if the products are not loaded, waiting is carried out, after the products are loaded on the traveling vehicle, the traveling vehicle moves to the next working platform, the traveling vehicle is intelligently controlled to move among different stations, the products are not manually pushed when flowing among the working platforms, human resources are saved, and the working efficiency is improved.
Drawings
Fig. 1 is a flowchart of a control method of a traveling carriage according to an embodiment of the present disclosure;
FIG. 2 is a flow chart of an embodiment of the present application for obtaining movement instructions for controlling the movement of a rover;
FIG. 3 is a flowchart illustrating controlling the traveling block to move to the corresponding work platform according to the priority order of the moving instruction in the embodiment of the present application;
FIG. 4 is a flow chart of an embodiment of the present application before controlling the traveling carriage to move a product to a next work platform;
FIG. 5 is a flowchart illustrating a moving time period greater than a predetermined time threshold according to an embodiment of the present disclosure;
FIG. 6 is a flowchart of an embodiment of the present application for obtaining tire information to determine the type of malfunction of a rover;
FIG. 7 is a flowchart after controlling the traveling block to move to the corresponding working platform according to the priority order according to the embodiment of the present application;
fig. 8 is a system block diagram of a control system of a traveling vehicle according to an embodiment of the present application.
Description of reference numerals: 1. an acquisition module; 2. a control module; 3. and a judging module.
Detailed Description
The present application is described in further detail below with reference to the accompanying drawings.
The embodiment of the application discloses a control method of a traveling block, which comprises the following steps with reference to fig. 1:
and S100, acquiring a moving instruction for controlling the moving of the traveling block.
The moving instruction comprises the direction and the moving speed for controlling the moving of the traveling block.
And S110, controlling the traveling vehicle to move to the corresponding working platform according to the priority sequence of the moving instruction based on the priority sequence of the moving instruction.
Each working platform corresponds to a moving instruction, the priority order is that when the traveling vehicle receives a plurality of moving instructions at the same time, the traveling vehicle preferentially selects which working platform to go, for example, two working platforms are provided at the same time, which are respectively a first working platform and a second working platform, and when the first working platform and the second working platform send the moving instructions at the same time, the traveling vehicle firstly goes to the first working platform according to the priority order.
And S120, judging whether the traveling vehicle is loaded with products.
Wherein, can place the product that needs processing on the migration car, be provided with pressure sensor on the migration car, when the product was placed on the migration car, pressure sensor has pressure numerical value, confirms with this whether the migration car has the product through the pressure numerical value that obtains pressure sensor and senses.
And S130, if so, controlling the traveling vehicle to move the product to the next working platform.
After the fact that the products are loaded on the traveling trolley and the pressure on the traveling trolley is not changed greatly is sensed, after a short delay time is set, for example, 10S, the traveling trolley moves the products to the next working platform.
And S140, if not, controlling the traveling block to keep a waiting state until the traveling block is loaded with products, and executing the steps.
Wherein, there is not numerical value on pressure sensor, does not have the product on the car that moves promptly, and the car that moves this moment waits on work platform ground, places the back on the car that moves with the product until the staff, and the pressure numerical value has been sensed to the car that moves, and the car that moves this moment moves the product and moves next work platform.
The implementation principle of the control method of the traveling block in the embodiment of the application is as follows: the method comprises the steps of firstly obtaining a moving instruction of a traveling vehicle, then selecting which working platform to execute according to the priority sequence of the moving instruction, then controlling the traveling vehicle to move to the working platform according to the moving instruction, then judging whether a product exists on the traveling vehicle, if so, moving the traveling vehicle to the next working platform, and if not, waiting for the product to be loaded on the traveling vehicle and then moving to the next working platform.
Referring to fig. 2, acquiring a movement command for controlling the movement of the traveling carriage includes:
and S200, acquiring the current position of the traveling vehicle.
And the current position of the traveling block is the position where the traveling block stays when the traveling block stops using last time.
And S210, acquiring the moving direction of the traveling block based on the current position of the traveling block.
The method comprises the steps of obtaining the direction in which the traveling block is to move according to the current position of the traveling block and a received moving instruction, and controlling the rotation direction of a driving system of the traveling block.
And S220, acquiring a moving instruction for controlling the moving of the traveling block based on the moving direction of the traveling block.
The moving speed of the traveling block is set to be constant according to the moving direction of the traveling block and the moving speed of the traveling block, and a moving instruction of the traveling block is obtained.
The implementation principle of obtaining the movement instruction for controlling the movement of the traveling block in the embodiment of the application is as follows: and acquiring the moving direction of the traveling block according to the current position of the traveling block, and acquiring a moving instruction for controlling the traveling block to move according to the moving direction of the traveling block.
Referring to fig. 3, controlling the traveling vehicles to move to the corresponding work platforms according to the priority order of the movement instructions includes:
s300, acquiring process steps corresponding to different moving instructions.
The processing steps are processing of different procedures when the product is produced, the different procedures have sequence, different moving instructions correspond to different working platforms, different working platforms correspond to different processing steps, for example, four processing platforms are needed for forming a product, the four processing platforms are needed, namely a first processing platform, a second processing platform, a third processing platform and a fourth processing platform, the product is processed on the second processing platform after the first processing platform is processed, and the like, and a finished product is obtained after the fourth processing platform is processed.
And S310, judging the sequence of the process steps.
Wherein, the sequence of the process steps is the processing sequence of the product.
And S320, if the process steps are in the front, controlling the traveling vehicle to move to the corresponding working platform according to the priority order with the priority of the moving instruction in the front.
When the first processing platform and the second processing platform send out the moving instruction at the same time, the traveling vehicle preferentially goes to the first processing platform.
The implementation principle of controlling the traveling block to move to the corresponding working platform according to the priority order based on the priority order of the moving instruction is as follows: and acquiring different moving instructions, judging the priority order of the processing platform according to the moving instructions, and controlling the traveling vehicle to move to the processing platform with a high priority according to the priority order of the moving instructions.
Referring to fig. 4, controlling the traveling vehicles to move to the corresponding work platforms according to the priority order of the moving instructions includes:
s400, acquiring process steps corresponding to different moving instructions.
Different moving instructions correspond to different process steps, different process steps correspond to different working platforms, and different working platforms correspond to different moving instructions.
And S410, judging the sequence of the process steps.
In which a product is processed to a finished product through a plurality of process steps, and the product is circulated in a direction after the previous desired process step.
And S420, if the process steps are in the front, controlling the traveling vehicle to move to the corresponding working platform according to the priority sequence when the priority of the moving instruction is in the front.
The priority of the working platform corresponding to the prior process step is higher than that of the working platform corresponding to the subsequent process step, so that the priority of the moving instruction corresponding to the working platform corresponding to the prior process step is higher than that of the moving instruction corresponding to the working platform corresponding to the subsequent process step.
Referring to fig. 4, controlling the traveling carriage to move the product to the next work platform includes:
s400, obtaining the moving time for the traveling vehicle to move from one working platform to the next working platform, and judging whether the moving time is larger than a time threshold value.
The moving speed of the traveling block is constant, the distance between the two working platforms is fixed, so that the moving time of the traveling block between the two working platforms is fixed, in order to prevent speed change when starting and reaching, the error of the moving time of 10 percent is set, and the moving time is compared with a set time threshold value, so that whether a fault occurs in the moving process of the traveling block is judged.
And S410, if so, the traveling vehicle breaks down and gives an alarm.
When the moving time is larger than the time threshold, the time for the traveling vehicle to move from one working platform to another working platform is too long, the traveling vehicle is judged to have a fault, and an alarm is sent to remind a worker to repair.
And S420, if not, the traveling vehicle does not have a fault.
At the moment, the moving time of the traveling block between the two working platforms is within a normal range, the traveling block is normally used, and no fault exists.
The implementation principle of the embodiment of the application before the control excursion vehicle moves the product to the next working platform is as follows: the method comprises the steps of obtaining moving time of the traveling block moving between two working platforms, judging whether the moving time is larger than a time threshold value or not, judging that the traveling block is taken out to have a fault when the moving time is larger than the time threshold value, and judging that the traveling block is normal when the moving time is smaller than the time threshold value.
Referring to fig. 5, the moving time greater than the preset time threshold includes:
and S500, acquiring a pressure signal on the traveling vehicle.
The pressure sensor arranged on the traveling vehicle acquires a pressure signal, and when a product is prevented from being on the traveling vehicle, the pressure sensor generates a corresponding numerical value and transmits the numerical value to the remote terminal.
And S510, judging whether the pressure signal is larger than a pressure threshold value.
Wherein, the pressure threshold is the maximum gravity that the touring car can bear.
And S520, if so, giving an alarm to ensure that the product is overweight.
When the pressure value is larger than the pressure threshold value, the bearing capacity of the traveling vehicle is exceeded, the service life of the traveling vehicle can be influenced, and therefore an alarm is sent to remind workers that the batch of products is overweight, and the number of the products needs to be reduced subsequently.
And S530, if not, obtaining the tire information to judge the fault type of the traveling vehicle.
If the pressure is within the normal value, the weight of the product does not exceed the bearing capacity of the traveling vehicle, other faults occur, and at the moment, the tire information of the traveling vehicle is obtained to judge the fault type.
Referring to fig. 6, the tire information includes a tire temperature and a tire rotation speed, and the acquiring of the tire information to determine the type of the malfunction of the traveling vehicle includes the steps of:
and S600, judging whether the rotating speed of the tire is within a rotating speed threshold value.
Wherein, the normal tire rotation speed indicates whether the engine of the traveling vehicle is damaged or not.
And S610, if so, the traveling vehicle is normal.
When the rotating speed of the tire is normal, the rotating speed of the engine of the traveling block is also normal, and the fault is not caused by the damage of the engine of the traveling block.
And S620, if not, judging whether the tire temperature is abnormal or not.
When the tire rotating speed is abnormal, the engine rotating speed is also abnormal at the moment, the tire temperature of the traveling vehicle is obtained, and whether the fault is caused by the tire of the traveling vehicle is judged.
And S630, if so, determining that the fault type is tire damage.
If the temperature of the tire is too high, the frictional force between the tire and the rail is increased at this time, and the temperature of the tire is rapidly increased, so that the failure type is judged to be tire damage, for example, if the temperature of the tire is 40 ℃ under normal running conditions, the temperature is suddenly increased to 80 ℃ or even higher, the rapid increase of the temperature of the tire is indicated to be tire damage, rolling friction is changed into sliding friction, and the frictional force is increased.
And S640, if not, determining that the fault type is derailment.
Under the condition that the temperature of the tire is normal, the rotating speed of the tire is normal, the pressure of the traveling vehicle is normal, but the traveling vehicle does not reach the next working platform on time, and the traveling vehicle is judged to derail.
The implementation principle of obtaining the tire information to judge the fault type of the traveling block in the embodiment of the application is as follows: the method comprises the steps of obtaining the rotating speed of a tire, judging whether the rotating speed of the tire is within a rotating speed threshold value, if so, judging that a traveling vehicle is normal, if not, obtaining temperature information of the tire, judging whether the temperature of the tire is abnormal, judging that the fault type is tire damage when the temperature of the tire is abnormal, and judging that the fault type is derailment when the temperature of the tire is normal.
Referring to fig. 7, controlling the traveling vehicle to move to the corresponding working platform according to the priority order includes;
s700, the height of the working platform corresponding to the moving instruction is obtained.
And after receiving the moving instruction, the traveling vehicle moves to the corresponding working platform, and the height of the working platform corresponding to the moving instruction is obtained.
And S710, adjusting the height of the traveling trolley to the height of the corresponding working platform based on the height of the working platform.
Wherein, a product shaping needs to carry out different process when processing through a plurality of course of working, and work platform's height may not be the same, according to different work platform's high difference, adjusts the height of placing the platform of product on the wandering car to the height of work platform that corresponds, makes things convenient for the staff to place the product on the wandering car.
The implementation principle of the embodiment of the application after controlling the traveling vehicle to move to the corresponding working platform according to the priority order is as follows: and acquiring the height of the working platform corresponding to the moving instruction, and adjusting the height of the traveling trolley to the height of the corresponding working platform according to the height of the working platform.
The above detailed description describes a control method of a traveling vehicle, and a traveling vehicle control system based on a control method of a traveling vehicle is explained in detail below.
A rover control system comprising:
the acquisition module 1 is used for acquiring a movement instruction for controlling the movement of the traveling block.
And the control module 2 is used for controlling the traveling vehicle to move to the corresponding working platform according to the priority sequence of the moving instruction.
And the judging module 3 is used for judging whether the traveling vehicle is loaded with products or not, and the judging module 3 comprises a position sensing unit which is used for acquiring the current position of the traveling vehicle.
And the moving unit is used for acquiring the moving direction of the traveling block based on the current position of the traveling block.
And the control unit is used for acquiring a movement instruction for controlling the movement of the traveling block based on the movement direction of the traveling block.
If so, controlling the traveling vehicle to move the product to the next working platform.
If not, controlling the traveling block to keep in a waiting state until the traveling block is loaded with the products, and executing the steps.
The implementation principle of the control system of the traveling vehicle in the embodiment of the application is as follows: after the acquisition module 1 acquires a movement instruction for controlling the movement of the traveling block, the control module 2 controls the priority of the movement instruction of the root bone of the traveling block to move to a corresponding working platform, the position sensing unit acquires the current position of the traveling block, the moving unit determines the movement direction of the traveling block according to the position of the traveling block, the control unit acquires the movement instruction for controlling the movement of the traveling block according to the movement direction of the traveling block, then the judgment module 3 judges whether the traveling block is loaded with a product or not, if the traveling block is loaded with the product, the product is moved to the next working platform, if the product is not loaded, the traveling block is controlled to wait until the product is loaded and then moves to the next working platform, the traveling block is intelligently controlled to move among different stations, the product is not pushed among the working platforms manually, and human resources are saved, the working efficiency is improved.
The above embodiments are preferred embodiments of the present application, and the protection scope of the present application is not limited by the above embodiments, so: all equivalent changes made according to the structure, shape and principle of the present application shall be covered by the protection scope of the present application.
Claims (9)
1. A control method of a traveling carriage is characterized by comprising the following steps:
acquiring a moving instruction for controlling the moving of the traveling block;
controlling the traveling vehicle to move to the corresponding working platform according to the priority sequence of the moving instruction based on the priority sequence of the moving instruction;
judging whether the traveling vehicle is loaded with products or not;
if so, controlling the traveling vehicle to move the product to the next working platform;
if not, controlling the traveling vehicle to keep a waiting state until the traveling vehicle is loaded with products, and executing the steps.
2. The method for controlling the traveling carriage according to claim 1, wherein the obtaining of the movement command for controlling the movement of the traveling carriage includes:
acquiring the current position of the traveling vehicle;
acquiring the moving direction of the traveling block based on the current position of the traveling block;
and acquiring the moving instruction for controlling the moving of the traveling block based on the moving direction of the traveling block.
3. The method for controlling the traveling carriage according to claim 1, wherein the controlling the traveling carriage to move to the corresponding working platform in the priority order based on the priority order of the moving command comprises:
acquiring process steps corresponding to different moving instructions;
judging the sequence of the process steps;
and if the process steps are in the front, controlling the traveling vehicle to move to the corresponding working platform according to the priority sequence when the priority of the moving instruction is in the front.
4. The method as claimed in claim 1, wherein the controlling the traveling carriage to move the product to the next work platform comprises:
acquiring the moving time for the traveling vehicle to move from one of the working platforms to the next working platform, and judging whether the moving time is greater than a time threshold value;
if yes, the traveling vehicle breaks down, and an alarm is given;
if not, the traveling vehicle does not have a fault.
5. The method as claimed in claim 4, wherein the moving time is greater than a preset time threshold value and then comprises:
acquiring a pressure signal on the traveling vehicle;
judging whether the pressure signal is greater than a pressure threshold value;
if yes, an alarm is given, and the product is overweight;
if not, obtaining the tire information to judge the fault type of the traveling vehicle.
6. The method for controlling the traveling vehicle according to claim 5, wherein the tire information includes a tire temperature and a tire rotation speed, and the step of obtaining the tire information to determine the type of the traveling vehicle failure includes the steps of:
judging whether the rotating speed of the tire is within a rotating speed threshold value;
if so, the traveling vehicle is normal;
if not, judging whether the temperature of the tire is abnormal or not;
if yes, the fault type is tire damage;
if not, the fault type is derailment.
7. The method for controlling the traveling carriage according to claim 1, wherein the controlling of the traveling carriage to move to the rear of the corresponding working platform according to the priority order comprises;
acquiring the height of the working platform corresponding to the moving instruction;
and adjusting the height of the traveling trolley to the corresponding height of the working platform based on the height of the working platform.
8. A control system for a traveling vehicle, which employs a control method for a traveling vehicle according to any one of claims 1 to 7, comprising:
the acquisition module (1) is used for acquiring a movement instruction for controlling the movement of the traveling vehicle;
the control module (2) is used for controlling the traveling vehicle to move to the corresponding working platform according to the priority sequence of the moving instruction;
the judging module (3) is used for judging whether the traveling vehicle is loaded with products or not;
if so, controlling the traveling vehicle to move the product to the next working platform;
if not, controlling the traveling vehicle to keep a waiting state until the traveling vehicle is loaded with products, and executing the steps.
9. The control system of a rover according to claim 8, wherein the control module includes:
the position sensing unit is used for acquiring the current position of the traveling vehicle;
the moving unit is used for acquiring the moving direction of the traveling vehicle based on the current position of the traveling vehicle;
and the control unit is used for acquiring the moving instruction for controlling the moving of the traveling block based on the moving direction of the traveling block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210263381.7A CN114637297A (en) | 2022-03-17 | 2022-03-17 | Control method and system for traveling vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210263381.7A CN114637297A (en) | 2022-03-17 | 2022-03-17 | Control method and system for traveling vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117930850A (en) * | 2024-01-29 | 2024-04-26 | 盐城生物工程高等职业技术学校 | Air cushion suspension vehicle controller, control method and system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117930850A (en) * | 2024-01-29 | 2024-04-26 | 盐城生物工程高等职业技术学校 | Air cushion suspension vehicle controller, control method and system |
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Application publication date: 20220617 |