CN116824113B - Four-way vehicle rollover prevention scheduling method and device - Google Patents

Four-way vehicle rollover prevention scheduling method and device Download PDF

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Publication number
CN116824113B
CN116824113B CN202311091954.3A CN202311091954A CN116824113B CN 116824113 B CN116824113 B CN 116824113B CN 202311091954 A CN202311091954 A CN 202311091954A CN 116824113 B CN116824113 B CN 116824113B
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rollover
cargo
way vehicle
data
vehicle
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CN116824113A (en
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黄杰
黄卫
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Sichuan Puxin Logistics Automation Equipment Engineering Co ltd
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Sichuan Puxin Logistics Automation Equipment Engineering Co ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/10—Image acquisition
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/20—Image preprocessing
    • G06V10/22—Image preprocessing by selection of a specific region containing or referencing a pattern; Locating or processing of specific regions to guide the detection or recognition
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V2201/00—Indexing scheme relating to image or video recognition or understanding
    • G06V2201/07—Target detection

Abstract

The application provides a four-way vehicle rollover prevention scheduling method and device, and relates to the field of system control. The method comprises the following steps: acquiring cargo data for cargo loaded on a four-way vehicle; constructing a four-way vehicle rollover model based on the cargo data, and determining a rollover critical condition corresponding to the cargo when the cargo is rollover based on the four-way vehicle rollover model; and determining a scheduling strategy of the four-way vehicle by using a pre-established PID control model, wherein the scheduling strategy is used for indicating the motion data of the four-way vehicle and enabling the motion data not to reach the rollover critical condition. The method solves the technical problem of poor stability of the conventional four-way vehicle dispatching method, and effectively improves the operation efficiency.

Description

Four-way vehicle rollover prevention scheduling method and device
Technical Field
The application relates to the technical field of system control, in particular to a four-way vehicle rollover prevention scheduling method and device.
Background
With the rapid development of electronic commerce and logistics industry, warehouses face the problems of insufficient storage space and low efficiency. In response to this problem, a four-way vehicle is a transporting apparatus having four-way traveling capability, which can flexibly move on a track erected inside a centralized high-rise rack. The four-way vehicle can stably run without supporting the dispatching, and the proper dispatching method can reduce the time for carrying goods by the four-way vehicle, improve the running efficiency of the system and ensure the stable running of the system.
Aiming at the centralized multi-layer goods shelf system, for self-dispatching of a single four-way vehicle, the prior art still adopts a dispatching mode of constant starting acceleration, constant uniform motion speed and constant braking acceleration. However, the above-described dispatch mode presents a safety hazard when transporting semi-fluid or fluid goods such as food, drinking water, cooking oil, etc. The different semi-fluid cargoes have different masses, so the inertias are different, and the inner parts of the semi-fluid cargoes or the fluid cargoes can displace, especially when the four-way vehicle brakes and decelerates, the inner upper layers of the cargoes can displace and strike the outer package of the cargoes due to the inertias, and when the braking acceleration and the cargo mass meet certain thresholds, the cargoes can turn over, so the danger is generated. It can be seen that the existing four-way vehicle scheduling method has poor stability.
Disclosure of Invention
In order to solve the problems in the prior art, the application provides a four-way vehicle rollover prevention scheduling method and device, which are used for solving the technical problem that the stability of the conventional four-way vehicle scheduling method is poor, and effectively improving the operation efficiency.
According to one aspect of the embodiment of the application, a four-way vehicle rollover prevention scheduling method is provided, which comprises the following steps:
acquiring cargo data for cargo loaded on a four-way vehicle;
constructing a four-way vehicle rollover model based on the cargo data, and determining a rollover critical condition corresponding to the cargo when the cargo is rollover based on the four-way vehicle rollover model;
and determining a scheduling strategy of the four-way vehicle by using a pre-established PID control model, wherein the scheduling strategy is used for indicating the motion data of the four-way vehicle and enabling the motion data not to reach the rollover critical condition.
In one possible implementation, the cargo data includes cargo images and cargo weight data, and the acquiring cargo data for cargo loaded on a four-way vehicle includes:
acquiring the goods image through a camera;
performing target detection on goods in the goods image to obtain a target frame for indicating the goods;
and comparing the top of the target frame with a goods shelf warehouse where goods in the goods image are located to determine the goods height data.
In one possible implementation manner, the constructing a four-way vehicle rollover model based on the cargo data, and determining a rollover critical condition corresponding to the cargo rollover based on the four-way vehicle rollover model, includes:
determining rollover points based on the cargo data;
building a four-way vehicle rollover model based on the rollover point, wherein the four-way vehicle rollover model is used for indicating the correlation between the acceleration of the four-way vehicle and the weight data of goods, the moment of the rollover point, the vehicle inclination angle of the four-way vehicle and the vehicle rollover resistance rigidity;
constructing a variable speed motion model corresponding to the four-way vehicle in variable speed motion based on the cargo data, wherein the variable speed motion model is used for indicating the correlation between the reactive force of a track acting on wheels of the four-way vehicle and the inclination angle, the deformation quantity and the rigidity of the wheels of the four-way vehicle;
combining the four-way vehicle rollover model with the variable speed motion model to obtain a vehicle inclination angle of the four-way vehicle and moment of the rollover point;
and determining a rollover critical condition by combining the four-way vehicle rollover model, the vehicle inclination angle of the four-way vehicle and the moment of the rollover point, wherein the rollover critical condition is used for indicating critical conditions met by acceleration data of the four-way vehicle when the goods rollover.
In one possible implementation, the determining a rollover point based on the cargo data includes:
based on the cargo height data, taking the position of the cargo, which is a distance from the cargo to the top of the cargo along the height direction, as a preset height distance as a side turning point;
constructing a cargo model related to the rollover point based on the cargo weight data and the cargo height data;
the cargo model comprises a first cargo module and a second cargo module which are connected in the height direction, wherein the first cargo module is used for representing a model part from the top of the cargo to the side turning point, and the second cargo module is used for representing a model part from the side turning point to the bottom of the cargo.
In one possible implementation, the method further includes:
the four-way vehicle rollover model is obtained through formulas (1), (2), (3) and (4):
（1）
（2）
（3）
（4）
wherein,the cargo quality corresponding to the first cargo module; />For the acceleration of the four-way vehicle,gravitational acceleration; />For the height of the track to the top of the four-way car, < ->For the height of the rollover point to the rail, < >>For the height of the top of the cargo to the rail, +.>The height from the top of the goods to the rollover point; />For the moment of the center of mass of the four-way vehicle and the second cargo module, < >>For the moment of the first cargo module and the rollover point, < >>Moment of the side turning point and the mass center of the four-way vehicle; />The vehicle rollover resistance stiffness value of the four-way vehicle; />For the inclination angle of the first cargo module with the whole vehicle, < >>The inclination angle between the second cargo module and the whole vehicle is set;
the variable speed motion model is obtained by formulas (5), (6), (7) and (8):
（5）
（6）
（7）
（8）
wherein,first reaction force acting on the wheels of the four-way vehicle for the track, < > for the track>A second reaction force acting on the wheels of the four-way vehicle for the track; />The rigidity value is the rigidity value in the lead direction of the four-way vehicle wheel; />Is the deformation of the wheels of the four-way vehicle after rollover>The deformation quantity of the four-way vehicle wheels before rollover occurs; />A vehicle wheelbase for the four-way vehicle; />For total weight data characterizing the weight of the cargo and the four-way vehicle;
obtaining the rollover critical condition through a formula (9):
（9）
wherein,is the friction coefficient of the track->And the cargo quality corresponding to the second cargo module.
In one possible implementation manner, the determining the scheduling policy of the four-way vehicle by using a pre-established PID control model includes:
acquiring motion data of the four-way vehicle, wherein the motion data comprises speed data and acceleration data;
determining corresponding deviation data based on the speed data and preset expected speed data, wherein the deviation data comprises speed deviation and deviation change rate;
and inputting the deviation data into a pre-established PID control model, controlling the motion data of the four-way vehicle, keeping the acceleration data not to reach the rollover critical condition, and outputting the regulating speed data for indicating the four-way vehicle to run so as to form the scheduling strategy.
In one possible implementation, the method further includes:
when the four-way vehicle is unloaded, the critical conditions corresponding to the rollover of the four-way vehicle include:
the acceleration data of the four-way vehicle is not smaller than the gravity acceleration.
According to another aspect of the embodiment of the present application, there is provided a rollover prevention scheduling device for a four-way vehicle, including:
the parameter acquisition module is used for acquiring cargo data loaded on the four-way vehicle aiming at cargoes;
the critical condition calculation module is used for constructing a four-way vehicle rollover model based on the cargo data and determining a rollover critical condition corresponding to the cargo when the cargo is rollover based on the four-way vehicle rollover model;
and the PID control module is used for determining a scheduling strategy of the four-way vehicle by utilizing a pre-established PID control model, wherein the scheduling strategy is used for indicating the motion data of the four-way vehicle and enabling the motion data not to reach the rollover critical condition.
In one possible implementation, the critical condition calculation module includes:
a rollover point determination unit configured to determine a rollover point based on the cargo data;
the four-way vehicle rollover model construction unit is used for constructing a four-way vehicle rollover model based on the rollover point, wherein the four-way vehicle rollover model is used for indicating the correlation between the acceleration of the four-way vehicle and the weight data of goods, the moment of the rollover point, the vehicle inclination angle of the four-way vehicle and the vehicle rollover resistance rigidity;
the speed change motion model construction unit is used for constructing a speed change motion model corresponding to the four-way vehicle in speed change motion based on the cargo data, and the speed change motion model is used for indicating the correlation between the reaction force of the track acting on the wheels of the four-way vehicle and the inclination angle, the deformation quantity and the rigidity of the wheels of the four-way vehicle;
the parameter calculation unit is used for combining the four-way vehicle rollover model and the variable speed motion model to obtain the vehicle inclination angle of the four-way vehicle and the moment of the rollover point;
the rollover critical condition calculation unit is used for determining rollover critical conditions according to the four-way vehicle rollover model, the vehicle inclination angle of the four-way vehicle and the moment of the rollover point, wherein the rollover critical conditions are used for indicating critical conditions met by acceleration data of the four-way vehicle when the goods rollover.
In one possible implementation, the PID control module includes:
the motion data acquisition unit is used for acquiring motion data of the four-way vehicle, wherein the motion data comprises speed data and acceleration data;
the deviation calculation unit is used for determining corresponding deviation data based on the speed data and preset expected speed data, wherein the deviation data comprises speed deviation and deviation change rate;
and the PID control model calculation unit is used for inputting the deviation data into a pre-established PID control model, controlling the motion data of the four-way vehicle, keeping the acceleration data not to reach the rollover critical condition, and outputting the regulating speed data for indicating the four-way vehicle to run so as to form the scheduling strategy.
The method has the advantages that the method is characterized in that the goods data loaded on the four-way vehicle are obtained, then the four-way vehicle rollover model is built based on the goods data, and the rollover critical conditions corresponding to the goods when the goods are rollover are determined based on the four-way vehicle rollover model, so that the scheduling strategy of the four-way vehicle is determined by utilizing the pre-built PID control model, the scheduling strategy is used for indicating the movement data of the four-way vehicle and enabling the movement data of the four-way vehicle not to reach the rollover critical conditions, and therefore the scheduling of the four-way vehicle is realized by using the rollover critical conditions and a fuzzy PID control algorithm, the rollover resistance of the four-way vehicle when semi-fluid or fluid goods are transported is improved, the technical problem that the stability of the conventional four-way vehicle scheduling method is poor is solved, and the operation efficiency is effectively improved.
Drawings
FIG. 1 is a schematic flow chart of a four-way vehicle rollover prevention scheduling method provided by an embodiment of the application;
fig. 2 is a schematic structural diagram of a rollover prevention scheduling device for a four-way vehicle according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
Example 1
Referring to fig. 1, a flow chart of a four-way vehicle rollover prevention scheduling method according to an embodiment of the present application is shown, and the scheduling method includes steps S101 to S103.
And S101, acquiring cargo data loaded on the four-way vehicle aiming at cargoes.
In the application, various data acquisition devices such as cameras and weights are arranged. The goods image is acquired through the camera and comprises a goods body image and an image of a goods shelf warehouse where goods are located. And measuring cargo weight data by weight.
In some embodiments, the cargo data includes cargo images and cargo weight data, and the acquiring cargo data for cargo loaded on a four-way vehicle includes:
acquiring the goods image through a camera;
performing target detection on goods in the goods image to obtain a target frame for indicating the goods;
and comparing the top of the target frame with a goods shelf warehouse where goods in the goods image are located to determine the goods height data.
In the application, as the four-way vehicle is fixed in a running track type, the composition of the acquired cargo image is relatively fixed, and the application uses a target detection algorithm for image recognition. It should be noted that, image recognition refers to a technique of processing, analyzing and understanding an image by using a computer to identify targets and objects in various different modes, and is a practical application of artificial intelligence algorithms such as a deep learning algorithm and a computer vision algorithm. In the present application, the recognition method of image recognition is object recognition. For the application, the goods body and the goods shelf warehouse where the goods are located are determined from the goods image, and the positions of the goods are identified by utilizing the target frame. Further, the cargo height data is estimated by the flush position of the target frame for the cargo with the shelf warehouse.
S102, constructing a four-way vehicle rollover model based on the cargo data, and determining a rollover critical condition corresponding to the cargo when the cargo is rollover based on the four-way vehicle rollover model.
S103, determining a scheduling strategy of the four-way vehicle by using a pre-established PID control model, wherein the scheduling strategy is used for indicating the motion data of the four-way vehicle and enabling the motion data not to reach the rollover critical condition.
According to the four-way vehicle rollover prevention scheduling method, the cargo data loaded on the four-way vehicle is obtained, and then the four-way vehicle rollover model is constructed based on the cargo data, so that the rollover critical conditions corresponding to the cargo rollover occurrence based on the four-way vehicle rollover model are determined, the scheduling strategy of the four-way vehicle is determined by utilizing the pre-established PID control model, the scheduling strategy is used for indicating the motion data of the four-way vehicle and enabling the motion data of the four-way vehicle not to reach the rollover critical conditions, and therefore the rollover critical conditions and the fuzzy PID control algorithm are used for realizing the scheduling of the four-way vehicle, the rollover resistance capability of the four-way vehicle in the process of transporting semi-fluid or fluid cargo is improved, the technical problem that the stability of the conventional four-way vehicle scheduling method is poor is solved, and the operation efficiency is effectively improved.
In some embodiments, the constructing a four-way vehicle rollover model based on the cargo data, and determining a rollover critical condition corresponding to the cargo when the cargo is rollover based on the four-way vehicle rollover model, includes:
determining rollover points based on the cargo data;
building a four-way vehicle rollover model based on the rollover point, wherein the four-way vehicle rollover model is used for indicating the correlation between the acceleration of the four-way vehicle and the weight data of goods, the moment of the rollover point, the vehicle inclination angle of the four-way vehicle and the vehicle rollover resistance rigidity;
constructing a variable speed motion model corresponding to the four-way vehicle in variable speed motion based on the cargo data, wherein the variable speed motion model is used for indicating the correlation between the reactive force of a track acting on wheels of the four-way vehicle and the inclination angle, the deformation quantity and the rigidity of the wheels of the four-way vehicle;
combining the four-way vehicle rollover model with the variable speed motion model to obtain a vehicle inclination angle of the four-way vehicle and moment of the rollover point;
and determining a rollover critical condition by combining the four-way vehicle rollover model, the vehicle inclination angle of the four-way vehicle and the moment of the rollover point, wherein the rollover critical condition is used for indicating critical conditions met by acceleration data of the four-way vehicle when the goods rollover.
Based on the foregoing embodiments, in one embodiment, the determining a rollover point based on the cargo data includes:
based on the cargo height data, taking the position of the cargo, which is a distance from the cargo to the top of the cargo along the height direction, as a preset height distance as a side turning point;
constructing a cargo model related to the rollover point based on the cargo weight data and the cargo height data;
the cargo model comprises a first cargo module and a second cargo module which are connected in the height direction, wherein the first cargo module is used for representing a model part from the top of the cargo to the side turning point, and the second cargo module is used for representing a model part from the side turning point to the bottom of the cargo.
In this embodiment, first, a position of the cargo at a predetermined height distance from the top thereof is taken as a rollover point. The position, which is 1/3 of the position of the goods, along the height direction, from the top of the goods is taken as a rollover point, namely, the preset height distance is 1/3 of the height of the goods. Further, the cargo height data and the positions of the rollover points are utilized to construct a cargo model for subsequent analysis of the four-way vehicle rollover model and the variable speed motion model. The cargo model is built by utilizing the concept of model partitioning, the model part from the rollover point to the top of the cargo in the height direction is used as a first cargo module, and the model part from the rollover point to the bottom of the cargo is used as a second cargo module, so that the cargo body is modeled, the analysis and calculation of the height, weight, moment and other data of the cargo related to the rollover point are facilitated, the analysis and prediction of the rollover situation are facilitated, and the data processing efficiency is improved.
Based on the above embodiment, in an embodiment, the method further includes:
the four-way vehicle rollover model is obtained through formulas (1), (2), (3) and (4):
（1）
（2）
（3）
（4）
wherein,the cargo quality corresponding to the first cargo module; />For the acceleration of the four-way vehicle,gravitational acceleration; />For the height of the track to the top of the four-way car, < ->For the height of the rollover point to the rail, < >>For the height of the top of the cargo to the rail, +.>The height from the top of the goods to the rollover point; />For the moment of the center of mass of the four-way vehicle and the second cargo module, < >>For the moment of the first cargo module and the rollover point, < >>Moment of the side turning point and the mass center of the four-way vehicle;/>the vehicle rollover resistance stiffness value of the four-way vehicle; />For the inclination angle of the first cargo module with the whole vehicle, < >>And the inclination angle between the second cargo module and the whole vehicle is the inclination angle.
The formula (1) is a balance type when the four-way vehicle moves. Specifically, based on the cargo model, the following will beDefined as the mass of the cargo corresponding to the first cargo module, i.e. the mass of the cargo in the portion between the rollover point and the top of the cargo, will ∈ ->The second cargo module is defined as the cargo mass corresponding to the second cargo module, i.e., the cargo mass of the portion between the rollover point and the bottom of the cargo. And, will->The inclination angle between the part from the side turning point to the bottom of the goods and the whole four-way car is defined as +.>The inclination angle between the part from the side turning point to the top of the goods and the whole four-way car is defined. Furthermore, will->The moment defined as the part between the mass center of the four-way vehicle and the side turning point to the bottom of the goods is +.>Moment defined as rollover point and center of mass of four-way vehicle, will +.>Defined as side turning point to goodsMoment between the top of the object and the side turning point. Next, will->The height from the track to the top of the four-way vehicle is defined as the height of the four-way vehicle; will->Defining the height from the side turning point to the track, namely the height between the four-way vehicle and the bottom of the goods (namely the height of the goods shown by the second goods module, such as 2/3 of the height of the goods); will->The height from the top of the cargo to the rail, namely the height of the four-way vehicle and the cargo; will->Defined as the height of the top of the cargo to the rollover point, i.e., the cargo height shown in the first cargo module (e.g., 1/3 of the cargo height).
In one embodiment, the reaction force of the track on the wheels during acceleration or deceleration of the four-way vehicle changes along with the change of the inclination angle of the vehicle, the deformation of the wheels and the rigidity of the wheels, thereby constructing a variable speed motion model. The variable speed motion model is obtained by formulas (5), (6), (7) and (8):
（5）
（6）
（7）
（8）
wherein,first reaction force acting on the wheels of the four-way vehicle for the track, < > for the track>A second reaction force acting on the wheels of the four-way vehicle for the track; />The rigidity value is the rigidity value in the lead direction of the four-way vehicle wheel; />Is the deformation of the wheels of the four-way vehicle after rollover>The deformation quantity of the four-way vehicle wheels before rollover occurs; />A vehicle wheelbase for the four-way vehicle; />Is total weight data for characterizing the weight of the cargo and the four-way vehicle.
Therefore, according to the variable speed motion model, the following expressions of the deformation quantity of the four-way vehicle wheels before rollover and the inclination angle of the second cargo module and the whole vehicle are obtained:
（10）
（11）
then, the more accurate moment between the mass center of the four-way vehicle and the side turning point and the bottom of the goods is obtained by combining the formulas (2) and (11), and the more accurate moment is specifically obtained by the following formula:
（12）
and (3) combining the formulas (1), (4) and (12) to obtain the inclination angle of the first cargo module and the whole vehicle, wherein the specific formula is as follows:
（13）
and (3) combining the formulas (4), (11) and (13) to obtain the moment of the first cargo module and the rollover point, wherein the moment is specifically represented by the following formula:
（14）
thus, the rollover critical condition is obtained by the formula shown above:
（9）
wherein,is the friction coefficient of the track->And the cargo quality corresponding to the second cargo module. It should be noted that, when the acceleration data of the four-way vehicle reaches the above-mentioned rollover critical condition, namely, the critical point, rollover occurs, so in order to avoid rollover of the vehicle, the acceleration of the four-way vehicle needs to be controlled within the range that the above-mentioned rollover critical condition is not reached.
In the embodiment, by constructing the four-way vehicle rollover model and the variable speed motion model, the conditions of acceleration and deceleration of the vehicle are considered, rollover analysis is performed by fully utilizing the vehicle motion conditions under multiple dimensions, and the correlation among the parameters of the reaction force of the track on the wheels of the four-way vehicle, the inclination angle of the vehicle, the moment of a rollover point, the rollover resistance rigidity of the vehicle, the deformation quantity of the wheels, the rigidity of the wheels and the like is considered, so that the accuracy of calculating rollover critical conditions is improved.
In some embodiments, the method further comprises:
when the four-way vehicle is unloaded, the critical conditions corresponding to the rollover of the four-way vehicle include:
the acceleration data of the four-way vehicle is not smaller than the gravity acceleration.
In some embodiments, the determining the scheduling policy of the four-way vehicle using a pre-established PID control model includes:
acquiring motion data of the four-way vehicle, wherein the motion data comprises speed data and acceleration data;
determining corresponding deviation data based on the speed data and preset expected speed data, wherein the deviation data comprises speed deviation and deviation change rate;
and inputting the deviation data into a pre-established PID control model, controlling the motion data of the four-way vehicle, keeping the acceleration data not to reach the rollover critical condition, and outputting the regulating speed data for indicating the four-way vehicle to run so as to form the scheduling strategy.
In this embodiment, the critical rollover conditions of the four-way vehicle under various load conditions are related to acceleration, and because the operation conditions during acceleration and deceleration are dynamically changed, the motion information of the four-way vehicle is acquired by using the sensor, so that the position and speed control in the X/Y direction is realized during the operation. The embodiment converts the geometric displacement of the output shaft into a pulse signal by using the photoelectric encoder, has good anti-interference capability in measuring the angle and the displacement, and outputs the pulse signal stably.
Specifically, an integral coefficient is arranged in the PID control modelDifferential coefficient->Proportional coefficient->. And taking deviation data of the currently acquired speed data and preset expected speed data as input of a PID control model, correcting an integral coefficient, a differential coefficient and a proportional coefficient by utilizing the deviation data to obtain correction amounts corresponding to the integral coefficient, the differential coefficient and the proportional coefficient, and then controlling the speed data and the acceleration data of the four-way vehicle by utilizing the correction amounts to ensure that the acceleration data does not reach the critical turning condition, so that the PID control model outputs adjustment speed data, and the four-way vehicle is controlled to run at the adjustment speed data, thereby avoiding the four-way vehicle from turning on one side. Therefore, the running speed of the four-way vehicle is adjusted by means of the fuzzy PID control algorithm and the rollover critical condition, so that the four-way vehicle keeps running stably, and the stability of the vehicle is improved.
Example two
Referring to fig. 2, a schematic structural diagram of a four-way vehicle rollover prevention scheduling device according to an embodiment of the present application, where the four-way vehicle rollover prevention scheduling device 200 includes:
the parameter acquisition module 201 is configured to acquire cargo data for cargo loaded on a four-way vehicle;
the critical condition calculation module 202 is configured to construct a four-way vehicle rollover model based on the cargo data, and determine a rollover critical condition corresponding to the cargo when the cargo is rollover based on the four-way vehicle rollover model;
the PID control module 203 is configured to determine a scheduling policy of the four-way vehicle by using a pre-established PID control model, where the scheduling policy is used to control motion data of the four-way vehicle and make the motion data not reach the rollover critical condition.
In some embodiments, the parameter acquisition module 201 includes:
the goods image acquisition unit is used for acquiring the goods image through the camera;
the object detection unit is used for carrying out object detection on the goods in the goods image so as to obtain an object frame for indicating the goods;
and the height comparison unit is used for comparing the top of the target frame with the goods shelf warehouse where the goods are located in the goods image so as to determine the goods height data.
In some embodiments, the critical condition calculation module 202 includes:
a rollover point determination unit configured to determine a rollover point based on the cargo data;
the four-way vehicle rollover model construction unit is used for constructing a four-way vehicle rollover model based on the rollover point, wherein the four-way vehicle rollover model is used for indicating the correlation between the acceleration of the four-way vehicle and the weight data of goods, the moment of the rollover point, the vehicle inclination angle of the four-way vehicle and the vehicle rollover resistance rigidity;
the speed change motion model construction unit is used for constructing a speed change motion model corresponding to the four-way vehicle in speed change motion based on the cargo data, and the speed change motion model is used for indicating the correlation between the reaction force of the track acting on the wheels of the four-way vehicle and the inclination angle, the deformation quantity and the rigidity of the wheels of the four-way vehicle;
the parameter calculation unit is used for combining the four-way vehicle rollover model and the variable speed motion model to obtain the vehicle inclination angle of the four-way vehicle and the moment of the rollover point;
the rollover critical condition calculation unit is used for determining rollover critical conditions according to the four-way vehicle rollover model, the vehicle inclination angle of the four-way vehicle and the moment of the rollover point, wherein the rollover critical conditions are used for indicating critical conditions met by acceleration data of the four-way vehicle when the goods rollover.
In some embodiments, the rollover point determination unit includes:
the side turning point calibration unit is used for taking the position of the goods, which is from the top to the bottom in the height direction, as a preset height distance as a side turning point based on the goods height data;
the cargo model building unit is used for building a cargo model related to the rollover point based on the cargo weight data and the cargo height data;
the cargo model comprises a first cargo module and a second cargo module which are connected in the height direction, wherein the first cargo module is used for representing a model part from the top of the cargo to the side turning point, and the second cargo module is used for representing a model part from the side turning point to the bottom of the cargo.
In some embodiments, the apparatus 200 further comprises:
the four-way vehicle rollover model building unit is used for obtaining the four-way vehicle rollover model through formulas (1), (2), (3) and (4):
（1）
（2）
（3）
（4）
wherein,the cargo quality corresponding to the first cargo module; />For the acceleration of the four-way vehicle,gravitational acceleration; />High from track to four-way roofDegree (f)>For the height of the rollover point to the rail, < >>For the height of the top of the cargo to the rail, +.>The height from the top of the goods to the rollover point; />For the moment of the center of mass of the four-way vehicle and the second cargo module, < >>For the moment of the first cargo module and the rollover point, < >>Moment of the side turning point and the mass center of the four-way vehicle; />The vehicle rollover resistance stiffness value of the four-way vehicle; />For the inclination angle of the first cargo module with the whole vehicle, < >>The inclination angle between the second cargo module and the whole vehicle is set;
a variable speed motion model establishing unit for obtaining the variable speed motion model by formulas (5), (6), (7) and (8):
（5）
（6）
（7）
（8）
wherein,first reaction force acting on the wheels of the four-way vehicle for the track, < > for the track>A second reaction force acting on the wheels of the four-way vehicle for the track; />The rigidity value is the rigidity value in the lead direction of the four-way vehicle wheel; />Is the deformation of the wheels of the four-way vehicle after rollover>The deformation quantity of the four-way vehicle wheels before rollover occurs; />A vehicle wheelbase for the four-way vehicle; />For total weight data characterizing the weight of the cargo and the four-way vehicle;
a condition calculation unit for obtaining the rollover critical condition by the formula (9):
（9）
wherein,is the friction coefficient of the track->And the cargo quality corresponding to the second cargo module.
In some embodiments, the PID control module 203 comprises:
the motion data acquisition unit is used for acquiring motion data of the four-way vehicle, wherein the motion data comprises speed data and acceleration data;
the deviation calculation unit is used for determining corresponding deviation data based on the speed data and preset expected speed data, wherein the deviation data comprises speed deviation and deviation change rate;
and the PID control model calculation unit is used for inputting the deviation data into a pre-established PID control model, controlling the motion data of the four-way vehicle, keeping the acceleration data not to reach the rollover critical condition, and outputting the regulating speed data for indicating the four-way vehicle to run so as to form the scheduling strategy.
In some embodiments, the apparatus 200 further comprises:
the no-load rollover critical condition unit is used for when the four-way vehicle is no-load, and the critical conditions corresponding to the rollover of the four-way vehicle comprise:
the acceleration data of the four-way vehicle is not smaller than the gravity acceleration.
The device of the embodiment of the present application may perform the method provided by the embodiment of the present application, and its implementation principle is similar, and actions performed by each module in the device of the embodiment of the present application correspond to steps in the method of the embodiment of the present application, and detailed functional descriptions of each module of the device may be referred to the descriptions in the corresponding methods shown in the foregoing, which are not repeated herein.
In describing embodiments of the present application, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "center", "top", "bottom", "inner", "outer", "inside", "outside", etc. indicate orientations or positional relationships based on the drawings are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present application. Wherein "inside" refers to an interior or enclosed area or space. "peripheral" refers to the area surrounding a particular component or region.
In the description of embodiments of the present application, the terms "first," "second," "third," "fourth" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first", "a second", "a third" and a fourth "may explicitly or implicitly include one or more such feature. In the description of the present application, unless otherwise indicated, the meaning of "a plurality" is two or more.
Although embodiments of the present application have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the application, the scope of which is defined in the appended claims and their equivalents.

Claims (6)

1. The four-way vehicle rollover prevention scheduling method is characterized by comprising the following steps of:
acquiring cargo data loaded on a four-way vehicle aiming at cargoes, wherein the cargo data comprises cargo weight data and cargo height data;
building a four-way vehicle rollover model based on the cargo data, and determining a rollover critical condition corresponding to the cargo when rollover occurs based on the four-way vehicle rollover model, wherein the method comprises the following steps: determining rollover points based on the cargo data; building a four-way vehicle rollover model based on the rollover point, wherein the four-way vehicle rollover model is used for indicating the correlation between the acceleration of the four-way vehicle and the weight data of goods, the moment of the rollover point, the vehicle inclination angle of the four-way vehicle and the vehicle rollover resistance rigidity; constructing a variable speed motion model corresponding to the four-way vehicle in variable speed motion based on the cargo data, wherein the variable speed motion model is used for indicating the correlation between the reactive force of a track acting on wheels of the four-way vehicle and the inclination angle, the deformation quantity and the rigidity of the wheels of the four-way vehicle; combining the four-way vehicle rollover model with the variable speed motion model to obtain a vehicle inclination angle of the four-way vehicle and moment of the rollover point; determining a rollover critical condition by combining the four-way vehicle rollover model, the vehicle inclination angle of the four-way vehicle and the moment of the rollover point, wherein the rollover critical condition is used for indicating critical conditions met by acceleration data of the four-way vehicle when the goods rollover;
determining a scheduling strategy of the four-way vehicle by utilizing a pre-established PID control model, wherein the scheduling strategy is used for indicating motion data of the four-way vehicle and enabling the motion data of the four-way vehicle not to reach the rollover critical condition;
wherein the determining a rollover point based on the cargo data comprises: based on the cargo height data, taking the position of the cargo, which is a distance from the cargo to the top of the cargo along the height direction, as a preset height distance as a side turning point; constructing a cargo model related to the rollover point based on the cargo weight data and the cargo height data; the cargo model comprises a first cargo module and a second cargo module which are connected in the height direction, wherein the first cargo module is used for representing a model part from the top of the cargo to the rollover point, and the second cargo module is used for representing a model part from the rollover point to the bottom of the cargo;
obtaining the four-way vehicle rollover model through formulas (1), (2) (3) and (4):
（1）
（2）
（3）
（4）
wherein,the cargo quality corresponding to the first cargo module; />For the acceleration of the four-way vehicle, +.>Gravitational acceleration; />For the height of the track to the top of the four-way car, < ->For the height of the rollover point to the rail, < >>For the height of the top of the cargo to the rail, +.>The height from the top of the goods to the rollover point; />For the moment of the center of mass of the four-way vehicle and the second cargo module, < >>For the moment of the first cargo module and the rollover point, < >>Moment of the side turning point and the mass center of the four-way vehicle; />The vehicle rollover resistance stiffness value of the four-way vehicle; />For the inclination angle of the first cargo module with the whole vehicle, < >>The inclination angle between the second cargo module and the whole vehicle is set;
the variable speed motion model is obtained by formulas (5), (6), (7) and (8):
（5）
（6）
（7）
（8）
wherein,first reaction force acting on the wheels of the four-way vehicle for the track, < > for the track>A second reaction force acting on the wheels of the four-way vehicle for the track; />The rigidity value is the rigidity value in the lead direction of the four-way vehicle wheel; />Is the deformation of the wheels of the four-way vehicle after rollover>The deformation quantity of the four-way vehicle wheels before rollover occurs; />A vehicle wheelbase for the four-way vehicle; />For total weight data characterizing the weight of the cargo and the four-way vehicle;
obtaining the rollover critical condition through a formula (9):
（9）
wherein,is the friction coefficient of the track->And the cargo quality corresponding to the second cargo module.
2. The four-way vehicle rollover prevention scheduling method of claim 1, wherein the cargo data comprises cargo images, and the acquiring cargo data for cargo loaded on the four-way vehicle comprises:
acquiring the goods image through a camera;
performing target detection on goods in the goods image to obtain a target frame for indicating the goods;
and comparing the top of the target frame with a goods shelf warehouse where goods in the goods image are located to determine the goods height data.
3. The method for rollover prevention scheduling of a four-way vehicle according to claim 1, wherein the determining the scheduling policy of the four-way vehicle by using a pre-established PID control model comprises:
acquiring motion data of the four-way vehicle, wherein the motion data comprises speed data and acceleration data;
determining corresponding deviation data based on the speed data and preset expected speed data, wherein the deviation data comprises speed deviation and deviation change rate;
and inputting the deviation data into a pre-established PID control model, controlling the motion data of the four-way vehicle, keeping the acceleration data not to reach the rollover critical condition, and outputting the regulating speed data for indicating the four-way vehicle to run so as to form the scheduling strategy.
4. The four-way vehicle rollover prevention scheduling method of claim 1, further comprising:
when the four-way vehicle is unloaded, the critical conditions corresponding to the rollover of the four-way vehicle include:
the acceleration data of the four-way vehicle is not smaller than the gravity acceleration.
5. The utility model provides a four-way car prevents dispatch device that turns on one's side which characterized in that includes:
the parameter acquisition module is used for acquiring cargo data loaded on the four-way vehicle aiming at cargoes, wherein the cargo data comprises cargo weight data and cargo height data;
the critical condition calculation module is used for constructing a four-way vehicle rollover model based on the cargo data and determining a rollover critical condition corresponding to the cargo when the cargo is rollover based on the four-way vehicle rollover model;
the PID control module is used for determining a scheduling strategy of the four-way vehicle by utilizing a pre-established PID control model, wherein the scheduling strategy is used for indicating the motion data of the four-way vehicle and enabling the motion data not to reach the rollover critical condition;
wherein, the critical condition calculation module includes:
a rollover point determination unit configured to determine a rollover point based on the cargo data;
the four-way vehicle rollover model construction unit is used for constructing a four-way vehicle rollover model based on the rollover point, wherein the four-way vehicle rollover model is used for indicating the correlation among acceleration and cargo weight data of the four-way vehicle, moment of the rollover point, vehicle inclination angle of the four-way vehicle and vehicle rollover resistance rigidity;
the speed change motion model construction unit is used for constructing a speed change motion model corresponding to the four-way vehicle in speed change motion based on the cargo data, and the speed change motion model is used for indicating the correlation between the reaction force of the track acting on the wheels of the four-way vehicle and the inclination angle, the deformation quantity and the rigidity of the wheels of the four-way vehicle;
the parameter calculation unit is used for combining the four-way vehicle rollover model and the variable speed motion model to obtain the vehicle inclination angle of the four-way vehicle and the moment of the rollover point;
the rollover critical condition calculation unit is used for determining rollover critical conditions according to the four-way vehicle rollover model, the vehicle inclination angle of the four-way vehicle and the moment of the rollover point, wherein the rollover critical conditions are used for indicating critical conditions met by acceleration data of the four-way vehicle when the goods rollover;
wherein, the roll over point determining unit includes:
the side turning point calibration unit is used for taking the position of the goods, which is from the top to the bottom in the height direction, as a preset height distance as a side turning point based on the goods height data;
the cargo model building unit is used for building a cargo model related to the rollover point based on the cargo weight data and the cargo height data; the cargo model comprises a first cargo module and a second cargo module which are connected in the height direction, wherein the first cargo module is used for representing a model part from the top of the cargo to the rollover point, and the second cargo module is used for representing a model part from the rollover point to the bottom of the cargo;
the four-way vehicle rollover prevention scheduling device further comprises:
the four-way vehicle rollover model building unit is used for obtaining the four-way vehicle rollover model through formulas (1), (2), (3) and (4):
（1）
（2）
（3）
（4）
wherein,the cargo quality corresponding to the first cargo module; />For the acceleration of the four-way vehicle, +.>Gravitational acceleration; />For the height of the track to the top of the four-way car, < ->For the height of the rollover point to the rail, < >>For the height of the top of the cargo to the rail, +.>The height from the top of the goods to the rollover point; />For the moment of the center of mass of the four-way vehicle and the second cargo module, < >>For the moment of the first cargo module and the rollover point, < >>Moment of the side turning point and the mass center of the four-way vehicle; />The vehicle rollover resistance stiffness value of the four-way vehicle; />For the inclination angle of the first cargo module with the whole vehicle, < >>The inclination angle between the second cargo module and the whole vehicle is set;
a variable speed motion model establishing unit for obtaining the variable speed motion model by formulas (5), (6), (7) and (8):
（5）
（6）
（7）
（8）
wherein,first reaction force acting on the wheels of the four-way vehicle for the track, < > for the track>A second reaction force acting on the wheels of the four-way vehicle for the track; />The rigidity value is the rigidity value in the lead direction of the four-way vehicle wheel; />Is the deformation of the wheels of the four-way vehicle after rollover>The deformation quantity of the four-way vehicle wheels before rollover occurs; />A vehicle wheelbase for the four-way vehicle; />For total weight data characterizing the weight of the cargo and the four-way vehicle;
a condition calculation unit for obtaining the rollover critical condition by the formula (9):
（9）
wherein,is the friction coefficient of the track->And the cargo quality corresponding to the second cargo module.
6. The four-way vehicle rollover prevention scheduling device of claim 5, wherein the PID control module comprises:
the motion data acquisition unit is used for acquiring motion data of the four-way vehicle, wherein the motion data comprises speed data and acceleration data;
the deviation calculation unit is used for determining corresponding deviation data based on the speed data and preset expected speed data, wherein the deviation data comprises speed deviation and deviation change rate;
and the PID control model calculation unit is used for inputting the deviation data into a pre-established PID control model, controlling the motion data of the four-way vehicle, keeping the acceleration data not to reach the rollover critical condition, and outputting the regulating speed data for indicating the four-way vehicle to run so as to form the scheduling strategy.
CN202311091954.3A 2023-08-29 2023-08-29 Four-way vehicle rollover prevention scheduling method and device Active CN116824113B (en)

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