CN115339327A - Tractor climbing control system and method - Google Patents

Tractor climbing control system and method Download PDF

Info

Publication number
CN115339327A
CN115339327A CN202211264327.0A CN202211264327A CN115339327A CN 115339327 A CN115339327 A CN 115339327A CN 202211264327 A CN202211264327 A CN 202211264327A CN 115339327 A CN115339327 A CN 115339327A
Authority
CN
China
Prior art keywords
load
driving motor
tractor
weight
calculating
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN202211264327.0A
Other languages
Chinese (zh)
Other versions
CN115339327B (en
Inventor
马列
马海兵
沈亮
马琼
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Jiangsu Tianyi Aviation Industry Co Ltd
Original Assignee
Jiangsu Tianyi Aviation Industry Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Jiangsu Tianyi Aviation Industry Co Ltd filed Critical Jiangsu Tianyi Aviation Industry Co Ltd
Priority to CN202211264327.0A priority Critical patent/CN115339327B/en
Publication of CN115339327A publication Critical patent/CN115339327A/en
Application granted granted Critical
Publication of CN115339327B publication Critical patent/CN115339327B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/32—Control or regulation of multiple-unit electrically-propelled vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2220/00—Electrical machine types; Structures or applications thereof
    • B60L2220/40—Electrical machine applications
    • B60L2220/42—Electrical machine applications with use of more than one motor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/423—Torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/60—Navigation input
    • B60L2240/64—Road conditions
    • B60L2240/642—Slope of road
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The invention discloses a tractor climbing control system and a method, wherein the method comprises the following steps: initializing operation, namely controlling the main driving motor to be in an opening state, and controlling the auxiliary driving motor to be in a first state; judging whether the weight of the logistics luggage and the load weight accord with a preset logic or not; acquiring a real-time image of the ramp and a load image, and calculating to obtain ramp angle and load appearance information; calculating the position of the center of mass of the load; judging whether the position of the mass center of the load meets a preset condition or not; and calculating output torques required by the main driving motor and the auxiliary driving motor, and outputting control signals to the main driving motor and the auxiliary driving motor. The auxiliary driving motor is in a turning synchronous state under common road conditions, and tail flicking is prevented; when climbing, the tractor adopts a dual-drive mode of the main drive motor and the auxiliary drive motor to climb, thereby improving the climbing capability of the tractor.

Description

Tractor climbing control system and method
Technical Field
The invention relates to the field of tractor driving control, can be applied to logistics luggage transportation places in airports, docks and other areas, and particularly relates to a tractor climbing control system and method.
Background
In the prior art, in the processes of consigning luggage goods at airports and transporting logistics luggage at airport terminals, manual-driving logistics luggage tractors are mostly used, and in order to respond to energy-saving, environment-friendly and oil-to-electricity plans, electric luggage tractors are introduced in recent years, but manual driving is still needed, the working efficiency is low, and the driving safety is greatly influenced by human factors. Along with the development of intelligent driving, the reducible manual work load of autopilot's electronic commodity circulation luggage tractor, security and efficiency all obtain showing and improve. However, in the prior art, the electric logistics luggage tractor usually adopts a pulling structure, and the battery and the driving motor are both arranged at the head of the tractor, so that the drift situation is easy to occur in some special road conditions, such as turning. In addition, although the tractor is driven automatically, the loaded luggage is often stacked manually, and due to the fact that the luggage is different in number, size and shape and is stacked randomly, position slippage may occur during transportation. Particularly, when climbing a slope, because the load mass center of the tractor moves backwards, if the load mass center is close to the position of the rear wheel, the influence of the mass center moving backwards when climbing the slope is superposed, and even if the angle of the slope is within the design range, the situation that the motor slips due to insufficient starting force can be caused.
Disclosure of Invention
In order to solve the above problems, the present invention provides a system and a method for controlling the climbing of a tractor.
In order to realize the purpose, the following technical scheme is provided:
a tractor climbing control method is characterized by comprising the following steps:
s1: carrying out initialization operation through the vehicle control unit, wherein the initialization operation comprises the following steps: controlling the main driving motor to be in an opening state, and controlling the auxiliary driving motor to be in a first state;
s2: acquiring the load weight of the tractor by using a weight sensor array arranged on a tractor body, acquiring the weight of the logistics luggage by the vehicle controller according to the acquired logistics luggage tag information, judging whether the weight of the logistics luggage and the load weight accord with a preset logic or not, if so, performing step S3, and if not, transmitting a wireless signal through a wireless communication module to report an error;
s3, acquiring a real-time image of a ramp to be driven in front of the vehicle and a self-load image of the tractor by using the camera, and calculating by using the vehicle control unit to obtain a ramp angle and load appearance information of the tractor;
s4, calculating the load mass center position of the tractor according to the preset position and the collected weight information of each weight sensor in the weight sensor array and the load appearance information;
s5, judging whether the position of the mass center of the load meets a preset condition, if so, controlling the auxiliary driving motor to enter a second state and performing the step s6, and if not, calculating to obtain the output torque of the main driving motor required by climbing according to the angle of the ramp and the weight of the load by the vehicle control unit;
judging whether the output torque is larger than a preset value or not, if so, controlling the auxiliary driving motor to enter a second state and carrying out step s6, and if not, outputting a first control signal to the main driving motor;
s6: and the vehicle control unit calculates the output torque required by the main driving motor and the auxiliary driving motor according to the ramp angle, the load weight and the load mass center position, and outputs a second control signal to the main driving motor and the auxiliary driving motor.
As a further improvement of the present invention, the main drive motor is provided at a front wheel position of the tractor, the sub drive motor is provided at a rear wheel position of the tractor, and the plurality of cameras are arranged at a head and a body position of the tractor.
As a further improvement of the invention, the first state is a turning synchronous state, and the auxiliary driving motor drives the rear wheels to turn according to a turning signal sent by the vehicle controller so as to realize synchronous turning with the front wheels;
and the secondary driving motor is used for driving the rear wheels in a power mode according to the second control signal sent by the vehicle control unit.
As a preferred aspect of the present invention, a weight distribution curve along the X-axis and the Y-axis directions is calculated according to preset positions of each weight sensor in the weight sensor array and collected weight information;
and constructing a two-dimensional plane model according to the load appearance information, extracting a plurality of characteristic points of the two-dimensional plane model, extracting two-dimensional plane coordinates of the characteristic points, and calculating according to a weighted centroid method by combining the weight distribution curve to obtain the two-dimensional plane coordinates of the load centroid.
As a preferable scheme of the present invention, a distance between the load centroid position and a front wheel of the tractor is d1, a distance between the load centroid position and a rear wheel of the tractor is d2, and the preset conditions in step s5 are as follows: d1> d2.
A tractor climbing control system, the system comprising:
an initialization unit, configured to perform an initialization operation by a vehicle controller, the initialization operation including: controlling the main driving motor to be in an opening state, and controlling the auxiliary driving motor to be in a first state;
the system comprises a first judgment unit, a second judgment unit and a wireless communication module, wherein the first judgment unit is used for acquiring the load weight of a tractor by using a weight sensor array arranged on a traction vehicle body, the vehicle control unit acquires the weight of the logistics luggage according to the acquired logistics luggage tag information, judges whether the weight of the logistics luggage and the load weight accord with preset logic or not, and if not, sends a wireless signal through the wireless communication module to report an error;
the image shooting unit is used for acquiring a real-time image of a ramp to be driven in front of a vehicle and a load image of the tractor by using a camera, and calculating by using the vehicle control unit to obtain a ramp angle and load appearance information of the tractor;
the load mass center calculating unit is used for calculating the load mass center position of the tractor according to the preset position and the collected weight information of each weight sensor in the weight sensor array and the load appearance information;
the second judgment unit is used for judging whether the position of the mass center of the load meets a preset condition, if so, the auxiliary driving motor is controlled to enter a second state, and if not, the vehicle control unit calculates to obtain the output torque of the main driving motor required by climbing according to the angle of the ramp and the weight of the load;
judging whether the output torque is greater than a preset value or not, if so, controlling the auxiliary driving motor to enter a second state, and if not, outputting a first control signal to the main driving motor;
and the calculating unit is used for calculating the output torque required by the main driving motor and the auxiliary driving motor according to the ramp angle, the load weight and the load mass center position by the vehicle control unit and outputting a second control signal to the main driving motor and the auxiliary driving motor.
As a further improvement of the present invention, the main drive motor is provided at a front wheel position of the tractor, the sub drive motor is provided at a rear wheel position of the tractor, and the plurality of cameras are arranged at a head and a body position of the tractor.
As a further improvement scheme of the invention, the first state is a turning synchronous state, and the auxiliary driving motor drives the rear wheels to steer according to a turning signal sent by the vehicle controller so as to realize synchronous steering with the front wheels;
and the secondary driving motor is used for driving the rear wheels in a power mode according to the second control signal sent by the vehicle control unit.
As a preferred aspect of the present invention, a weight distribution curve along the X-axis and the Y-axis directions is calculated according to preset positions of each weight sensor in the weight sensor array and collected weight information;
and constructing a two-dimensional plane model according to the load appearance information, extracting a plurality of characteristic points of the two-dimensional plane model, extracting two-dimensional plane coordinates of the characteristic points, and calculating to obtain the two-dimensional plane coordinates of the load centroid according to a weighted centroid method by combining the weight distribution curve.
As a preferable scheme of the present invention, a distance between a load centroid position and a front wheel of the tractor is d1, a distance between the load centroid position and a rear wheel of the tractor is d2, and the preset conditions are as follows: d1> d2.
The beneficial effects of the invention are as follows:
through the mode that sets up main driving motor, rear wheel at the front wheel and set up vice driving motor, wherein vice driving motor provides the synchronous steering effect when ordinary road conditions, provides the auxiliary drive effect during the climbing state to can realize the synchronous steering of front and back wheel when making the turn, prevent the whipping, can alleviate main driving motor's pressure when climbing moreover, strengthen the climbing ability of tractor.
The self-checking of the weight sensor is completed by logically judging the weight information in the logistics luggage label and the weight information acquired by the weight sensor, and the subsequent calculation and control operation are prevented from being influenced by inaccurate acquired data caused by the failure of the weight sensor.
If the load mass center is close to the position of the rear wheel, the influence of backward movement of the mass center when the load is lifted on a slope is superposed, so that the adhesive force of the front wheel is insufficient, and the climbing capability is influenced. Through the calculation of the mass center before climbing, whether the approximate position of the tractor is close to the front wheel position or the rear wheel position is judged, and when the tractor is close to the rear wheel position, the tractor adopts a dual-drive mode of a main drive motor and an auxiliary drive motor to climb, so that the climbing capacity of the tractor is improved.
When the output torque of the main driving motor is larger than the preset value, the main driving motor and the auxiliary driving motor are adopted to climb in a dual-driving mode, so that the main driving motor is prevented from being overloaded.
Drawings
To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, and it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope.
FIG. 1 is a flow chart of a tractor climb control method of the present invention;
fig. 2 is a signal connection block diagram inside the vehicle control unit according to the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all the embodiments. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
Example one
Fig. 1 is a flowchart of a method for controlling a tractor to climb a slope according to an embodiment of the present invention. As shown in fig. 1, the method may include:
step s1: and initializing operation, namely controlling the main driving motor to be in an opening state, and controlling the auxiliary driving motor to be in a first state.
Wherein, carry out initialization operation through vehicle control unit, initialization operation includes: the main driving motor is controlled to be in an opening state, and the auxiliary driving motor is controlled to be in a first state. The vehicle control unit is used as a control center for automatic driving of the logistics luggage tractor, the main driving motor is arranged at the front wheel position of the tractor, and the auxiliary driving motor is arranged at the rear wheel position of the tractor.
The main driving motor keeps an opening state and serves as a main power source for driving the tractor to walk.
The first state is a turning synchronous state, and the auxiliary driving motor drives the rear wheels to turn according to a turning signal sent by the vehicle control unit so as to realize synchronous turning with the front wheels. And in the common road condition, the main driving motor is adopted to drive the tractor to run, the auxiliary driving motor is only used for driving the rear wheels to steer, and the synchronous steering with the front wheels is realized according to signals sent by the whole vehicle controller. Because the logistics luggage tractor usually adopts a towing mode, and the front wheel and the rear wheel synchronously steer, the drift phenomenon can be avoided in the turning process. Under the turning synchronous state, the output shaft of the auxiliary driving motor is only used for driving the rear wheel to steer, the output torque is small, and the energy consumption is relatively low.
Step s2: and judging whether the weight of the logistics luggage and the load weight accord with preset logic or not.
The load weight of the tractor is collected by a weight sensor array arranged on a traction vehicle body, the vehicle control unit obtains the weight of the logistics luggage through the obtained logistics luggage tag information, whether the weight of the logistics luggage and the load weight accord with preset logic or not is judged, if yes, the step S3 is carried out, and if not, a wireless signal is sent through a wireless communication module to report errors.
The logistics luggage tag reader is arranged on the tractor and can read logistics luggage tag information, and tags of the logistics luggage tag reader need to be scanned and read before loading of the logistics luggage. The label can be in the form of a two-dimensional code, an RFID label and other common labels, and the label information can include the weight, the size, the user identity information and the like of the logistics luggage, so that the weight information of all luggage loaded by the tractor can be acquired after loading is completed. The self-checking of the weight sensor is completed by logically judging the weight information in the logistics luggage label and the weight information acquired by the weight sensor, and the subsequent calculation and control operation are prevented from being influenced by inaccurate acquired data caused by the failure of the weight sensor. The preset logic is that the difference value between the two is smaller than a threshold value. If the weight sensor array self-checking is not qualified with the preset logic, the weight sensor array self-checking is not passed, namely, a fault occurs, and at the moment, the vehicle control unit controls the wireless communication module to send a wireless signal to report the fault, wherein the wireless communication module is arranged on the tractor, and the wireless signal can be wifi, a cellular mobile network and the like and is used for sending a signal to an administrator end, so that related workers can timely perform fault removal and maintenance work.
And step s3: and acquiring a real-time image of the ramp and a load image, and calculating to obtain ramp angle and load appearance information.
The method comprises the steps of acquiring a real-time image of a ramp to be driven in front of a vehicle and a load image of a tractor by using a camera, and calculating by using a vehicle control unit to obtain a ramp angle and load appearance information of the tractor.
Wherein a plurality of cameras are arranged at the head and body positions of the tractor. The camera is used for providing real-time road condition information for the automatic driving of the tractor, and in addition, can also obtain load appearance information. Since the cargo baggage carried by the tractor is often manually stacked, and since the cargo baggage is different in number, size and shape and is randomly stacked, position slippage may occur in the transportation process, the load shape information of the cargo baggage needs to be acquired in real time to calculate the load mass center. It will be appreciated that the load profile information obtained here refers to the profile assumed by the load as a whole.
And step s4: and calculating the position of the center of mass of the load.
And calculating the position of the load center of mass of the tractor according to the preset position and the acquired weight information of each weight sensor in the weight sensor array and the load appearance information.
The load centroid position should actually be a three-dimensional coordinate including x, y, z coordinates, but since the tractor height is designed according to its load capacity and the load height is usually not higher than the tractor height according to the logistics baggage stacking rules, the change of the load centroid in the z axis has little effect on the tractor. When climbing a slope, the load mass center of the tractor moves backwards, so that the front driving wheel has insufficient gripping force, and the condition of insufficient starting force, vehicle sliding and the like can be caused. If the load mass center is close to the position of the rear wheel, the influence of backward movement of the mass center when the load is lifted on a slope is superposed, so that the adhesive force of the front wheel is insufficient, and the climbing capability is influenced. The present invention is concerned with the variation of the center of mass of the tractor load in the horizontal direction, i.e., the x-axis and y-axis directions, and therefore the calculated position of the center of mass of the load is a two-dimensional plane coordinate. Through the calculation to the barycenter position before climbing, judge its horizontal position and be close to the front wheel position or be close to the rear wheel position, when being close to the rear wheel position, adopt main, vice driving motor dual drive mode climbing, improved the climbing ability of tractor.
Wherein, when the weight of the object is uniformly distributed, the mass center of the object is the center of the geometric shape of the object, and when the object is weightedWhen the amount distribution is not uniform, the weight distribution of the mass center needs to be considered in the calculation of the mass center. According to the invention, the weight sensor array arranged on the vehicle body is adopted to obtain the weight information at different positions, so that the load weight distribution can be obtained by combining the positions of the sensors in the array. Therefore, when the position of the center of mass of the load is calculated, weight distribution curves along the directions of the x axis and the y axis are calculated according to the preset positions of the weight sensors in the weight sensor array and the collected weight information; (ii) constructing a two-dimensional plane model according to the load appearance information, extracting a plurality of feature points of the two-dimensional plane model, extracting two-dimensional plane coordinates of the feature points, calculating the two-dimensional plane coordinates of the load centroid according to a weighted centroid method by combining the weight distribution curve, and calculating the two-dimensional plane coordinates of the load centroid according to the following formula (
Figure DEST_PATH_IMAGE001
,
Figure 845107DEST_PATH_IMAGE002
）：
Figure DEST_PATH_IMAGE003
Figure 572891DEST_PATH_IMAGE004
Wherein the content of the first and second substances,
Figure DEST_PATH_IMAGE005
，
Figure 858379DEST_PATH_IMAGE006
is the two-dimensional plane coordinates of the feature points,
Figure DEST_PATH_IMAGE007
the weight corresponding to the characteristic point is obtained according to the weight distribution curve.
And step s5: and judging whether the position of the load mass center meets a preset condition.
Judging whether the position of the mass center of the load meets a preset condition, if so, controlling an auxiliary driving motor to enter a second state and performing step s6, and if not, calculating to obtain the output torque of the main driving motor required by climbing according to the angle of the ramp and the weight of the load by the vehicle control unit;
wherein, the distance between the position of the load mass center and the front wheel of the tractor is d1, the distance between the position of the load mass center and the rear wheel of the tractor is d2, and the preset conditions in the step s5 are as follows: d1> d2.
And the secondary driving motor is used for driving the rear wheels in a power mode according to the second control signal sent by the vehicle control unit, so that the rear wheels can be driven to walk. In this embodiment, the sub-drive motor is switched from the first state to the second state, i.e., from the steering drive to the power drive, and the switching of the coupling of the sub-drive motor output shaft to the corresponding gear can be performed by the clutch. Through the calculation to the barycenter position before climbing, judge it and be close to the front wheel position or be close to the rear wheel position, when being close to the rear wheel position, adopt main, vice driving motor dual drive mode climbing, improved the climbing ability of tractor.
Judging whether the output torque is larger than a preset value or not, if so, controlling the auxiliary driving motor to enter a second state and carrying out step s6, and if not, outputting a first control signal to the main driving motor;
when the output torque of the main driving motor is larger than the preset value, the auxiliary driving motor is controlled to enter a second state, namely a power driving state, and a main driving motor and the auxiliary driving motor are driven in a dual-driving mode to climb, so that the main driving motor is prevented from being overloaded, the service life of the main driving motor is prolonged, the safety and stability are improved, and the climbing capacity is improved.
The first control signal is sent to the main driving motor by the vehicle control unit and used for adjusting the output torque of the main driving motor according to the calculated output torque of the main driving motor required by climbing.
And step s6: and calculating output torques required by the main driving motor and the auxiliary driving motor, and outputting a second control signal to the main driving motor and the auxiliary driving motor.
And the vehicle control unit calculates output torques required by the main driving motor and the auxiliary driving motor according to the ramp angle, the load weight and the load mass center position, and outputs a second control signal to the main driving motor and the auxiliary driving motor.
And the second control signal is sent to the main driving motor and the auxiliary driving motor by the vehicle control unit and is used for adjusting the output torque of the main driving motor and the auxiliary driving motor according to the output torque required by the main driving motor and the auxiliary driving motor obtained through calculation.
In this embodiment, in calculating the output torques required for the main drive motor and the sub drive motor, when the load centroid position satisfies the preset condition d1> d2, the output torques required for the main drive motor and the sub drive motor may be determined according to the ratio of d1 and d2, that is, the farther the load centroid position is from the front wheels and the closer it is to the rear wheels, the larger the output torque of the sub drive motor and the smaller the output torque of the main drive motor. When the position of the load mass center does not meet the preset condition d1> d2, the output torques of the main driving motor and the auxiliary driving motor can be distributed according to the driving capability of the main driving motor and the auxiliary driving motor. The output torque of the main driving motor adjusted according to the first control signal and the output torque of the main driving motor and the output torque of the auxiliary driving motor adjusted according to the second control signal are both smaller than the maximum output torque of the corresponding driving motors.
Example two
The second embodiment of the invention provides a tractor climbing control system.
Wherein the system comprises: an initialization unit configured to perform an initialization operation by a vehicle control unit, the initialization operation including: controlling the main driving motor to be in an opening state, and controlling the auxiliary driving motor to be in a first state;
the system comprises a first judgment unit, a second judgment unit and a wireless communication module, wherein the first judgment unit is used for acquiring the load weight of a tractor by using a weight sensor array arranged on a traction vehicle body, the vehicle control unit acquires the weight of the logistics luggage according to the acquired logistics luggage tag information, judges whether the weight of the logistics luggage and the load weight accord with preset logic or not, and if not, sends a wireless signal through the wireless communication module to report an error;
the image shooting unit is used for acquiring a real-time image of a ramp to be driven in front of a vehicle and a load image of the tractor by using a camera, and calculating by using the vehicle control unit to obtain a ramp angle and load appearance information of the tractor;
the load mass center calculating unit is used for calculating the load mass center position of the tractor according to the preset position and the collected weight information of each weight sensor in the weight sensor array and the load appearance information;
the second judgment unit is used for judging whether the position of the mass center of the load meets a preset condition, if so, the auxiliary driving motor is controlled to enter a second state, and if not, the vehicle control unit calculates to obtain the output torque of the main driving motor required by climbing according to the angle of the ramp and the weight of the load;
judging whether the output torque is larger than a preset value or not, if so, controlling the auxiliary driving motor to enter a second state, and if not, outputting a first control signal to the main driving motor;
and the calculating unit is used for calculating the output torque required by the main driving motor and the auxiliary driving motor according to the ramp angle, the load weight and the load mass center position by the vehicle control unit and outputting a second control signal to the main driving motor and the auxiliary driving motor.
The main driving motor is arranged at the front wheel position of the tractor, the auxiliary driving motor is arranged at the rear wheel position of the tractor, and the plurality of cameras are arranged at the head and body positions of the tractor.
The auxiliary driving motor drives the rear wheels to steer according to a turning signal sent by the vehicle control unit so as to realize synchronous steering with the front wheels; and the secondary driving motor is used for driving the rear wheels in a power manner according to the second control signal sent by the vehicle control unit.
Wherein the load centroid calculation unit is further configured to: calculating weight distribution curves along the directions of the x axis and the y axis according to preset positions of the weight sensors in the weight sensor array and the collected weight information; and constructing a two-dimensional plane model according to the load appearance information, extracting a plurality of characteristic points of the two-dimensional plane model, extracting two-dimensional plane coordinates of the characteristic points, and calculating according to a weighted centroid method by combining the weight distribution curve to obtain the two-dimensional plane coordinates of the load centroid.
Wherein, load barycenter position with distance between the tractor front wheel is d1, load barycenter position with distance between the tractor rear wheel is d2, the preset condition is: d1> d2.
It will be appreciated that the present embodiment provides modules in a tractor climbing control system corresponding to the various steps in the method described with reference to figure 1. Therefore, the operations and features described above for the method and the corresponding technical effects are also applicable to the modules in this embodiment, and are not described again here.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims (10)

1. A tractor climbing control method is characterized by comprising the following steps:
s1: performing an initialization operation by the vehicle control unit, the initialization operation including: controlling the main driving motor to be in an opening state, and controlling the auxiliary driving motor to be in a first state;
s2: acquiring the load weight of the tractor by using a weight sensor array arranged on a tractor body, acquiring the weight of the logistics luggage by the vehicle controller according to the acquired logistics luggage tag information, judging whether the weight of the logistics luggage and the load weight accord with a preset logic or not, if so, performing step S3, and if not, transmitting a wireless signal through a wireless communication module to report an error;
s3, acquiring a real-time image of a ramp to be driven in front of the vehicle and a self-load image of the tractor by using the camera, and calculating by using the vehicle control unit to obtain a ramp angle and load appearance information of the tractor;
s4, calculating the load mass center position of the tractor according to the preset position and the collected weight information of each weight sensor in the weight sensor array and the load appearance information;
s5, judging whether the position of the mass center of the load meets a preset condition, if so, controlling the auxiliary driving motor to enter a second state and performing the step s6, and if not, calculating to obtain the output torque of the main driving motor required by climbing according to the angle of the ramp and the weight of the load by the vehicle control unit;
judging whether the output torque is larger than a preset value or not, if so, controlling the auxiliary driving motor to enter a second state and carrying out step s6, and if not, outputting a first control signal to the main driving motor;
s6: and the vehicle control unit calculates the output torque required by the main driving motor and the auxiliary driving motor according to the ramp angle, the load weight and the load mass center position, and outputs a second control signal to the main driving motor and the auxiliary driving motor.
2. The control method according to claim 1, wherein the main drive motor is provided at a front wheel position of the tractor, the sub drive motor is provided at a rear wheel position of the tractor, and the plurality of cameras are arranged at a head and a body position of the tractor.
3. The control method according to claim 2,
the first state is a turning synchronous state, and the auxiliary driving motor drives the rear wheels to steer according to a turning signal sent by the vehicle control unit so as to realize synchronous steering with the front wheels;
and the secondary driving motor is used for driving the rear wheels in a power manner according to the second control signal sent by the vehicle control unit.
4. A control method according to any one of claims 1-3, characterized in that step s3 comprises:
calculating weight distribution curves along the directions of an x axis and a y axis according to preset positions of all weight sensors in the weight sensor array and the acquired weight information;
and constructing a two-dimensional plane model according to the load appearance information, extracting a plurality of characteristic points of the two-dimensional plane model, extracting two-dimensional plane coordinates of the characteristic points, and calculating according to a weighted centroid method by combining the weight distribution curve to obtain the two-dimensional plane coordinates of the load centroid.
5. The control method according to claim 4, wherein the distance between the position of the center of mass of the load and the front wheel of the tractor is d1, the distance between the position of the center of mass of the load and the rear wheel of the tractor is d2, and the preset conditions in step s5 are as follows: d1> d2.
6. A tractor grade climbing control system, the system comprising:
an initialization unit configured to perform an initialization operation by a vehicle control unit, the initialization operation including: controlling the main driving motor to be in an opening state, and controlling the auxiliary driving motor to be in a first state;
the first judging unit is used for acquiring the load weight of the tractor by using a weight sensor array arranged on a traction vehicle body, the vehicle control unit acquires the weight of the logistics luggage through the acquired logistics luggage label information, judges whether the weight of the logistics luggage and the load weight accord with a preset logic or not, and if not, sends a wireless signal through the wireless communication module to report an error;
the image shooting unit is used for acquiring a real-time image of a ramp to be driven in front of a vehicle and a load image of the tractor by using a camera, and calculating by using the vehicle control unit to obtain a ramp angle and load appearance information of the tractor;
the load mass center calculating unit is used for calculating the load mass center position of the tractor according to the preset position and the collected weight information of each weight sensor in the weight sensor array and the load appearance information;
the second judgment unit is used for judging whether the position of the mass center of the load meets a preset condition or not, if so, controlling the auxiliary driving motor to enter a second state, and if not, calculating to obtain the output torque of the main driving motor required by climbing according to the angle of the ramp and the weight of the load by the vehicle control unit;
judging whether the output torque is greater than a preset value or not, if so, controlling the auxiliary driving motor to enter a second state, and if not, outputting a first control signal to the main driving motor;
and the calculating unit is used for calculating the output torque required by the main driving motor and the auxiliary driving motor according to the ramp angle, the load weight and the load mass center position by the vehicle control unit and outputting a second control signal to the main driving motor and the auxiliary driving motor.
7. The control system according to claim 6, wherein the main drive motor is provided at a front wheel position of the truck, the sub drive motor is provided at a rear wheel position of the truck, and the plurality of cameras are arranged at a head and body position of the truck.
8. The control system of claim 7,
the first state is a turning synchronous state, and the auxiliary driving motor drives the rear wheels to steer according to a turning signal sent by the vehicle control unit so as to realize synchronous steering with the front wheels;
and the secondary driving motor is used for driving the rear wheels in a power mode according to the second control signal sent by the vehicle control unit.
9. The control system of any one of claims 6-8, wherein the load centroid calculation unit is further configured to:
calculating weight distribution curves along the directions of the x axis and the y axis according to preset positions of the weight sensors in the weight sensor array and the collected weight information;
and constructing a two-dimensional plane model according to the load appearance information, extracting a plurality of characteristic points of the two-dimensional plane model, extracting two-dimensional plane coordinates of the characteristic points, and calculating according to a weighted centroid method by combining the weight distribution curve to obtain the two-dimensional plane coordinates of the load centroid.
10. The control system according to claim 9, wherein the distance between the position of the center of mass of the load and the front wheel of the tractor is d1, the distance between the position of the center of mass of the load and the rear wheel of the tractor is d2, and the preset conditions are as follows: d1> d2.
CN202211264327.0A 2022-10-17 2022-10-17 Tractor climbing control system and method Active CN115339327B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202211264327.0A CN115339327B (en) 2022-10-17 2022-10-17 Tractor climbing control system and method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202211264327.0A CN115339327B (en) 2022-10-17 2022-10-17 Tractor climbing control system and method

Publications (2)

Publication Number Publication Date
CN115339327A true CN115339327A (en) 2022-11-15
CN115339327B CN115339327B (en) 2023-01-10

Family

ID=83957149

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202211264327.0A Active CN115339327B (en) 2022-10-17 2022-10-17 Tractor climbing control system and method

Country Status (1)

Country Link
CN (1) CN115339327B (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115797132A (en) * 2023-02-06 2023-03-14 江苏天一航空工业股份有限公司 System and method for monitoring climbing capacity of bulk cargo loading vehicle

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105235549A (en) * 2015-11-02 2016-01-13 重庆长安汽车股份有限公司 Electric vehicle ramp torque control method and vehicle controller
CN106394314A (en) * 2015-07-31 2017-02-15 比亚迪股份有限公司 Electric airplane tractor and drive control system and method thereof
CN108674409A (en) * 2018-05-23 2018-10-19 南通科技职业学院 A kind of power-control method and device of intelligent automobile
CN109228889A (en) * 2018-11-07 2019-01-18 三重型装备有限公司 The Dual-motors Driving method of electric vehicle and electric vehicle
CN115139814A (en) * 2021-03-31 2022-10-04 本田技研工业株式会社 Mobile body, control method, and computer-readable storage medium

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106394314A (en) * 2015-07-31 2017-02-15 比亚迪股份有限公司 Electric airplane tractor and drive control system and method thereof
CN105235549A (en) * 2015-11-02 2016-01-13 重庆长安汽车股份有限公司 Electric vehicle ramp torque control method and vehicle controller
CN108674409A (en) * 2018-05-23 2018-10-19 南通科技职业学院 A kind of power-control method and device of intelligent automobile
CN109228889A (en) * 2018-11-07 2019-01-18 三重型装备有限公司 The Dual-motors Driving method of electric vehicle and electric vehicle
CN115139814A (en) * 2021-03-31 2022-10-04 本田技研工业株式会社 Mobile body, control method, and computer-readable storage medium

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115797132A (en) * 2023-02-06 2023-03-14 江苏天一航空工业股份有限公司 System and method for monitoring climbing capacity of bulk cargo loading vehicle

Also Published As

Publication number Publication date
CN115339327B (en) 2023-01-10

Similar Documents

Publication Publication Date Title
US11892853B2 (en) Vehicle guidance systems and associated methods of use at logistics yards and other locations
CN106314594B (en) A kind of storage transfer robot for modern logistics industry
CN115339327B (en) Tractor climbing control system and method
CN107226087A (en) A kind of structured road automatic Pilot transport vehicle and control method
WO2018048641A1 (en) Velocity control of position-controlled motor controllers
US20220371199A1 (en) System and method for connection of service lines to trailer fronts by automated trucks
CN109748203A (en) A kind of AGV automatic operating system and control method
CN109032152A (en) A kind of barcode scanning tracks logistics trolley and its logistics transportation method
US20230037502A1 (en) Uav delivery control system for uav delivery of packages
CN110340912A (en) A kind of Intelligent logistics Transport Robot Control System for Punch
CN110817228A (en) Unmanned storage carrier
WO2021082964A1 (en) Autonomous moving device and warehouse logistics system
CN206848813U (en) Intelligent carriage logistics system
CN108227720A (en) A kind of round-the-clock unmanned cruiser system of four-wheel drive high speed
CN206639040U (en) A kind of single two-way automatical pilot transportation vehicle of drive
CN110606143B (en) Rigid connection system for three omnidirectional mobile platforms
CN106354142A (en) Intelligent transportation system based on Internet of Things and application
CN214751526U (en) Sharing intelligence luggage van
CN211517482U (en) Novel logistics robot
CN208752463U (en) A kind of barcode scanning tracks logistics trolley
CN204883360U (en) Stored goods inter -item transfer intelligent vehicle navigation
CN210554225U (en) Robot
CN217181440U (en) Intelligent logistics trolley
US20230350420A1 (en) Systems and methods for precisely estimating a robotic footprint for execution of near-collision motions
CN214253009U (en) Transfer robot is followed to intelligence based on UWB

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant
EE01 Entry into force of recordation of patent licensing contract
EE01 Entry into force of recordation of patent licensing contract

Application publication date: 20221115

Assignee: Jiangsu Tianyi Airport Equipment Maintenance Service Co.,Ltd.

Assignor: Jiangsu Tianyi Aviation Industry Co.,Ltd.

Contract record no.: X2023980044219

Denomination of invention: A Tractor Climbing Control System and Method

Granted publication date: 20230110

License type: Common License

Record date: 20231024