CN116048063A - Multifunctional explosion-proof transport vehicle and control method thereof - Google Patents
Multifunctional explosion-proof transport vehicle and control method thereof Download PDFInfo
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- CN116048063A CN116048063A CN202211436232.2A CN202211436232A CN116048063A CN 116048063 A CN116048063 A CN 116048063A CN 202211436232 A CN202211436232 A CN 202211436232A CN 116048063 A CN116048063 A CN 116048063A
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- 238000000034 method Methods 0.000 title claims description 24
- 230000007246 mechanism Effects 0.000 claims abstract description 39
- 238000002955 isolation Methods 0.000 claims abstract description 20
- 230000032258 transport Effects 0.000 claims description 39
- 238000001514 detection method Methods 0.000 claims description 11
- 238000006243 chemical reaction Methods 0.000 claims description 4
- 230000008569 process Effects 0.000 claims description 4
- 238000004880 explosion Methods 0.000 abstract description 7
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- 229910000831 Steel Inorganic materials 0.000 description 2
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- 239000010959 steel Substances 0.000 description 2
- 238000012935 Averaging Methods 0.000 description 1
- 240000001548 Camellia japonica Species 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007175 bidirectional communication Effects 0.000 description 1
- 239000010495 camellia oil Substances 0.000 description 1
- 235000018597 common camellia Nutrition 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0261—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic plots
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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Abstract
The multifunctional anti-explosion transport vehicle comprises a control unit, an operation display unit, a power supply and distribution unit and a driving mechanism; the control unit comprises a whole vehicle controller, an isolation grating, a travelling motor frequency converter, a two-travelling motor frequency converter, a steering motor frequency converter and an automatic navigation unit, wherein the whole vehicle controller is in signal connection with the isolation grating, the travelling motor frequency converter, the two-travelling motor frequency converter and the steering motor frequency converter; the operation display unit comprises an explosion-proof informatization terminal, a main explosion-proof accelerator, an auxiliary explosion-proof accelerator, an explosion-proof operation box, an explosion-proof auxiliary operation box and a rotary encoder, wherein the explosion-proof operation box, the explosion-proof auxiliary operation box and the rotary encoder are all in signal connection with the whole vehicle controller. The design greatly improves the control precision of the transport vehicle and can safely drive in an environment with higher requirement on position precision.
Description
Technical Field
The invention relates to an improvement of an anti-explosion transport vehicle running technology, belongs to the field of special vehicles, and particularly relates to a multifunctional anti-explosion transport vehicle and a control method thereof.
Background
The anti-explosion transport vehicle is generally used for transporting packing box cargoes and special cargoes in places containing explosive gases and dust, but the traditional transport vehicle is generally in a manual driving mode, the manual driving mode is not applicable to environments with high position accuracy requirements, the phenomenon of 'sliding' of the manual driving vehicle can occur occasionally in the environments with partial gradients, in addition, safety accidents can occur easily under the condition of fatigue of a driver, and the vehicle cannot run in the environments with high position accuracy requirements.
The application number is CN202122853607.2, and the chinese patent application of application day is 2021, 11 months and 11 days discloses a remote control device of crawler-type tea-oil camellia transport vechicle, including handheld wireless remote controller, wireless remote controller receiver, motor controller, driving motor and 48V battery system, be provided with transmitting antenna on the handheld wireless remote controller, be provided with receiving antenna on the wireless remote controller receiver, the wireless remote controller receiver with motor controller connects, motor controller with driving motor connects, 48V battery system with motor controller connects, is used for right motor controller supplies power, and the problem that can't travel in the higher environment of position accuracy requirement is not solved to the comparison file.
The disclosure of this background section is only intended to increase the understanding of the general background of the present patent application and should not be taken as an admission or any form of suggestion that this information forms the prior art already known to a person of ordinary skill in the art.
Disclosure of Invention
The invention aims to solve the problem that the vehicle cannot travel in an environment with high position accuracy requirements in the prior art, and provides a multifunctional explosion-proof transport vehicle capable of traveling in the environment with high position accuracy requirements and a control method thereof.
In order to achieve the above object, the technical solution of the present invention is: the multifunctional anti-explosion transport vehicle comprises a control unit, an operation display unit, a power supply and distribution unit and a driving mechanism;
the control unit comprises a whole vehicle controller, an isolation grating, a travelling motor frequency converter, a two-travelling motor frequency converter, a steering motor frequency converter and an automatic navigation unit, wherein the whole vehicle controller is in signal connection with the isolation grating, the travelling motor frequency converter, the two-travelling motor frequency converter and the steering motor frequency converter;
the operation display unit comprises an explosion-proof informatization terminal, a main explosion-proof accelerator, an auxiliary explosion-proof accelerator, an explosion-proof operation box, an explosion-proof auxiliary operation box and a rotary encoder, wherein the explosion-proof informatization terminal, the main explosion-proof accelerator, the auxiliary explosion-proof accelerator, the explosion-proof operation box, the explosion-proof auxiliary operation box and the rotary encoder are all in signal connection with the whole vehicle controller, and the explosion-proof informatization terminal, the main explosion-proof accelerator, the auxiliary explosion-proof accelerator, the explosion-proof operation box, the explosion-proof auxiliary operation box and the rotary encoder are in signal connection with the isolation grid;
the power supply and distribution unit comprises an explosion-proof power box and an explosion-proof battery, the explosion-proof power box is in signal connection with the explosion-proof battery, the explosion-proof power box is respectively in driving connection with a travelling motor frequency converter, a two-travelling motor frequency converter and a steering motor frequency converter, and the explosion-proof power box is respectively in signal connection with an explosion-proof informatization terminal, a main explosion-proof accelerator, an auxiliary explosion-proof accelerator, an explosion-proof operation box, an explosion-proof auxiliary operation box and a rotary encoder;
the automatic navigation unit mainly comprises a magnetic navigation sensor and an RFID module, and the magnetic navigation sensor and the RFID module are in signal connection with the whole vehicle controller;
the driving mechanism comprises a walking motor, two walking motors, a steering motor, a manual driving unit and an automatic driving unit, wherein the walking motor is in driving connection with a walking motor frequency converter, the two walking motors are in driving connection with the two walking motor frequency converters, the steering motor is in driving connection with the steering motor frequency converter, the manual driving unit and the automatic driving unit are in signal connection with a whole vehicle controller, and the steering motor is in signal connection with a hydraulic unit;
the whole vehicle controller and the isolation grating are arranged in the explosion-proof main control box, a travelling motor frequency converter is arranged in the explosion-proof alternating current frequency converter box, two travelling motor frequency converters are arranged in the two explosion-proof alternating current frequency converter boxes, and the steering motor frequency converter is arranged in the explosion-proof direct current frequency converter box;
the explosion-proof main control box, the explosion-proof alternating current frequency converter box, the two explosion-proof alternating current frequency converter boxes and the steering motor frequency converter are all arranged on the vehicle body.
The explosion-proof battery is in signal connection with a charger, and the charger is in electric connection with a mains supply.
The magnetic navigation sensor comprises a magnetic sensor, a second magnetic sensor, a third magnetic sensor and a fourth magnetic sensor, wherein the first magnetic sensor is arranged at the bottom of the frame, the third magnetic sensor is arranged at the top of the frame, the second magnetic sensor is arranged at the left side of the frame, the fourth magnetic sensor is arranged at the right side of the frame, the first magnetic sensor and the third magnetic sensor are symmetrically arranged by the central line of the cross section of the frame, and the second magnetic sensor and the fourth magnetic sensor are symmetrically arranged by the central line of the longitudinal section of the frame.
And an RFID module is arranged between the one magnetic sensor and the three magnetic sensors on the back surface of the frame.
The inner periphery of the frame is connected with the outer periphery of the vehicle body, the main explosion-proof accelerator is arranged below the front end of the vehicle body, the auxiliary explosion-proof accelerator is arranged above the front end of the vehicle body, the explosion-proof auxiliary operation box, the explosion-proof operation box and the explosion-proof informatization terminal are sequentially arranged on the right side of the auxiliary explosion-proof accelerator, the explosion-proof direct-current frequency converter box is arranged on the right side of the explosion-proof informatization terminal, the explosion-proof power supply box, the explosion-proof main control box, the explosion-proof alternating-current frequency converter box and the two explosion-proof alternating-current frequency converter boxes are sequentially arranged in the middle section of the back of the vehicle body, and the driving mechanism is arranged on the back of the vehicle body.
A control method of a multifunctional explosion-proof transport vehicle, the control method comprising:
step one: installing a magnetic navigation sensor and an RFID module at a preset position of a vehicle body, paving a magnetic strip on a preset travelling route, and detecting the magnetic strip paved on the ground and the RFID module;
step two: the driving mechanism selects a manual driving unit or an automatic driving unit;
step three: when the manual driving unit is selected, the control module performs tracking guidance according to the magnetic navigation sensor and commands the driving mechanism to execute a walking instruction;
step four: when the automatic driving unit is selected, the driving mechanism is in an automatic running state, the driving mechanism determines the position of the driving mechanism through the RFID module, and the vehicle body automatically transports goods along the magnetic stripe according to the instruction preset by the control module;
step five: when the vehicle body runs to the designated position read by the RFID module, the vehicle body reaches the destination, and the vehicle body stops running.
The RFID module detects specifically as follows: after the whole vehicle controller is electrified, the whole vehicle controller executes an initialization program to initialize the vehicle body, so that misoperation of the vehicle body is avoided, and after the initialization is finished, the flameproof main control box detects whether the manual driving mode and the automatic driving mode are normal or not, and the running state of the vehicle body is determined according to the detection result.
When the vehicle is in the automatic driving state, firstly, the vehicle controller can read the deviation value of the magnetic navigation sensor, when the deviation value of the magnetic navigation sensor is in the preset qualified range, the vehicle body moves, otherwise, the vehicle body cannot move, and when the vehicle body is normally started, the vehicle controller processes the collected data of the magnetic navigation sensor and then controls the rotation angle of the vehicle body according to the deviation value.
The operation display unit monitors the data of the rotation angle, the angular speed and the linear speed of the vehicle body in real time, so that the deviation value of the magnetic navigation sensor is kept within a preset qualified range.
The track searching guide specifically comprises the following steps: the magnetic navigation leaflet device converts the magnetic tape intensity of the magnetic stripe into an electric signal, then the electric signal is transmitted to the control chip of the magnetic navigation sensor, the control chip detects the magnetic field intensity of each detection point through data conversion, and the vehicle body can determine the position of the magnetic stripe relative to the magnetic navigation sensor according to the magnetic field characteristics of the magnetic stripe and the magnetic field intensity information acquired by the magnetic navigation sensor.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention relates to a multifunctional anti-explosion transport vehicle and a control method thereof, wherein a driving mechanism comprises a walking motor, two walking motors, a steering motor, a manual driving unit and an automatic driving unit, the walking motor is in driving connection with a walking motor frequency converter, the two walking motors are in driving connection with the two walking motor frequency converters, the steering motor is in driving connection with the steering motor frequency converter, the manual driving unit, the automatic driving unit are in signal connection with a whole vehicle controller, the steering motor is in signal connection with a hydraulic unit, the advantages of the traditional transport vehicle and the automatic guided vehicle are integrated, a pre-amplifying and band-pass filtering circuit is integrated in hardware of a magnetic navigation sensor and an RFID acquisition module in the automatic navigation unit, interference signals in the environment can be effectively filtered, an algorithm for acquiring and averaging for a plurality of times is added in a software of the whole vehicle controller, signals processed by the hardware and the software are effectively acquired, the signal to noise ratio of acquired data is greatly improved, meanwhile, the control precision of the transport vehicle is greatly improved, and safe driving in an environment with higher position precision requirement is achieved. Therefore, the design can drive in an environment with higher position accuracy requirements, and improves the transportation efficiency.
2. According to the multifunctional explosion-proof transport vehicle and the control method thereof, an explosion-proof power supply box, an explosion-proof main control box, an explosion-proof alternating current frequency converter box and two explosion-proof alternating current frequency converter boxes are sequentially arranged in the middle of the back of a vehicle body, a driving mechanism is arranged on the back of the vehicle body, a multi-stage safety protection device is adopted for ensuring safety in operation of the whole vehicle, a hydraulic brake is arranged on hardware, an electromagnetic brake is arranged on the driving mechanism, a safety obstacle avoidance scanner and an emergency stop switch are additionally arranged on the periphery of the vehicle body, and the modes of magnetic stripe damage identification, instantaneous deviation correction, component faults, communication faults, landmark loss and the like are integrated in software protection, so that safety accidents caused by ramp' sliding and personnel fatigue can be effectively prevented. Therefore, the design is safe to drive and simple to operate and control.
3. The invention relates to a multifunctional explosion-proof transport vehicle and a control method thereof, wherein a magnetic navigation sensor comprises a magnetic sensor, a two magnetic sensor, a three magnetic sensor and a four magnetic sensor, wherein the magnetic sensor is arranged at the bottom of a vehicle frame, the three magnetic sensor is arranged at the top of the vehicle frame, the two magnetic sensor is arranged at the left side of the vehicle frame, the four magnetic sensor is arranged at the right side of the vehicle frame, the two magnetic sensor and the three magnetic sensor are symmetrically arranged on the central line of the cross section of the vehicle frame, the two magnetic sensor and the four magnetic sensor are symmetrically arranged on the central line of the longitudinal section of the vehicle frame, the two magnetic sensor and the three magnetic sensor control the deflection angles of the transport vehicle when the transport vehicle moves forwards and backwards, the two magnetic sensor and the four magnetic sensor control the rotation angle of the transport vehicle when the transport vehicle moves transversely, and different settings of the four magnetic sensors can be adjusted corresponding to different position conditions. Therefore, the position adjustment of the design is accurate, and the movement is convenient.
Drawings
Fig. 1 is a system schematic diagram of the present invention.
Fig. 2 is a schematic structural view of the present invention.
Fig. 3 is a bottom view of the present invention.
In the figure: the control unit 1, the flameproof main control box 11, the whole vehicle controller 111, the isolation barrier 112, the flameproof alternating current frequency converter box 12, the travelling motor frequency converter 121, the two flameproof alternating current frequency converter box 13, the two travelling motor frequency converter 131, the steering motor frequency converter 141, the automatic navigation unit 15, the magnetic navigation sensor 151, the one magnetic sensor 1511, the two magnetic sensors 1512, the three magnetic sensors 1513, the four magnetic sensors 1514, the RFID module 152, the operation display unit 2, the flameproof informatization terminal 21, the main flameproof accelerator 22, the auxiliary flameproof accelerator 23, the flameproof operation box 24, the flameproof auxiliary operation box 25, the rotary encoder 26, the power supply and distribution unit 3, the flameproof power supply box 31, the flameproof battery 32, the charger 33, the commercial power 34, the vehicle body 4, the vehicle frame 5, the driving mechanism 6, the travelling motor 61, the two travelling motors 62, the steering motor 63, the manual driving unit 64 and the automatic driving unit 65.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings and detailed description.
Referring to fig. 1 to 3, a multifunctional explosion-proof transport vehicle includes a control unit 1, an operation display unit 2, a power supply and distribution unit 3, and a driving mechanism 6;
the control unit 1 comprises a whole vehicle controller 111, an isolation grating 112, a travelling motor frequency converter 121, a two travelling motor frequency converter 131, a steering motor frequency converter 141 and an automatic navigation unit 15, wherein the whole vehicle controller 111 is in signal connection with the isolation grating 112, the travelling motor frequency converter 121, the two travelling motor frequency converters 131 and the steering motor frequency converter 141, and the travelling motor frequency converter 121, the two travelling motor frequency converters 131 and the steering motor frequency converter 141 are in signal connection;
the operation display unit 2 comprises an explosion-proof informationized terminal 21, a main explosion-proof accelerator 22, a sub explosion-proof accelerator 23, an explosion-proof operation box 24, an explosion-proof auxiliary operation box 25 and a rotary encoder 26, wherein the explosion-proof informationized terminal 21, the main explosion-proof accelerator 22, the sub explosion-proof accelerator 23, the explosion-proof operation box 24, the explosion-proof auxiliary operation box 25 and the rotary encoder 26 are all in signal connection with the whole vehicle controller 111, the explosion-proof informationized terminal 21, the main explosion-proof accelerator 22, the sub explosion-proof accelerator 23, the explosion-proof operation box 24, the explosion-proof auxiliary operation box 25 and the rotary encoder 26 are in signal connection, and the rotary encoder 26 is in signal connection with the isolation grating 112;
the power supply and distribution unit 3 comprises an explosion-proof power box 31 and an explosion-proof battery 32, the explosion-proof power box 31 is in signal connection with the explosion-proof battery 32, the explosion-proof power box 31 is respectively in driving connection with a traveling motor frequency converter 121, a two-traveling motor frequency converter 131 and a steering motor frequency converter 141, and the explosion-proof power box 31 is respectively in signal connection with an explosion-proof informatization terminal 21, a main explosion-proof accelerator 22, a sub explosion-proof accelerator 23, an explosion-proof operation box 24, an explosion-proof auxiliary operation box 25 and a rotary encoder 26;
the automatic navigation unit 15 mainly comprises a magnetic navigation sensor 151 and an RFID module 152, wherein the magnetic navigation sensor 151 and the RFID module 152 are in signal connection with the whole vehicle controller 111;
the driving mechanism 6 comprises a walking motor 61, two walking motors 62, a steering motor 63, a manual driving unit 64 and an automatic driving unit 65, wherein the walking motor 61 is in driving connection with a walking motor frequency converter 121, the two walking motors 62 are in driving connection with two walking motor frequency converters 131, the steering motor 63 is in driving connection with a steering motor frequency converter 141, the manual driving unit 61 and the automatic driving unit 62 are in signal connection with a whole vehicle controller 111, and the steering motor 63 is in signal connection with a hydraulic unit 7;
the vehicle controller 111 and the isolation grating 112 are arranged in the flameproof main control box 11, the one-row travelling motor frequency converter 121 is arranged in the one-flameproof alternating current frequency converter box 12, the two travelling motor frequency converters 131 are arranged in the two flameproof alternating current frequency converter boxes 13, and the steering motor frequency converter 141 is arranged in the flameproof direct current frequency converter box 14;
the explosion-proof main control box 11, the explosion-proof alternating current frequency converter box 12, the two explosion-proof alternating current frequency converter boxes 13 and the steering motor frequency converter 141 are all arranged on the vehicle body 4.
The explosion-proof battery 32 is in signal connection with a charger 33, and the charger 33 is electrically connected with a mains supply 34.
The magnetic navigation sensor 151 includes a magnetic sensor 1511, a two magnetic sensor 1512, a three magnetic sensor 1513 and a four magnetic sensor 1514, wherein the magnetic sensor 1511 is mounted at the bottom of the frame 5, the three magnetic sensor 1513 is mounted at the top of the frame 5, the two magnetic sensor 1512 is mounted at the left side of the frame 5, the four magnetic sensor 1514 is mounted at the right side of the frame 5, the two magnetic sensor 1512 and the four magnetic sensor 1514 are symmetrically arranged with the cross section center line of the frame 5, and the two magnetic sensor 1511 and the four magnetic sensor 1514 are symmetrically arranged with the longitudinal section center line of the frame 5.
The RFID module 152 is mounted between one magnetic sensor 1511 and three magnetic sensors on the back surface of the frame 5.
The inner periphery of the frame 5 is connected with the outer periphery of the vehicle body 4, the main explosion-proof accelerator 22 is arranged below the front end of the vehicle body 4, the auxiliary explosion-proof accelerator 23 is arranged above the front end of the vehicle body 4, the front side of the vehicle body 4 is positioned on the right side of the auxiliary explosion-proof accelerator 23, an explosion-proof auxiliary operation box 25, an explosion-proof operation box 24 and an explosion-proof information terminal 21 are sequentially arranged on the right side of the auxiliary explosion-proof accelerator 23, an explosion-proof direct-current converter box 14 is arranged on the right side of the explosion-proof information terminal 21 on the front side of the vehicle body 4, an explosion-proof power box 31, an explosion-proof main control box 11, an explosion-proof alternating-current converter box 12 and two explosion-proof alternating-current converter boxes 13 are sequentially arranged on the middle section of the back side of the vehicle body 4, and a driving mechanism 6 is arranged on the back side of the vehicle body 4.
A control method of a multifunctional explosion-proof transport vehicle, the control method comprising:
step one: the magnetic navigation sensor 151 and the RFID module 152 are arranged at a preset position of the vehicle body 4, a magnetic strip is paved on a preset travelling route, and the magnetic strip paved on the ground and the RFID module 152 are detected;
step two: the drive mechanism 6 selects either the manual drive unit 64 or the automatic drive unit 65;
step three: when the manual driving unit 64 is selected, the control module 31 performs tracking guidance according to the magnetic navigation sensor 151 and instructs the driving mechanism 6 to execute a traveling instruction;
step four: when the automatic driving unit 65 is selected, the driving mechanism 6 is in an automatic operation state, the driving mechanism 6 determines the position of the driving mechanism through the RFID module 152, and the vehicle body 4 automatically transports goods along the magnetic stripe according to the instruction preset by the control module 31;
step five: when the vehicle body 4 travels to the specified position read by the RFID module 152, the destination is reached, and the vehicle body 4 stops running.
The detection performed by the RFID module 152 specifically includes: after the vehicle controller 111 is powered on, the vehicle controller 111 executes an initialization program to initialize the vehicle body 4, so as to avoid malfunction of the vehicle body 4, and after the initialization is completed, the flameproof main control box 11 detects whether the manual driving mode and the automatic driving mode are normal, and determines the running state of the vehicle body 4 according to the detection result.
When the vehicle body 4 is started normally, the vehicle controller 111 processes the collected data of the magnetic navigation sensor 151 and controls the rotation angle of the vehicle body 4 according to the deviation value.
The operation display unit 2 monitors the data of the rotation angle, the angular velocity and the linear velocity of the vehicle body 4 in real time, so that the deviation value of the magnetic navigation sensor 151 is maintained within a preset acceptable range.
The track searching guide specifically comprises the following steps: the magnetic navigation leaflet device 151 converts the magnetic tape intensity of the magnetic stripe into an electric signal, then the electric signal is transmitted to the control chip of the magnetic navigation sensor 151, the control chip detects the magnetic field intensity of each detection point through data conversion, and the vehicle body 4 can determine the position of the magnetic stripe relative to the magnetic navigation sensor according to the magnetic field characteristics of the magnetic stripe and the magnetic field intensity information acquired by the magnetic navigation sensor 151.
Example 1:
the multifunctional anti-explosion transport vehicle comprises a control unit 1, an operation display unit 2, a power supply and distribution unit 3 and a driving mechanism 6; the control unit 1 comprises a whole vehicle controller 111, an isolation grating 112, a travelling motor frequency converter 121, a two travelling motor frequency converter 131, a steering motor frequency converter 141 and an automatic navigation unit 15, wherein the whole vehicle controller 111 is in signal connection with the isolation grating 112, the travelling motor frequency converter 121, the two travelling motor frequency converters 131 and the steering motor frequency converter 141, and the travelling motor frequency converter 121, the two travelling motor frequency converters 131 and the steering motor frequency converter 141 are in signal connection; the operation display unit 2 comprises an explosion-proof informationized terminal 21, a main explosion-proof accelerator 22, a sub explosion-proof accelerator 23, an explosion-proof operation box 24, an explosion-proof auxiliary operation box 25 and a rotary encoder 26, wherein the explosion-proof informationized terminal 21, the main explosion-proof accelerator 22, the sub explosion-proof accelerator 23, the explosion-proof operation box 24, the explosion-proof auxiliary operation box 25 and the rotary encoder 26 are all in signal connection with the whole vehicle controller 111, the explosion-proof informationized terminal 21, the main explosion-proof accelerator 22, the sub explosion-proof accelerator 23, the explosion-proof operation box 24, the explosion-proof auxiliary operation box 25 and the rotary encoder 26 are in signal connection, and the rotary encoder 26 is in signal connection with the isolation grating 112; the power supply and distribution unit 3 comprises an explosion-proof power box 31 and an explosion-proof battery 32, the explosion-proof power box 31 is in signal connection with the explosion-proof battery 32, the explosion-proof power box 31 is respectively in driving connection with a traveling motor frequency converter 121, a two-traveling motor frequency converter 131 and a steering motor frequency converter 141, and the explosion-proof power box 31 is respectively in signal connection with an explosion-proof informatization terminal 21, a main explosion-proof accelerator 22, a sub explosion-proof accelerator 23, an explosion-proof operation box 24, an explosion-proof auxiliary operation box 25 and a rotary encoder 26; the automatic navigation unit 15 mainly comprises a magnetic navigation sensor 151 and an RFID module 152, wherein the magnetic navigation sensor 151 and the RFID module 152 are in signal connection with the whole vehicle controller 111; the driving mechanism 6 comprises a walking motor 61, two walking motors 62, a steering motor 63, a manual driving unit 64 and an automatic driving unit 65, wherein the walking motor 61 is in driving connection with a walking motor frequency converter 121, the two walking motors 62 are in driving connection with two walking motor frequency converters 131, the steering motor 63 is in driving connection with a steering motor frequency converter 141, the manual driving unit 61 and the automatic driving unit 62 are in signal connection with a whole vehicle controller 111, and the steering motor 63 is in signal connection with a hydraulic unit 7; the vehicle controller 111 and the isolation grating 112 are arranged in the flameproof main control box 11, the one-row travelling motor frequency converter 121 is arranged in the one-flameproof alternating current frequency converter box 12, the two travelling motor frequency converters 131 are arranged in the two flameproof alternating current frequency converter boxes 13, and the steering motor frequency converter 141 is arranged in the flameproof direct current frequency converter box 14; the explosion-proof main control box 11, the explosion-proof alternating current frequency converter box 12, the two explosion-proof alternating current frequency converter boxes 13 and the steering motor frequency converter 141 are all arranged on the vehicle body 4.
A control method of a multifunctional explosion-proof transport vehicle, the control method comprising:
step one: the magnetic navigation sensor 151 and the RFID module 152 are arranged at a preset position of the vehicle body 4, a magnetic strip is paved on a preset travelling route, and the magnetic strip paved on the ground and the RFID module 152 are detected;
step two: the drive mechanism 6 selects either the manual drive unit 64 or the automatic drive unit 65;
step three: when the manual driving unit 64 is selected, the control module 31 performs tracking guidance according to the magnetic navigation sensor 151 and instructs the driving mechanism 6 to execute a traveling instruction;
step four: when the automatic driving unit 65 is selected, the driving mechanism 6 is in an automatic operation state, the driving mechanism 6 determines the position of the driving mechanism through the RFID module 152, and the vehicle body 4 automatically transports goods along the magnetic stripe according to the instruction preset by the control module 31;
step five: when the vehicle body 4 travels to the specified position read by the RFID module 152, the destination is reached, and the vehicle body 4 stops running.
Example 2:
example 2 is substantially the same as example 1 except that:
the multifunctional explosion-proof transport vehicle is characterized in that an explosion-proof battery 32 is in signal connection with a charger 33, and the charger 33 is electrically connected with a mains supply 34; the magnetic navigation sensor 151 includes a magnetic sensor 1511, a two magnetic sensor 1512, a three magnetic sensor 1513 and a four magnetic sensor 1514, wherein the magnetic sensor 1511 is mounted at the bottom of the frame 5, the three magnetic sensor 1513 is mounted at the top of the frame 5, the two magnetic sensor 1512 is mounted at the left side of the frame 5, the four magnetic sensor 1514 is mounted at the right side of the frame 5, the magnetic sensor 1511 and the three magnetic sensor 1513 are symmetrically arranged with the cross section center line of the frame 5, and the two magnetic sensor 1512 and the four magnetic sensor 1514 are symmetrically arranged with the longitudinal section center line of the frame 5; the RFID module 152 is arranged between the one magnetic sensor 1511 and the three magnetic sensors on the back surface of the frame 5; the inner periphery of the frame 5 is connected with the outer periphery of the vehicle body 4, the main explosion-proof accelerator 22 is arranged below the front end of the vehicle body 4, the auxiliary explosion-proof accelerator 23 is arranged above the front end of the vehicle body 4, the front side of the vehicle body 4 is positioned on the right side of the auxiliary explosion-proof accelerator 23, an explosion-proof auxiliary operation box 25, an explosion-proof operation box 24 and an explosion-proof information terminal 21 are sequentially arranged on the right side of the auxiliary explosion-proof accelerator 23, an explosion-proof direct-current converter box 14 is arranged on the right side of the explosion-proof information terminal 21 on the front side of the vehicle body 4, an explosion-proof power box 31, an explosion-proof main control box 11, an explosion-proof alternating-current converter box 12 and two explosion-proof alternating-current converter boxes 13 are sequentially arranged on the middle section of the back side of the vehicle body 4, and a driving mechanism 6 is arranged on the back side of the vehicle body 4.
Example 3:
example 3 is substantially the same as example 2 except that:
the control unit 1 is used for receiving signals of the operation display unit 2, driving a first traveling motor 61, a second traveling motor 62 and a steering motor 63 to work, controlling the whole vehicle to finish actions such as advancing, retreating, accelerating, turning and the like, and transmitting running signals (speed, mileage, fault codes and the like) of the whole vehicle to the operation display unit; the operation display unit 2 is used for controlling the actions such as starting, scram, running, braking and the like of the whole vehicle and displaying the operation parameters and fault codes of the whole vehicle in real time; the power supply and distribution unit 3 is used for supplying power to the operation display unit 2, the automatic navigation unit 15 and the driving mechanism 6; the hydraulic unit 7 is used for driving the steering axle to deflect at an angle so as to realize steering of the transport vehicle; the automatic navigation unit 15 is used for enabling the whole car to automatically run along the magnetic stripe; the main function of the main explosion-proof accelerator 22 is to receive an operator stepping signal, provide a corresponding analog signal to the whole vehicle controller 111 according to the stroke of pedal movement during operation to control the running speed of the multifunctional explosion-proof transport vehicle, the main function of the rotary encoder 9 is that when the transport vehicle is in a driving state, the rotary encoder 26 converts the rotation angle of the steering wheel into an electric signal and transmits the electric signal to the whole vehicle controller 111 through RS485, and the main function of the isolation grating 112 is to realize half-duplex digital signal bidirectional communication between an RS485 interface input in a dangerous area and an RS485 interface output in a safe area; the flameproof operation box 24 mainly comprises a key switch, an emergency stop button, a copilot button, a manual/automatic knob, an advancing/retreating knob, a power indicator and a charging indicator, and mainly has the functions of controlling the starting, emergency stop, advancing and retreating of the whole vehicle and the switching of a driving mode and an automatic operation mode, wherein the switch and the button are respectively flameproof, the flameproof operation box 24 shell comprises a flameproof box body, a cover plate and a flameproof cable clamping sealing joint, the flameproof box body is formed by welding Q235 steel plates with the thickness of 8mm, the cover plate is formed by processing Q235 steel plates with the thickness of 10mm, the box body adopts an flameproof design, the flameproof auxiliary operation box 25 mainly comprises the advancing/retreating knob, the copilot indicator and the emergency stop button, the buttons and the buttons are respectively flameproof, the main control chip inside the whole vehicle controller 111 is QJ32F103C8T6, 16 paths of DI channels, 16 paths of DO channels, 2 paths of AI channels and 2 paths of AO channels can be realized, 7 inches of screens are selected for the flameproof informatization terminal 21, ARM architecture is adopted, 800M main frequency is adopted, the industrial computing display requirement is met, the device has high resolution and large storage space, the starting speed is high, matched industrial configuration software can display running state information, fault information and the like uploaded by the whole vehicle controller 111 in real time, in the aspect of explosion-proof design, CNC processing and forming are adopted for a touch screen shell, the power supply and control circuit of the touch screen are improved, an electromagnetic brake is arranged on the driving mechanism 6, a safe obstacle avoidance scanner and an emergency stop switch are additionally arranged on the periphery of the vehicle body 4, the magnetic strip corresponding to the magnetic navigation sensor 15 is selected from an instant-pasting type AGV special magnetic rubber strip, and the magnetic strip is 50mm in width and thickness of 2mm.
Example 4:
example 4 is substantially the same as example 3 except that:
the control method of the multifunctional explosion-proof transport vehicle, the detection of the RFID module 152 specifically comprises: after the vehicle controller 111 is powered on, the vehicle controller 111 executes an initialization program to initialize the vehicle body 4, so as to avoid misoperation of the vehicle body 4, and after the initialization is finished, the flameproof main control box 11 detects whether the manual driving mode and the automatic driving mode are normal, and the running state of the vehicle body 4 is determined according to the detection result; when the vehicle body 4 is started normally, the vehicle controller 111 processes the collected data of the magnetic navigation sensor 151 and controls the rotation angle of the vehicle body 4 according to the deviation value; the operation display unit 2 monitors the data of the rotation angle, the angular speed and the linear speed of the vehicle body 4 in real time, so that the deviation value of the magnetic navigation sensor 151 is kept within a preset qualified range; the track searching guide specifically comprises the following steps: the magnetic navigation leaflet device 151 converts the magnetic tape intensity of the magnetic stripe into an electric signal, then the electric signal is transmitted to the control chip of the magnetic navigation sensor 151, the control chip detects the magnetic field intensity of each detection point through data conversion, and the vehicle body 4 can determine the position of the magnetic stripe relative to the magnetic navigation sensor according to the magnetic field characteristics of the magnetic stripe and the magnetic field intensity information acquired by the magnetic navigation sensor 151; the forward and backward movement of the whole vehicle is realized by controlling the forward rotation and the backward rotation of the first walking motor 61 and the second walking motor 62, the whole vehicle steering is driven by the steering wheel to generate pulse signals, the pulse signals are sent to the whole vehicle controller 111 through the RS485, the whole vehicle steering angle is calculated according to an algorithm in a control program and is decomposed into the speeds of the first walking motor 61 and the second walking motor 62, the rotation speed difference is formed to match and finish the steering, and the running speed of the whole vehicle is determined according to the analog quantity of the explosion-proof accelerator 23 input to the whole vehicle controller 111, so that the running speed of the whole vehicle is controlled.
The above description is merely of preferred embodiments of the present invention, and the scope of the present invention is not limited to the above embodiments, but all equivalent modifications or variations according to the present disclosure will be within the scope of the claims.
Claims (10)
1. The multifunctional explosion-proof transport vehicle is characterized by comprising a control unit (1), an operation display unit (2), a power supply and distribution unit (3), a driving mechanism (6) and a hydraulic unit (7);
the control unit (1) comprises a whole vehicle controller (111), an isolation grating (112), a travelling motor frequency converter (121), a two-travelling motor frequency converter (131), a steering motor frequency converter (141) and an automatic navigation unit (15), wherein the whole vehicle controller (111) is in signal connection with the isolation grating (112), the travelling motor frequency converter (121), the two-travelling motor frequency converter (131) and the steering motor frequency converter (141), and the travelling motor frequency converter (121), the two-travelling motor frequency converter (131) and the steering motor frequency converter (141) are in signal connection;
the operation display unit (2) comprises an explosion-proof informatization terminal (21), a main explosion-proof accelerator (22), an auxiliary explosion-proof accelerator (23), an explosion-proof operation box (24), an explosion-proof auxiliary operation box (25) and a rotary encoder (26), wherein the explosion-proof informatization terminal (21), the main explosion-proof accelerator (22), the auxiliary explosion-proof accelerator (23), the explosion-proof operation box (24), the explosion-proof auxiliary operation box (25) and the rotary encoder (26) are all in signal connection with a whole vehicle controller (111), and the explosion-proof informatization terminal (21), the main explosion-proof accelerator (22), the auxiliary explosion-proof accelerator (23), the explosion-proof operation box (24), the explosion-proof auxiliary operation box (25) and the rotary encoder (26) are in signal connection, and the rotary encoder (26) is in signal connection with an isolation grid (112);
the power supply and distribution unit (3) comprises an explosion-proof power box (31) and an explosion-proof battery (32), the explosion-proof power box (31) is in signal connection with the explosion-proof battery (32), the explosion-proof power box (31) is respectively in driving connection with a travelling motor frequency converter (121), a two-travelling motor frequency converter (131) and a steering motor frequency converter (141), and the explosion-proof power box (31) is respectively in signal connection with an explosion-proof informationized terminal (21), a main explosion-proof accelerator (22), an auxiliary explosion-proof accelerator (23), an explosion-proof operation box (24), an explosion-proof auxiliary operation box (25) and a rotary encoder (26);
the automatic navigation unit (15) mainly comprises a magnetic navigation sensor (151) and an RFID module (152), and the magnetic navigation sensor (151) and the RFID module (152) are in signal connection with the whole vehicle controller (111);
the driving mechanism (6) comprises a walking motor (61), two walking motors (62), a steering motor (63), a manual driving unit (64) and an automatic driving unit (65), wherein the walking motor (61) is in driving connection with a walking motor frequency converter (121), the two walking motors (62) are in driving connection with the two walking motor frequency converters (131), the steering motor (63) is in driving connection with a steering motor frequency converter (141), the manual driving unit (61) and the automatic driving unit (62) are in signal connection with a whole vehicle controller (111), and the steering motor (63) is in signal connection with a hydraulic unit (7);
the vehicle controller (111) and the isolation grating (112) are arranged in the flameproof main control box (11), a travelling motor frequency converter (121) is arranged in the flameproof alternating current frequency converter box (12), two travelling motor frequency converters (131) are arranged in the two flameproof alternating current frequency converter boxes (13), and the steering motor frequency converter (141) is arranged in the flameproof direct current frequency converter box (14);
the explosion-proof main control box (11), the explosion-proof alternating current frequency converter box (12), the two explosion-proof alternating current frequency converter boxes (13) and the steering motor frequency converter (141) are all arranged on the vehicle body (4).
2. The multifunctional explosion-proof transport vehicle according to claim 1, wherein: the explosion-proof battery (32) is in signal connection with a charger (33), and the charger (33) is electrically connected with a mains supply (34).
3. The multifunctional explosion-proof transport vehicle according to claim 1, wherein: the magnetic navigation sensor (151) comprises a magnetic sensor (1511), two magnetic sensors (1512), three magnetic sensors (1513) and four magnetic sensors (1514), wherein the magnetic sensor (1511) is installed at the bottom of the frame (5), the three magnetic sensors (1513) are installed at the top of the frame (5), the two magnetic sensors (1512) are installed at the left side of the frame (5), the four magnetic sensors (1514) are installed at the right side of the frame (5), the magnetic sensor (1511) and the three magnetic sensors (1513) are symmetrically arranged on the central line of the cross section of the frame (5), and the two magnetic sensors (1512) and the four magnetic sensors (1514) are symmetrically arranged on the central line of the longitudinal section of the frame (5).
4. A multi-functional explosion-proof carrier vehicle according to claim 3, wherein: the back of the frame (5) is positioned between a magnetic sensor (1511) and the three magnetic sensors, and an RFID module (152) is installed.
5. A multi-functional explosion-proof carrier vehicle according to claim 3, wherein: the inner periphery of the frame (5) is connected with the outer periphery of the vehicle body (4), the main explosion-proof accelerator (22) is arranged below the front end of the vehicle body (4), the auxiliary explosion-proof accelerator (23) is arranged above the front end of the vehicle body (4), the explosion-proof auxiliary operation box (25), the explosion-proof operation box (24) and the explosion-proof informationized terminal (21) are sequentially arranged on the right side of the auxiliary explosion-proof accelerator (23) on the front side of the vehicle body (4), the explosion-proof direct current frequency converter box (14) is arranged on the right side of the explosion-proof informationized terminal (21) on the front side of the vehicle body (4), the explosion-proof power supply box (31), the explosion-proof main control box (11), the explosion-proof alternating current frequency converter box (12) and the two explosion-proof alternating current frequency converter boxes (13) are sequentially arranged on the middle section of the back of the vehicle body (4), and the driving mechanism (6) is arranged on the back of the vehicle body (4).
6. A control method of a multifunctional explosion-proof transport vehicle according to claim 1, characterized in that the control method comprises:
step one: installing a magnetic navigation sensor (151) and an RFID module (152) at a preset position of a vehicle body (4), paving a magnetic strip on a preset travel route, and detecting the magnetic strip paved on the ground and the RFID module (152);
step two: the driving mechanism (6) selects a manual driving unit (64) or an automatic driving unit (65);
step three: when the manual driving unit (64) is selected, the control module (31) performs tracking guidance according to the magnetic navigation sensor (151) and commands the driving mechanism (6) to execute a walking instruction;
step four: when the automatic driving unit (65) is selected, the driving mechanism (6) is in an automatic running state, the driving mechanism (6) determines the position of the driving mechanism through the RFID module (152), and the vehicle body (4) automatically transports goods along the magnetic stripe according to the instruction preset by the control module (31);
step five: when the vehicle body (4) travels to a specified position read by the RFID module (152), the vehicle body (4) reaches the destination, and stops running.
7. The control method of the multifunctional explosion-proof transport vehicle according to claim 6, wherein: the detection of the RFID module (152) is specifically as follows: after the whole vehicle controller (111) is electrified, the whole vehicle controller (111) executes an initialization program to initialize the vehicle body (4), so that misoperation of the vehicle body (4) is avoided, after initialization is finished, the flameproof main control box (11) detects whether a manual driving mode and an automatic driving mode are normal, and the running state of the vehicle body (4) is determined according to a detection result.
8. The control method of the multifunctional explosion-proof transport vehicle according to claim 6, wherein: when the vehicle is in the automatic driving state, firstly, the vehicle controller (111) can read the deviation value of the magnetic navigation sensor (151), when the deviation value of the magnetic navigation sensor (151) is in a preset qualified range, the vehicle body (4) moves, otherwise, the vehicle body (4) cannot move, and when the vehicle body (4) is normally started, the vehicle controller (111) processes the collected data of the magnetic navigation sensor (151) and then controls the rotation angle of the vehicle body (4) according to the deviation value.
9. The control method of the multifunctional explosion-proof transport vehicle according to claim 8, wherein: the operation display unit (2) monitors data of the rotation angle, the angular speed and the linear speed of the vehicle body (4) in real time, so that the deviation value of the magnetic navigation sensor (151) is kept within a preset qualified range.
10. The control method of the multifunctional explosion-proof transport vehicle according to claim 6, wherein: the track searching guide specifically comprises the following steps: the magnetic navigation leaflet device (151) converts the magnetic tape intensity of the magnetic stripe into an electric signal, then the electric signal is transmitted to the control chip of the magnetic navigation sensor (151), the control chip detects the magnetic field intensity of each detection point through data conversion, and the vehicle body (4) can determine the position of the magnetic stripe relative to the magnetic navigation sensor according to the magnetic field characteristics of the magnetic stripe and the magnetic field intensity information acquired by the magnetic navigation sensor (151).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211436232.2A CN116048063A (en) | 2022-11-16 | 2022-11-16 | Multifunctional explosion-proof transport vehicle and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211436232.2A CN116048063A (en) | 2022-11-16 | 2022-11-16 | Multifunctional explosion-proof transport vehicle and control method thereof |
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| Publication Number | Publication Date |
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| CN116048063A true CN116048063A (en) | 2023-05-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202211436232.2A Pending CN116048063A (en) | 2022-11-16 | 2022-11-16 | Multifunctional explosion-proof transport vehicle and control method thereof |
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| Country | Link |
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| CN (1) | CN116048063A (en) |
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2022
- 2022-11-16 CN CN202211436232.2A patent/CN116048063A/en active Pending
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