CN115009791A - Intelligent control system and control method for hillside orchard single-rail conveyor - Google Patents
Intelligent control system and control method for hillside orchard single-rail conveyor Download PDFInfo
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- CN115009791A CN115009791A CN202210787119.2A CN202210787119A CN115009791A CN 115009791 A CN115009791 A CN 115009791A CN 202210787119 A CN202210787119 A CN 202210787119A CN 115009791 A CN115009791 A CN 115009791A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
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Abstract
The invention discloses an intelligent control system and a control method of a hillside orchard monorail transporter, wherein the system comprises the following steps: a transporter, a transport track, and a control subsystem; the control subsystem includes: the device comprises a main controller, an anti-sliding detection assembly, an attitude sensor, a direct current motor, an actuator and a power-off brake; the anti-sliding detection assembly comprises a first Hall sensor and first magnetic steel; the first magnetic steel is uniformly arranged on the periphery of a rotating shaft of the direct current motor; the method comprises the following steps that a first Hall sensor detects the actual rotating speed and rotating direction of a direct current motor; the main controller determines whether the vehicle slipping condition exists according to whether the actual rotating direction of the direct current motor is consistent with the driving direction of the operation instruction, judges that the vehicle is in an uphill section, a downhill section or a flat road section according to the driving posture of the conveyor, and controls the braking condition of the power-off brake through the actuator according to different braking modes of different road sections. The invention can realize the functions of uphill vehicle sliding detection, downhill stable speed control and energy recovery.
Description
Technical Field
The invention relates to the technical field of control of hillside orchard single-rail transporters, in particular to an intelligent control system and a control method of a hillside orchard single-rail transporter.
Background
At present, hillside orchard agricultural material transportation mostly depends on manual work, and production efficiency is low, and intensity of labour is big, and production safety is difficult to guarantee. Unmanned transport equipment represented by a rail transport machine can adapt to complex terrain environments, has the characteristics of simple structure, strong climbing capacity, safety, easiness in use and the like, and is suitable for production operation of hilly and mountain orchards.
However, the traditional gear transmission system does not have a self-locking function, so that the phenomena of vehicle sliding and vehicle flying are easy to occur when the monorail conveyor adopting the gear transmission device runs up and down a slope under full load, and certain potential safety hazards exist. Meanwhile, the energy recovery function is not provided.
Therefore, how to provide an intelligent control system and a control method for a hillside orchard single-rail conveyor with functions of stable speed control on a downhill, vehicle sliding detection on an uphill and energy recovery, which are problems to be solved by the technical field, is needed urgently.
Disclosure of Invention
In view of the above, the invention provides an intelligent control system and a control method for a hillside orchard monorail conveyor, which can realize the functions of uphill vehicle sliding detection, downhill stable speed control and energy recovery.
In order to achieve the purpose, the invention adopts the following technical scheme:
an intelligent control system of a hillside orchard monorail conveyor, comprising: a transporter, a transport track, and a control subsystem;
the control subsystem includes: the device comprises a main controller, an anti-sliding detection assembly, an attitude sensor, a direct current motor, an actuator and a power-off brake;
the anti-sliding detection assembly comprises a first Hall sensor and first magnetic steel; the first magnetic steels are uniformly arranged on the periphery of a rotating shaft of the direct current motor; the first Hall sensor is arranged right above the rotating shaft of the direct current motor and used for sensing a magnetic field signal of the first magnetic steel and detecting the actual rotating speed and rotating direction of the direct current motor according to the magnetic field signal; the main controller determines whether a vehicle slipping condition exists according to whether the actual rotating direction of the direct current motor is consistent with the running direction of the operation instruction, and controls the power-off brake to brake through the actuator when the vehicle slipping condition exists;
the attitude sensor is used for detecting the running attitude of the conveyor on the conveying track;
and the main controller judges whether the transporter is in an uphill section, a downhill section or a flat road section according to the running posture of the transporter, and controls the braking condition of the power-off brake through the actuator according to different braking modes of different road sections.
Further, in the above intelligent control system for hillside orchard monorail transporter, the control subsystem further includes: a motor controller and a lithium battery;
the motor controller is used for switching the direct current motor to be in a driving mode or a power generation mode;
and the main controller is used for controlling the motor controller to switch the working mode of the direct current motor from a driving mode to a power generation mode through the actuator when the transporter is in a downhill section and meets power generation conditions, and the power generation electric energy is recovered to the lithium battery.
Further, in the above intelligent control system for hillside orchard monorail transporter, the control subsystem further includes: a power generation mode speed control module;
and the power generation mode speed control module is used for consuming part of electric energy which is not recovered by the lithium battery by adopting an energy consumption resistor when the direct current motor is in a power generation mode and the rotating speed exceeds the safe rotating speed, so that the rotating speed is maintained within a preset range above and below the safe rotating speed.
Further, in the above intelligent control system for hillside orchard monorail transporter, the control subsystem further includes: an automatic parking detection assembly; the automatic parking detection assembly includes: the second Hall sensor and the second magnetic steel; the second Hall sensor is arranged on the lower side of the conveyor head; two second magnetic steels are arranged and respectively adsorbed on the side surfaces of the beginning and the end of the transportation track; the second Hall sensor and the second magnetic steel are both positioned on the same side of the transportation track;
the main controller is used for judging whether the magnetic field signal of the second magnetic steel detected by the second Hall sensor reaches a threshold value or not, and controlling the power-off brake to brake through the actuator when the magnetic field signal of the second magnetic steel reaches the threshold value.
Further, in the above intelligent control system for hillside orchard monorail transporter, the control subsystem further includes: a plurality of groups of control keys; the control key is connected with the main controller and is used for controlling the forward movement, the backward movement and the stop of the conveyor.
Further, in the above intelligent control system for hillside orchard monorail transporter, the control subsystem further includes: a signal receiver and a remote controller; the signal receiver is respectively connected with the plurality of groups of control keys in parallel; the remote controller is in wireless connection with the signal receiver.
Further, in the above intelligent control system for hillside orchard monorail transporter, the control subsystem further includes: a weighing sensor; the weighing sensor is connected with the main controller and is used for measuring the actual loading weight of the conveyor; and the main controller judges whether the rollover risk exists or not by combining the running posture and the actual loading quality of the conveyor, and controls the power-off brake to brake through the actuator when the rollover risk exists.
Further, in the above intelligent control system for hillside orchard monorail transporter, the control subsystem further includes: an audible and visual alarm; the audible and visual alarm is connected with the main controller; the main controller is used for controlling the audible and visual alarm to give out audible and visual alarms when overload and abnormal driving postures exist.
The invention also provides a control method of the intelligent control system of the hillside orchard monorail transporter, which is suitable for the intelligent control system of the hillside orchard monorail transporter and comprises the following steps: the sectional type brake control method comprises the following steps:
s1, judging whether the conveyor is in an uphill section or a downhill section or not by the main controller according to the driving posture of the conveyor acquired by the posture sensor, if so, executing S2, otherwise, executing S5;
s2, if the conveyor is in an uphill section and the main controller detects that a trigger braking signal exists, executing S7;
s3, if the conveyor is in a downhill section and the main controller detects that a trigger braking signal exists, starting a 500ms timer by the main controller for timing, detecting the rotating speed of the motor through the first Hall sensor, judging whether the timer finishes 500ms timing or the first Hall sensor detects that the rotating speed of the motor is reduced to zero, and if so, executing S7;
s4, if the conveyor is in an uphill section, but the main controller does not detect a trigger braking signal, judging whether the conveyor slips or not according to the actual rotating direction of the motor detected by the first Hall sensor and the running direction of the operation instruction, if the rotating direction of the motor detected by the first Hall sensor is not consistent with the running direction of the operation instruction, slipping occurs, and executing S7;
s5, judging whether the conveyor is braked on a flat road section or not according to the driving posture of the conveyor acquired by the posture sensor, if so, starting a 1000ms timer by the main controller for timing, and detecting the rotating speed of the motor through the first Hall sensor;
s6, judging whether the timer finishes timing for 1000ms or whether the first Hall sensor detects that the rotating speed of the motor is reduced to zero, if so, executing S7;
and S7, braking and stopping the vehicle by the power-off brake.
Further, in the control method of the intelligent control system for the hillside orchard single-rail conveyor, the method further comprises the following steps: when the conveyer is in a downhill section, energy recovery is carried out, and the method comprises the following steps:
s1', setting the power generation condition of the dc motor: the posture of the conveyor meets the following requirements: the horizontal plane inclination angle alpha is larger than alpha 0, and the actual rotating speed N of the direct current motor meets the following conditions: n0< N1; setting the safe rotating speed N2 of the direct current motor in the power generation mode;
s2', acquiring attitude information of the conveyor through an attitude sensor, and detecting the actual rotating speed and rotating direction of the direct current motor through a first Hall sensor;
s3', judging whether the power generation condition is met, if so, executing S4', otherwise, keeping the driving mode of the direct current motor;
s4', the main controller controls the motor controller through the actuator to switch the working mode of the direct current motor from the driving mode to the power generation mode, and energy recovery is carried out;
s5', detecting the rotating speed and the rotating direction of the direct current motor through a first Hall sensor;
s6', judging whether the actual rotating speed of the direct current motor exceeds the set safe rotating speed N2 or not in the power generation mode, if so, executing S7', otherwise, executing S8 ';
s7', connecting an energy consumption resistor, calculating the duty ratio of PWM waves required to be output by the main controller, and controlling the actual rotating speed of the direct current motor within a preset range from top to bottom of the safe rotating speed N2 in a power generation mode;
s8', judging whether the actual rotating speed of the direct current motor in the power generation mode is lower than the rotating speed N0 of the direct current motor in the set downhill driving mode, if so, controlling the motor controller to switch the working mode of the direct current motor from the power generation mode to the driving mode by the main controller through the actuator, and providing power for the conveyor.
According to the technical scheme, compared with the prior art, the intelligent control system and the control method for the hillside orchard monorail transporter provided by the invention have the following beneficial effects:
1. the invention detects the attitude information of the conveyor on the conveying track through the attitude sensor, determines the gradient information, divides the road section into an ascending section, a descending section and a level road section, and the main controller performs sectional braking on the power-off brake according to different road sections. When the conveyor is braked at an uphill section, the uphill brake and the power-off brake immediately adopt braking to prevent the occurrence of vehicle slipping; when the conveyor is in a downhill section for braking, the impact on the conveyor is large by immediate braking, and the downhill braking power-off brake can effectively reduce the downhill braking impact by delaying braking; when the conveyor is in a flat road section for braking, in order to enable the conveyor to stop smoothly and reduce impact damage to fruits and the like, the motor is lost for delaying braking, and the flat road slow stop is realized.
2. According to the invention, the bidirectional Hall sensor is arranged on the motor rotating shaft, the driving speed and the driving direction of the conveyor are collected in real time through the bidirectional Hall sensor, so that the energy recovery in the downhill process of the conveyor is realized, and whether the conveyor slides can be accurately judged, so that the conveyor has the functions of energy recovery and vehicle sliding prevention, and the cruising mileage and the safety of the conveyor are improved.
3. The invention adopts a Hall sensor non-contact sensing mode to replace a mode of installing a mechanical trigger type travel switch end to realize automatic parking, thereby greatly reducing the parking condition of the transporter caused by mistakenly triggering the travel switch by hillside orchard waste grass sundries in the driving process, and improving the use experience of users.
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, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a block diagram of an intelligent control system of a hillside orchard monorail conveyor provided by the invention;
FIG. 2 is a schematic structural view of a conveyor provided by the present invention;
FIG. 3 is a partial schematic view of a conveyor head provided by the present invention;
FIG. 4 is a schematic structural view of an anti-rolling detection assembly provided by the present invention;
FIG. 5 is a schematic phase diagram of a first Hall sensor pulse signal provided by the present invention;
FIG. 6 is a schematic structural diagram of an automatic parking detection assembly according to the present invention;
FIG. 7 is a circuit diagram of a Hall signal processing circuit provided by the present invention;
FIG. 8 is a circuit diagram of signal input and output isolation provided by the present invention;
FIG. 9 is a block diagram illustrating switching between a driving mode and a generating mode of a DC motor according to the present invention;
FIG. 10 is a schematic diagram of speed control in a power generation mode according to the present invention;
FIG. 11 is a flow chart of a segmented braking control method provided by the present invention;
FIG. 12 is a flow chart of the energy recovery steps provided by the present invention;
fig. 13 is a general control flow chart of the operation process of the transport plane provided by the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1-4, the embodiment of the invention discloses an intelligent control system for hillside orchard monorail conveyor, comprising: the system comprises a conveyor 1, a conveying track 2 and a control subsystem 3;
the control subsystem 3 includes: the system comprises a main controller 301, an anti-rolling vehicle detection assembly, an attitude sensor 302, a direct current motor 303, an actuator 304 and a power-off brake 305;
the anti-sliding detection assembly comprises a first Hall sensor 306 and a first magnetic steel 307; the first magnetic steel 307 is uniformly arranged on the periphery of a rotating shaft of the direct current motor 303, specifically, an array structure can be formed by 8 disk magnetic steels, and the first magnetic steel is uniformly arranged on the rotating shaft of the motor and rotates synchronously with the rotating shaft of the motor; the first hall sensor 306 is installed right above the rotating shaft of the direct current motor 303 and used for sensing a magnetic field signal of the first magnetic steel 307 and detecting the actual rotating speed and rotating direction of the direct current motor 303 according to the magnetic field signal; the main controller 301 determines whether a vehicle slipping condition exists according to whether the actual rotating direction of the direct current motor 303 is consistent with the running direction of the operation instruction, and controls the power-off brake 305 to brake through the actuator 304 when the vehicle slipping condition exists;
the attitude sensor 302 is used for detecting the driving attitude of the conveyor 1 on the conveying track;
the main controller 301 determines whether the transport vehicle 1 is in an uphill section, a downhill section, or a flat road section according to the driving posture of the transport vehicle, and controls the braking condition of the power-off brake 305 through the actuator 304 in different braking modes according to the road sections.
The main controller 301 adopts an ATMEGA328 singlechip, and the first Hall sensor 306 adopts a bidirectional Hall sensor; the main controller 301 is respectively connected with a first hall sensor 306, an attitude sensor 302 and an actuator 304; the actuator 304 is connected with the power-off brake 305; the actuator 304 is a relay actuator; the power-off brake 305 is provided with a direct current motor tail part, a DC48V power supply is adopted for supplying power, and the main controller 301 controls the on and off of the power-off brake 305 through the relay actuator 304 to provide braking torque for the conveyor 1.
As shown in fig. 5, the first hall sensor 306 outputs two signals, i.e., a phase and B phase. When the direct current motor 303 rotates forwards, the phase A of the output pulse signal is ahead of the phase B; when the dc motor 303 is reversed, the output pulse signal B phase leads the a phase. The main controller 301 calculates the running speed and the running direction of the conveyor by reading the phase information of the bidirectional hall sensor, and compares the phase information with an execution signal input by an operation instruction to judge whether the conveyor slides.
Specifically, the attitude sensor 302 is fixedly installed in the middle position inside the nose of the conveyor 1, and can detect angle information and acceleration information in the directions of the X axis, the Y axis and the Z axis of the conveyor to determine the driving attitude of the conveyor 1, send attitude information to the main controller 301 through serial port communication, perform road condition segmented braking by the main controller 301 according to the acquired angle information of the X axis, and perform anti-rollover control on the conveyor through the angle information acquired by the Y axis. The road sections are divided into an ascending section, a descending section and a level road section through the detected gradient information, and the main controller performs sectional braking on the conveyor according to different road sections: firstly, when the conveyor is braked at an uphill section, the power-off brake immediately brakes in order to prevent the occurrence of vehicle slipping; secondly, when the conveyor is braked in a downhill section, because the conveyor has certain kinetic energy and gravity, the conveyor is impacted greatly by immediate braking, and at the moment, the power-off brake delays braking, so that downhill braking impact can be effectively reduced; and thirdly, when the conveyor is in a flat road section for braking, in order to stop the conveyor gently, the impact damage to fruits and the like is reduced, the brake is delayed by the brake, and the function of stopping the conveyor slowly on the flat road is realized.
In one embodiment, as shown in fig. 2, the conveyor 1 comprises: head 101, trailer connector 102, transport trailer 103 and battery box 104, the transport plane 1 rides on the transport track 2, and transport trailer 103 is connected with head 101 through trailer connector 102 and is dragged or pushed by head 101.
In one embodiment, the control subsystem further comprises: a motor controller 308 and a lithium battery 309; the lithium battery is installed in the battery box 104;
the motor controller 308 is configured to switch the dc motor 303 to be in a driving mode or a power generation mode;
the main controller 301 is configured to, when the transporter 1 is in a downhill section and a power generation condition is satisfied, control the motor controller 308 through the actuator 304 to switch the operating mode of the dc motor 303 from the driving mode to the power generation mode, and recover power generation electric energy to the lithium battery 309.
More advantageously, the control subsystem 3 further comprises: a generation mode speed control module 310;
the power generation mode speed control module 310 is configured to consume a part of electric energy that is not recovered by the lithium battery 309 by using an energy consumption resistor when the dc motor 303 is in the power generation mode and the rotation speed exceeds the safe rotation speed, so that the rotation speed is maintained within a preset range above and below the safe rotation speed.
As shown in fig. 9, the main controller 301 adjusts the rotation speed of the dc motor 303 in the driving mode and the generating mode by a pulse width modulation method, and controls the rotation speed of the dc motor 303 in the driving mode according to the output of the PWM wave duty ratio, thereby realizing the function of stable speed control on the downhill in the stepless speed regulation and generating mode. The main controller 301 judges whether the transporter 1 is in a downhill section or not through data detected by the first hall sensor 306 and the attitude sensor 307, and when the transporter is in the downhill section and the power generation condition is satisfied, the motor controller 308 completes switching of the direct current motor 303 from the driving mode to the motor power generation mode through the switching circuit, and the generated energy is recovered through the lithium battery 309.
When the transporter 1 is in the downhill driving power generation mode, because the gear transmission device does not have a self-locking function, the component force acting on the slope direction by gravity does work to accelerate the operation of the transporter, and the charging efficiency of the lithium battery 309 is limited, part of electric energy which cannot be recovered is consumed in an energy consumption braking mode through the power generation mode speed control module 310, so that the stable speed control of the downhill direct current motor 303 in the power generation mode is ensured, the occurrence of a runaway accident is prevented, and the lithium battery 309 is prevented from being damaged due to overlarge reverse charging current.
Specifically, as shown in fig. 10, when the dc motor 303 is in the power generation mode, the dc motor 303 is used as a generator to generate power, where M is the dc motor, Ra is the internal resistance of the armature winding of the motor, La is the armature inductance, the generator reversely charges the lithium battery in the constant current mode, the gravitational potential energy is continuously converted into kinetic energy due to the continuous work done by gravity, when the energy recovery of the motor power reaches the maximum efficiency, and the rotational speed of the dc motor is continuously increased, to protect the lithium battery and prevent the occurrence of the runaway accident, the downhill speed needs to be stably controlled, the energy consumption resistance Rz is connected to the power generation loop through the switch K, the main controller adjusts the output of the PWM wave duty ratio through the pulse width modulation method to realize the conduction of the transistor Q1, so as to achieve the purpose of stably controlling the speed of the transportation machine downhill in the power generation mode, the circuit design realizes the functions of energy recovery and stably controlling the speed of the transportation machine during the downhill running, the endurance mileage and the safety of the transportation are improved.
In one embodiment, as shown in fig. 6, the control subsystem 3 further comprises: an automatic parking detection assembly; the automatic parking detection assembly includes: a second hall sensor 311 and a second magnetic steel 312; the second hall sensor 311 is installed at the lower side of the head 101 of the transporter 1; two second magnetic steels 312 are arranged and respectively adsorbed on the side surfaces of the beginning and the end of the transportation track 2; the second hall sensor 311 and the second magnetic steel 312 are both located on the same side of the transportation track 2;
the main controller 301 is configured to determine whether the magnetic field signal of the second magnetic steel 312 detected by the second hall sensor 311 reaches a threshold value, and control the power-off brake 305 to brake through the actuator 304 when the magnetic field signal reaches the threshold value.
When the transporter 1 travels to the beginning and end of the transportation track 2, the second hall sensor 311 arranged on the transporter detects a magnetic field signal generated by the second magnetic steel 312 and sends a stop signal to the main controller 301, the main controller 301 controls the self-locking of the corresponding relay actuator 304 to brake and stop the power-off brake 305, at the moment, the transporter 1 stops traveling and cannot continue to start traveling to the original traveling direction again, only the transporter is allowed to be operated to travel in the reverse direction to prevent the transporter from rushing out of the track at the beginning and end of the track, and the automatic stop function is realized, the non-contact induction mode of the second hall sensor is adopted to replace the mode of adopting a mechanical trigger type travel switch arranged at the head and the tail to realize automatic stop, the condition that the transporter stops due to the fact that the travel switch is triggered by the mistaken triggering of barren grass sundries in an orchard during the traveling process is greatly reduced, the second magnetic steel 312 can be arranged on the side surface of the transportation track of any section according to the actual application requirements of a user, the automatic parking function of the conveyor on the road section is realized, and the use flexibility of the conveyor is greatly improved.
In one embodiment, the main controller 301 is connected to signal input and output isolation circuits and hall signal processing circuits.
Specifically, as shown in fig. 7, in order to provide a hall signal processing circuit, the first hall sensor and the second hall sensor are collectively referred to as a hall sensor, and the first magnetic steel and the second magnetic steel are collectively referred to as a magnetic steel. The Hall signal processing circuit is used for amplifying and converting the original signals collected by the Hall sensor into voltage signals which can be read by the single chip microcomputer. When the magnetic steel triggers the Hall sensor to generate A, B two-way pulse signals, the A signal is pulled up to 5V through the resistor R1, after being filtered through the capacitor C1, the A signal is connected with the main controller through the output end D2 of the two-way inverter U1, the B signal is pulled up to 5V through the resistor R4, after being filtered through the capacitor C3, the B signal is connected with the main controller through the output end D3 of the two-way inverter U1, VF is a reference voltage end of the two-way inverter U1, the reference voltage is 2.5V through the voltage division effect of the resistor R2 and the resistor R3, when the voltage input by the Hall sensor is higher than the reference voltage, the two-way inverter outputs 5V at a high level corresponding to the output end, and otherwise, 0V at a low level is output. The signal that hall sensor gathered becomes the voltage signal that singlechip can stably read through the enlargiing and the filtering processing of hall signal processing circuit.
As shown in fig. 8, the signal input/output isolation circuit is used to isolate the signal input to the main controller from the signal output from the main controller, and thus, functions to protect the main controller. The isolation circuit mainly comprises optocouplers U2 and U4 and an inverter U3, when an input signal IN1 inputs a low level, a pin C, E of the optocoupler U2 is conducted, and the input end of the main controller synchronously inputs the low level, so that the isolation effect of the input signal is realized; the signal of main control unit output is connected to opto-coupler U4 after the opposition effect of inverter, and when the main control unit output high level, opto-coupler U4 pin C, E switched on, and OUT1 output high level.
In other embodiments, the control subsystem further comprises: a plurality of sets of control buttons 313; the control buttons 313 are connected to the main controller 301, and are used to control the forward, backward, and stop of the conveyor 1.
Specifically, three sets of normally open jog switches are included, which are fixedly mounted on a control panel of the conveyor head 101, for manually controlling the advance, retreat, and stop of the conveyor.
More advantageously, the control subsystem 3 further comprises: signal receiver 314 and remote control 315; the signal receiver 314 is respectively connected with the plurality of groups of control keys 313 in parallel; the remote controller 315 is wirelessly connected to the signal receiver 314.
The signal receiver 314 is fixedly installed inside the transporter 1, and the user can remotely and wirelessly control the forward, backward and stop of the transporter 1 through the remote control end of the remote controller 315.
In one embodiment, the control subsystem 3 further comprises: a load cell 316; the load cell 316 is connected to the main controller 301, and is used for measuring the actual load weight of the transporter 1; the main controller 301 determines whether there is a risk of rollover by combining the driving posture and the actual loading quality of the transporter, and controls the electric-losing brake 305 to brake by the actuator 304 when there is a risk of rollover.
The weighing sensors 316 are respectively fixedly installed on the bearing mechanisms 105 at the front end and the rear end of the transport trailer and are used for measuring the actual loading weight of the transport trailer and preventing potential safety hazards caused by overload transportation.
The conveyer and the conveying track are locked and fixed on the track through the matching of a pressing wheel and a bearing wheel, the conveyer head driving wheel drags or pushes the conveyer head to run forwards and backwards in a meshing way, when the load of the goods exceeds the maximum device mass and the goods deviate once and again, the transportation vehicle has asymmetric mass along two sides of the track, and the vehicle is inclined severely, so that the vehicle can turn on one side, therefore, the loading mass needs to be detected by the weighing sensor to prevent overload operation, in addition, the problem of mechanical looseness is also possible or causes the side turning of the conveyer due to long-term use, the attitude sensor detects that the conveyer is in a certain safe range on the horizontal plane in a normal running state, there is a risk of rollover when the attitude sensor detects continued operation beyond this safe range, therefore, the power-off brake is controlled to stop and give an alarm to a user for checking and fixing, and rollover caused by continuous operation is prevented.
More advantageously, the control subsystem 3 further comprises: an audible and visual alarm 317; the audible and visual alarm 317 is connected with the main controller 301; the main controller 301 is used for controlling the audible and visual alarm 317 to give an audible and visual alarm when overload and driving posture abnormality exist.
When the conveyor 1 is overloaded or the attitude sensor detects abnormal attitude, the main controller 301 controls the power-off brake 305 by controlling the corresponding relay actuator 304, brakes the conveyor 1 and starts the audible and visual alarm 317, and the fault lamp flickers and the alarm buzzes to prompt the system that a problem occurs, so that a worker can timely handle the problem.
The embodiment of the invention also provides a control method of the intelligent control system of the hillside orchard monorail conveyor, which comprises the following steps: the sectional type brake control method comprises the following steps:
s1, the main controller judges whether the conveyor is in an uphill section or a downhill section according to the driving posture of the conveyor acquired by the posture sensor, if so, S2 is executed, otherwise, S5 is executed;
s2, if the conveyor is in an uphill section and the main controller detects that a trigger braking signal exists, executing S7;
s3, if the conveyor is in a downhill section and the main controller detects that a trigger braking signal exists, starting a 500ms timer to time by the main controller, detecting the rotating speed of the motor through the first Hall sensor, judging whether the timer finishes 500ms timing or the first Hall sensor detects that the rotating speed of the motor is reduced to zero, if so, executing S7, otherwise, continuing timing and detecting the rotating speed of the motor;
s4, if the conveyor is in an uphill section, but the main controller does not detect a trigger braking signal, judging whether the conveyor slips or not according to the actual rotating direction of the motor detected by the first Hall sensor and the running direction of the operation instruction, if the rotating direction of the motor detected by the first Hall sensor is not consistent with the running direction of the operation instruction, slipping occurs, and executing S7;
s5, judging whether the conveyor is braked on a flat road section or not according to the driving posture of the conveyor acquired by the posture sensor, if so, starting a 1000ms timer by the main controller for timing, and detecting the rotating speed of the motor through the first Hall sensor;
s6, judging whether the timer finishes timing for 1000ms or whether the first Hall sensor detects that the rotating speed of the motor is reduced to zero, if so, executing S7, otherwise, continuing timing and detecting the rotating speed of the motor;
and S7, braking and stopping the vehicle by the power-off brake.
In another embodiment, the method further comprises: when the conveyer is in a downhill section, energy recovery is carried out, and the method comprises the following steps:
s1', setting the power generation condition of the dc motor: the attitude of the conveyor meets the following requirements: the horizontal plane inclination angle alpha is larger than alpha 0, and the actual rotating speed N of the direct current motor meets the following conditions: n0< N1; setting the safe rotating speed N2 of the direct current motor in the power generation mode;
s2', acquiring attitude information of the conveyor through an attitude sensor, and detecting the actual rotating speed and rotating direction of the direct current motor through a first Hall sensor;
s3', judging whether the power generation condition is met, if so, executing S4', otherwise, keeping the driving mode of the direct current motor;
s4', the main controller controls the motor controller through the actuator to switch the working mode of the direct current motor from the driving mode to the power generation mode, and energy recovery is carried out;
s5', detecting the rotating speed and the rotating direction of the direct current motor through a first Hall sensor;
s6', judging whether the actual rotating speed of the direct current motor exceeds the set safe rotating speed N2 or not in the power generation mode, if so, executing S7', otherwise, executing S8 ';
s7', connecting an energy consumption resistor, calculating the duty ratio of the PWM wave required to be output by the main controller, and controlling the actual rotating speed of the direct current motor within a preset range from the top to the bottom of the safe rotating speed N2 in the power generation mode;
s8', judging whether the actual rotating speed of the direct current motor in the power generation mode is lower than the rotating speed N0 of the direct current motor in the set downhill driving mode, if so, controlling the motor controller to switch the working mode of the direct current motor from the power generation mode to the driving mode by the main controller through the actuator, and providing power for the conveyor.
As shown in fig. 13, the overall control flow of the main controller to the operation process of the conveyor in the invention is as follows:
initializing a system and starting serial port communication;
reading an input signal;
judging whether a key is pressed down, if so, judging whether the key is a forward signal, a backward signal and a stop signal in sequence, and if so, releasing the power-off brake and enabling the conveyor to move forward; if the signal is a backward signal, releasing the power-off brake, and backward moving the conveyor; if the signal is a stop signal, the power-off brake brakes and the conveyor stops running; otherwise, returning to continue reading the input signal;
and judging whether an abnormal signal exists or not, if so, giving an alarm by using an audible and visual alarm, braking the power-off brake, stopping the conveyor, and otherwise, continuously returning to read the input signal.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. An intelligent control system of a hillside orchard monorail transporter, comprising: a transporter, a transport track, and a control subsystem;
the control subsystem includes: the system comprises a main controller, an anti-sliding detection assembly, an attitude sensor, a direct current motor, an actuator and a power-off brake;
the anti-sliding detection assembly comprises a first Hall sensor and first magnetic steel; the first magnetic steels are uniformly arranged on the periphery of a rotating shaft of the direct current motor; the first Hall sensor is arranged right above the rotating shaft of the direct current motor and used for sensing a magnetic field signal of the first magnetic steel and detecting the actual rotating speed and rotating direction of the direct current motor according to the magnetic field signal; the main controller determines whether a vehicle slipping condition exists according to whether the actual rotating direction of the direct current motor is consistent with the running direction of the operation instruction, and controls the power-off brake to brake through the actuator when the vehicle slipping condition exists;
the attitude sensor is used for detecting the running attitude of the conveyor on the conveying track;
and the main controller judges whether the transporter is in an uphill section, a downhill section or a flat road section according to the running posture of the transporter, and controls the braking condition of the power-off brake through the actuator in different braking modes according to different road sections.
2. The hillside orchard monorail conveyor intelligent control system of claim 1, wherein the control subsystem further comprises: a motor controller and a lithium battery;
the motor controller is used for switching the direct current motor to be in a driving mode or a power generation mode;
and the main controller is used for controlling the motor controller to switch the working mode of the direct current motor from a driving mode to a power generation mode through the actuator when the transporter is in a downhill section and meets power generation conditions, and the power generation electric energy is recovered to the lithium battery.
3. The hillside orchard monorail transporter intelligent control system of claim 2, wherein the control subsystem further comprises: a power generation mode speed control module;
and the power generation mode speed control module is used for consuming part of electric energy which is not recovered by the lithium battery by adopting an energy consumption resistor when the direct current motor is in a power generation mode and the rotating speed exceeds the safe rotating speed, so that the rotating speed is maintained within a preset range above and below the safe rotating speed.
4. The hillside orchard monorail transporter intelligent control system of claim 1, wherein the control subsystem further comprises: an automatic parking detection assembly; the automatic parking detection assembly includes: the second Hall sensor and the second magnetic steel; the second Hall sensor is arranged on the lower side of the conveyor head; two second magnetic steels are arranged and respectively adsorbed on the side surfaces of the beginning and the end of the transportation track; the second Hall sensor and the second magnetic steel are both positioned on the same side of the transportation track;
the main controller is used for judging whether the magnetic field signal of the second magnetic steel detected by the second Hall sensor reaches a threshold value or not, and controlling the power-off brake to brake through the actuator when the magnetic field signal of the second magnetic steel reaches the threshold value.
5. The hillside orchard monorail transporter intelligent control system of claim 1, wherein the control subsystem further comprises: a plurality of groups of control keys; the control key is connected with the main controller and used for controlling the forward movement, the backward movement and the stop of the conveyor.
6. The hillside orchard monorail transporter intelligent control system of claim 5, wherein the control subsystem further comprises: a signal receiver and a remote controller; the signal receiver is respectively connected with the plurality of groups of control keys in parallel; the remote controller is in wireless connection with the signal receiver.
7. The hillside orchard monorail transporter intelligent control system of claim 1, wherein the control subsystem further comprises: a weighing sensor; the weighing sensor is connected with the main controller and is used for measuring the actual loading weight of the conveyor; and the main controller judges whether the rollover risk exists or not by combining the running posture and the actual loading quality of the conveyor, and controls the power-off brake to brake through the actuator when the rollover risk exists.
8. The hillside orchard monorail transporter intelligent control system of claim 1, wherein the control subsystem further comprises: an audible and visual alarm; the audible and visual alarm is connected with the main controller; the main controller is used for controlling the audible and visual alarm to give audible and visual alarms when overload and driving posture abnormity exist.
9. A control method of an intelligent control system of a hillside orchard monorail conveyor, which is suitable for the intelligent control system of the hillside orchard monorail conveyor according to any one of claims 1-8, and is characterized by comprising the following steps: the sectional type brake control method comprises the following steps:
s1, judging whether the conveyor is in an uphill section or a downhill section or not by the main controller according to the driving posture of the conveyor acquired by the posture sensor, if so, executing S2, otherwise, executing S5;
s2, if the conveyor is in an uphill section and the main controller detects that a trigger braking signal exists, executing S7;
s3, if the conveyor is in a downhill section and the main controller detects that a trigger braking signal exists, starting a 500ms timer by the main controller for timing, detecting the rotating speed of the motor through the first Hall sensor, judging whether the timer finishes 500ms timing or the first Hall sensor detects that the rotating speed of the motor is reduced to zero, and if so, executing S7;
s4, if the conveyor is in an uphill section, but the main controller does not detect a trigger braking signal, judging whether the conveyor slips or not according to the actual rotating direction of the motor detected by the first Hall sensor and the running direction of the operation instruction, if the rotating direction of the motor detected by the first Hall sensor is not consistent with the running direction of the operation instruction, slipping occurs, and executing S7;
s5, judging whether the conveyor is in flat road braking or not according to the driving posture of the conveyor acquired by the posture sensor, if so, starting a 1000ms timer by a main controller for timing, and detecting the rotating speed of the motor through a first Hall sensor;
s6, judging whether the timer finishes timing for 1000ms or whether the first Hall sensor detects that the rotating speed of the motor is reduced to zero, if so, executing S7;
and S7, braking and stopping the vehicle by the power-off brake.
10. The control method of the intelligent control system of the hillside orchard monorail conveyor according to claim 9, characterized by further comprising: when the conveyor is positioned at a downhill section, energy recovery is carried out; the method comprises the following steps:
s1', setting the power generation condition of the dc motor: the posture of the conveyor meets the following requirements: the horizontal plane inclination angle alpha is larger than alpha 0, and the actual rotating speed N of the direct current motor meets the following conditions: n0< N1; setting the safe rotating speed N2 of the direct current motor in the power generation mode;
s2', acquiring attitude information of the conveyor through an attitude sensor, and detecting the actual rotating speed and rotating direction of the direct current motor through a first Hall sensor;
s3', judging whether the power generation condition is met, if so, executing S4', otherwise, keeping the driving mode of the direct current motor;
s4', the main controller controls the motor controller through the actuator to switch the working mode of the direct current motor from the driving mode to the power generation mode, and energy recovery is carried out;
s5', detecting the rotating speed and the rotating direction of the direct current motor through a first Hall sensor;
s6', judging whether the actual rotating speed of the direct current motor exceeds the set safe rotating speed N2 or not in the power generation mode, if so, executing S7', otherwise, executing S8 ';
s7', connecting an energy consumption resistor, calculating the duty ratio of the PWM wave required to be output by the main controller, and controlling the actual rotating speed of the direct current motor within a preset range from the top to the bottom of the safe rotating speed N2 in the power generation mode;
s8', judging whether the actual rotating speed of the direct current motor in the power generation mode is lower than the rotating speed N0 of the direct current motor in the set downhill driving mode, if so, controlling the motor controller to switch the working mode of the direct current motor from the power generation mode to the driving mode by the main controller through the actuator, and providing power for the conveyor.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210787119.2A CN115009791B (en) | 2022-07-04 | 2022-07-04 | Intelligent control system and control method for hillside orchard single-rail conveyor |
| PCT/CN2023/079512 WO2024007603A1 (en) | 2022-07-04 | 2023-03-03 | Intelligent control system for monorail conveyor in hillside orchard and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202210787119.2A CN115009791B (en) | 2022-07-04 | 2022-07-04 | Intelligent control system and control method for hillside orchard single-rail conveyor |
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| CN115009791A true CN115009791A (en) | 2022-09-06 |
| CN115009791B CN115009791B (en) | 2023-03-28 |
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| CN (1) | CN115009791B (en) |
| WO (1) | WO2024007603A1 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115593871A (en) * | 2022-11-25 | 2023-01-13 | 山东协和学院（Cn） | Health care hospital laboratory equipment transportation robot and control method thereof |
| WO2024007603A1 (en) * | 2022-07-04 | 2024-01-11 | 华南农业大学 | Intelligent control system for monorail conveyor in hillside orchard and control method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106680530A (en) * | 2017-02-23 | 2017-05-17 | 北京惠达智农科技有限公司 | Non-contact type rotating speed measuring apparatus |
| CN113844470A (en) * | 2021-09-24 | 2021-12-28 | 华南农业大学 | Self-propelled electric single-rail transportation equipment for hillside orchard and control method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP4352925B2 (en) * | 2004-02-17 | 2009-10-28 | アシスト テクノロジーズ ジャパン株式会社 | Sensor control device for automatic guided vehicle and automatic guided system |
| CN106364495B (en) * | 2016-10-14 | 2019-11-19 | 华东交通大学 | A kind of hillside orchard monorail conveyer with automatic stopping function |
| CN115009791B (en) * | 2022-07-04 | 2023-03-28 | 华南农业大学 | Intelligent control system and control method for hillside orchard single-rail conveyor |
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2022
- 2022-07-04 CN CN202210787119.2A patent/CN115009791B/en active Active
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- 2023-03-03 WO PCT/CN2023/079512 patent/WO2024007603A1/en unknown
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106680530A (en) * | 2017-02-23 | 2017-05-17 | 北京惠达智农科技有限公司 | Non-contact type rotating speed measuring apparatus |
| CN113844470A (en) * | 2021-09-24 | 2021-12-28 | 华南农业大学 | Self-propelled electric single-rail transportation equipment for hillside orchard and control method |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024007603A1 (en) * | 2022-07-04 | 2024-01-11 | 华南农业大学 | Intelligent control system for monorail conveyor in hillside orchard and control method thereof |
| CN115593871A (en) * | 2022-11-25 | 2023-01-13 | 山东协和学院（Cn） | Health care hospital laboratory equipment transportation robot and control method thereof |
| CN115593871B (en) * | 2022-11-25 | 2023-03-07 | 山东协和学院 | Health care hospital laboratory equipment transportation robot and control method thereof |
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| CN115009791B (en) | 2023-03-28 |
| WO2024007603A1 (en) | 2024-01-11 |
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Application publication date: 20220906 Assignee: GUANGDONG ZHENSHENG INTELLIGENT EQUIPMENT CO.,LTD. Assignor: SOUTH CHINA AGRICULTURAL University Contract record no.: X2023980042574 Denomination of invention: Intelligent Control System and Its Control Method for Monorail Transporters in Mountain Orchards Granted publication date: 20230328 License type: Exclusive License Record date: 20230927 |
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