CN116911582B - Fault rescue system and method for autonomous transfer device - Google Patents

Fault rescue system and method for autonomous transfer device Download PDF

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CN116911582B
CN116911582B CN202311185722.4A CN202311185722A CN116911582B CN 116911582 B CN116911582 B CN 116911582B CN 202311185722 A CN202311185722 A CN 202311185722A CN 116911582 B CN116911582 B CN 116911582B
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rescue
autonomous transfer
fault
autonomous
vehicle
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CN116911582A (en
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熊高金
罗俊斌
张永
王碧章
汪炜穑
张瑞
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Kunming Kunchuan Smart Airport Technology Co ltd
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Abstract

The invention discloses a fault rescue system and a fault rescue method for an autonomous transfer device, and belongs to the technical field of logistics. The system comprises a dispatching system, an autonomous transfer device and an autonomous transfer rescue device which are in communication connection with the dispatching system; the autonomous transfer device is used for receiving signals of the dispatching system to realize autonomous transport of the articles, performing fault self-detection when faults occur, generating fault signals and sending the fault signals to the dispatching system; the dispatching system is used for receiving fault signals of the automatic transfer device and calling the automatic transfer rescue device to rescue; the autonomous transfer rescue device is used for receiving the calling signal of the dispatching system to rescue the autonomous transfer rescue device. The invention can respond and process the fault transferring device in time.

Description

Fault rescue system and method for autonomous transfer device
Technical Field
The invention relates to the technical field of logistics, in particular to a fault rescue system and method for an autonomous transfer device.
Background
With the continuous development of the requirements of intelligent airport construction, more and more autonomous transfer device (including AGV, AMR, etc.) technologies are applied to airport luggage flexible systems.
However, in the system application process, the autonomous transfer device is inevitably failed. When the autonomous transfer device fails, the system cannot process the autonomous transfer device in time, so that traffic jams of other autonomous transfer devices or baggage on the autonomous transfer device with failure cannot be transported to a designated position in time, and serious accidents such as flight delay and the like are caused.
Therefore, how to timely rescue the faulty autonomous transfer device to solve the above technical problems is a problem that needs to be solved by those skilled in the art.
Disclosure of Invention
In view of the above, the present invention provides a system and a method for rescuing a failure of an autonomous transfer device, which optimizes the rescue process of the failed autonomous transfer device based on the autonomous transfer rescue device, and solves the defects in the prior art.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
on one hand, the invention discloses a fault rescue system of an autonomous transfer device, which comprises a dispatching system, and an autonomous transfer device and an autonomous transfer rescue device which are in communication connection with the dispatching system;
the autonomous transfer device is used for receiving signals of the dispatching system to realize autonomous transport of the articles, performing fault self-detection when faults occur, generating fault signals and sending the fault signals to the dispatching system;
the dispatching system is used for receiving fault signals of the automatic transfer device and calling the automatic transfer rescue device to rescue;
the autonomous transfer rescue device is used for receiving the calling signal of the dispatching system and the fault signal to rescue the autonomous transfer device.
Preferably, a first running device is arranged at the bottom of the autonomous transfer device, and a first vehicle-mounted conveying device is arranged at the top of the autonomous transfer device; a drag ring is arranged on the end face perpendicular to the conveying direction of the first vehicle-mounted conveying device;
the autonomous transfer device is internally provided with a plurality of automatic transfer devices,
the first signal transmission module is used for receiving and transmitting signals;
a first vehicle control system for controlling the autonomous transfer device to convey the article according to the received signal, and
the fault self-checking module is used for generating a fault signal when the autonomous transfer device fails.
Preferably, in the autonomous transfer device, a side parallel to the conveying direction at the top of the first vehicle-mounted conveying device extends upward to form a first baffle, and the first baffle is provided with a first detection device.
Preferably, the bottom of the autonomous transfer rescue device is provided with a second running device, the top of the autonomous transfer rescue device is provided with a second vehicle-mounted conveying device, the end face perpendicular to the conveying direction of the second vehicle-mounted conveying device is provided with a rescue connecting device matched with the pull ring,
the autonomous transfer rescue device is internally provided with,
the second signal transmission module is used for receiving and transmitting signals;
and the second vehicle control system is used for controlling the autonomous transfer rescue device to implement rescue work according to the received signals.
Preferably, the rescue connection device comprises a U-shaped mounting support, the bottom of the U-shaped mounting support is fixed on the autonomous transfer rescue device, a push-pull electromagnet is fixed above an upper support plate of the U-shaped mounting support, through holes corresponding to the push-pull electromagnet are formed in the upper support plate and a lower support plate of the U-shaped mounting support, and the push-pull electromagnet is used for guiding and positioning a telescopic rod in the push-pull electromagnet.
Preferably, a push-pull electromagnet mounting plate is fixed above the upper support plate of the U-shaped mounting support, and the push-pull electromagnet is fixed through the push-pull electromagnet mounting plate.
Preferably, a first detection device is arranged at the bottom of the U-shaped mounting support and used for detecting the in-place condition before the U-shaped mounting support is connected with a pull ring of a fault device; and a second detection device is fixedly arranged below the lower support plate of the U-shaped mounting support and used for detecting whether the telescopic rod of the push-pull electromagnet extends in place or not.
Preferably, in the autonomous transfer rescue device, a side parallel to the conveying direction at the top of the second vehicle conveying device extends upward to form a second baffle, and a second detection device is mounted on the second baffle.
Preferably, the second vehicle-mounted conveying device is mounted on the top of the second travelling device through a rotating shaft perpendicular to the conveying direction, and is used for rotating the second vehicle-mounted conveying device in a vertical plane parallel to the conveying direction;
an auxiliary guide rod assembly is arranged on one side of the rotating shaft, one end of the guide rod assembly is hinged to the lower surface of the second vehicle-mounted conveying device, and the other end of the guide rod assembly is fixed to the second travelling device.
On the other hand, the invention discloses a fault rescue method of an autonomous transfer device, which comprises the following steps of,
the autonomous transfer device receives signals of the dispatching system and performs autonomous transportation of the articles; when a fault occurs, performing fault self-detection, generating a fault signal and sending the fault signal to a dispatching system;
the dispatching system receives the fault signal of the automatic transfer device and calls the automatic transfer rescue device to rescue;
the autonomous transfer rescue device receives the call signal of the dispatching system to rescue the autonomous transfer device.
Preferably, the fault self-checking comprises detecting the travel drive, the first vehicle control system and the first vehicle transport device and determining the fault type and the corresponding rescue plan.
Preferably, the rescue protocol comprises:
the autonomous transfer device sends the information of the position and the condition of whether the article exists or not to the dispatching system,
the dispatching system calls the autonomous transfer rescue device and sends the information of the position of the autonomous transfer device and the condition of whether articles exist or not to the autonomous transfer rescue device; the autonomous transfer rescue device receives information and operates to a fault position;
when the traveling drive, the first vehicle-mounted control system and the first vehicle-mounted conveying device all fail, executing a first rescue strategy, including:
driving the autonomous transfer rescue device, completing connection of the two devices, and after connection, carrying the failed autonomous transfer device to a designated position and sending out maintenance application information; if the autonomous transfer device is loaded with the articles to be transferred, sending out a manual processing application;
when the traveling drive fails and the first vehicle-mounted control system and the first vehicle-mounted conveying device are normal, if articles to be transferred exist, executing a second rescue strategy, otherwise, executing the first rescue strategy,
the second rescue strategy comprises:
the second vehicle control system in the autonomous transfer rescue device is in butt joint with the first vehicle control system in the autonomous transfer rescue device, so that the articles to be transferred are transferred to the autonomous transfer rescue device;
and after the autonomous transfer rescue device conveys the articles to be transferred to the destination for unloading, executing a first rescue strategy.
As can be seen from the above technical solution, the present invention discloses a fault rescue system and method for an autonomous transfer device, which, compared with the prior art,
according to the invention, the control system of the autonomous transfer device is used for autonomously checking faults, and the faults are uploaded to the dispatching system after the types of the faults are identified so as to call the autonomous transfer rescue device to perform subsequent and timely fault treatment; the fault rescue system or the fault rescue method can respond and process the fault transfer device in time, so that the problems that the automatic transfer device is jammed in traffic caused by the fault or the luggage on the automatic transfer device cannot be transported to a designated position in time due to the fault are effectively solved, and serious accidents such as flight delay and the like are caused because the luggage cannot be transported to a designated airplane on time.
On the other hand, the conveying device carried by the rescue vehicle can enable the conveying surface of the conveying device to be lower than the conveying surface of the conveying device carried by the fault vehicle in a rotating mode, so that the phenomenon of clamping stagnation of luggage during transportation between the two vehicles is prevented;
on the other hand, the rescue connection device carried by the rescue vehicle can realize self-detection, so that the complete connection of the two vehicles is ensured; meanwhile, the rescue connection device carried by the rescue vehicle can realize the hinging of the two vehicles, so that the turning radius of the two vehicles when running simultaneously is reduced.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims thereof as well as the appended drawings.
The technical scheme of the invention is further described in detail through the drawings and the embodiments.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of an autonomous transfer device according to the present invention;
FIG. 2 is a schematic structural diagram of the autonomous transfer rescue device of the invention;
FIG. 3 is a schematic view of an auxiliary guide bar assembly according to the present invention;
FIG. 4 is a front view of the rescue attachment of the present invention;
FIG. 5 is a side view of the rescue connection device of the present invention;
FIG. 6 is a schematic diagram of a normal structure of the rescue connection device according to the present invention;
FIG. 7 is a schematic view of the rescue connection device according to the present invention when the rescue connection device is in a suction state;
FIG. 8 is a schematic diagram of the autonomous transfer rescue device of the present invention in rescue;
FIG. 9 is a schematic diagram of the autonomous transfer rescue device of the present invention transferring items;
fig. 10 is a schematic diagram of a rescue flow of the autonomous transfer device.
Reference numerals illustrate:
1-fault device, 2-rescue device, 3-luggage, 11-first running device, 12-first vehicle conveying device, 13-towing ring, 14-first detection device, 21-second running device, 22-second vehicle conveying device, 23-rescue connection device, 24-second detection device, 25-auxiliary guide rod assembly, 231-U-shaped mounting support, 232-push-pull electromagnet mounting plate, 233-push-pull electromagnet, 234-first detection device, 235-second detection device mounting plate and 236-second detection device.
Detailed Description
The following description of the embodiments of the present invention 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 invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The embodiment of the invention discloses a fault rescue system and a fault rescue method for an autonomous transfer device, and aims to provide a rescue system, optimize the rescue flow of a fault device based on the system, namely, preferentially process baggage on the fault device, and then implement physical rescue of the fault device, so that the problem that serious accidents such as flight delay and the like are caused because the baggage on the fault device cannot be transported to a designated position in time due to traffic jam of the fault device or the baggage on the fault device cannot be transported to a designated airplane on time is solved.
In order to make the implementation of this case clear to a person skilled in the art, the following description is given by way of examples.
Example 1
The embodiment discloses an autonomous transfer device fault rescue system, which comprises a dispatching system, an autonomous transfer device and an autonomous transfer rescue device, wherein the autonomous transfer device and the autonomous transfer rescue device are in communication connection with the dispatching system;
the autonomous transfer device is used for receiving signals of the dispatching system to realize autonomous transport of the articles, performing fault self-detection when faults occur, generating fault signals and sending the fault signals to the dispatching system;
the dispatching system is used for receiving fault signals of the automatic transfer device and calling the automatic transfer rescue device to rescue;
the autonomous transfer rescue device is used for receiving the calling signal of the dispatching system to rescue the autonomous transfer rescue device.
FIG. 1 is a schematic view of an autonomous transfer device according to the present invention; wherein,
the bottom of the autonomous transfer device is provided with a first running device 11, and the top of the autonomous transfer device is provided with a first vehicle-mounted conveying device 12; a pulling ring 13 is arranged on the end surface perpendicular to the conveying direction of the first vehicle-mounted conveying device 12; the pulling ring 13 is a ring-shaped device with a hollow inside, and can be hinged with an external connecting piece in a mode of externally penetrating connection;
wherein, the first running device 11 can be a conventional AGV, AMR and the like, and can control the driving device and the running wheels to run to corresponding positions according to the set tracks through the control system;
the first vehicle-mounted conveying device 12 is a conventional belt conveyor or a roller conveyor and is arranged at the upper part of the first running device 11, so that the luggage 3 can be transported;
the autonomous transfer apparatus is internally installed (not shown in the drawings),
the first signal transmission module is used for receiving and transmitting signals;
a first vehicle control system for controlling the autonomous transfer device to convey the article according to the received signal, and
the fault self-checking module is used for generating a fault signal when the autonomous transfer device fails.
Further, in the autonomous transfer device, a first baffle plate is extended upward from a side parallel to the conveying direction at the top of the first vehicle-mounted conveying device 12, and a first detection device 14 is mounted on the first baffle plate; for detecting the presence or absence of the baggage 3 thereabove.
Fig. 2 is a schematic structural diagram of an autonomous transfer rescue device, as shown in the figure,
the bottom of the autonomous transfer rescue device is provided with a second running device 21, the top of the autonomous transfer rescue device is provided with a second vehicle-mounted conveying device 22, the end face perpendicular to the conveying direction of the second vehicle-mounted conveying device 22 is provided with a rescue connecting device 23 matched with a pull ring,
wherein, the second running device 21 can be a conventional AGV, AMR and the like, and can control the driving device and the running wheels to run to corresponding positions according to the set tracks through the control system;
the second vehicle-mounted conveying device 22 is a conventional belt conveyor or a roller conveyor and is arranged at the upper part of the second travelling device 21, so that the baggage 3 can be transported;
the autonomous transfer rescue device is internally provided with a device (not shown in the figure),
the second signal transmission module is used for receiving and transmitting signals;
and the second vehicle control system is used for controlling the autonomous transfer rescue device to implement rescue work according to the received signals.
In the autonomous transfer rescue device, a second baffle plate extends upwards from the side parallel to the conveying direction at the top of the second vehicle-mounted conveying device 22, and a second detection device 24 is arranged on the second baffle plate; for detecting the presence or absence of the baggage 3 thereabove.
The devices of the first detection device 14 and the second detection device 24 are detection devices such as a conventional photoelectric switch, a proximity switch, a travel switch and the like.
And the second vehicle-mounted conveying device 22 is mounted on the autonomous transfer rescue device body through a rotating shaft perpendicular to the conveying direction, and is used for enabling the second vehicle-mounted conveying device 22 to rotate in a vertical plane parallel to the conveying direction so as to prevent the luggage from being jammed in the conveying process.
Specifically, the second vehicle-mounted conveying device 22 can rotate around the fixed point of the opening, as shown in fig. 3, one end of the auxiliary guide rod assembly 25 is hinged to the lower surface of the second vehicle-mounted conveying device 22, the other end of the auxiliary guide rod assembly 25 is fixedly mounted on the second traveling device 21, the structure is in a linear bearing form or a linear guide rail form or a conventional connecting rod form, a conventional micro motor or an electric roller is configured in the second vehicle-mounted conveying device as a power source, the specific form is not limited, the material inlet and outlet ends of the second vehicle-mounted conveying device swing in a vertical plane, and accordingly a set height difference (such as 50 mm) is generated when the conveying plane can be in a horizontal state, and therefore the luggage 3 is prevented from being jammed in the transportation process.
At present, two vehicles are connected, namely, an autonomous transfer rescue device is provided with a telescopic rotating mechanism, the front end of the mechanism is provided with a hook or a clamping piece, namely, after a connecting rod extends out of the rescue device to the position above a hook groove or a clamping groove of a fault device, the two devices are rotated, so that the two devices are connected. In the structural form, before the rescue device does not reach the fault device, the corresponding rescue connection device is needed to be hidden in the rescue device, and the distance between the two connected devices is large, namely the length of the two connected devices is increased.
In the running process of the scheme, the required turning radius is increased, namely, a larger running space is required to be provided for solving the running safety problem of the two devices, so that the effective risk of the system is reduced, and the luggage processing capacity is reduced.
In this regard, the present embodiment proposes a novel connection device, namely, a rescue connection device; as shown in fig. 4 to 7, the rescue connection means 23 includes a U-shaped mounting bracket 231, a push-pull electromagnet mounting plate 232, and push-pull electromagnets 233, wherein upper and lower support plates of the U-shaped mounting bracket 231 are each provided with a guide through hole for guiding and positioning a telescopic rod of the push-pull electromagnet 233, the push-pull electromagnet 233 is fixed on the push-pull electromagnet mounting plate 232 and is provided with a telescopic rod for connecting the hinge guide rod,
in addition, a first detecting device 234 is further arranged at the bottom of the U-shaped mounting seat 231 and is used for detecting in-place detection before the connection with the dragging ring 13 of the fault autonomous transfer device, and a second detecting device 236 is arranged below the lower panel and is used for detecting whether the telescopic rod of the push-pull electromagnet 233 is stretched in place or not.
In this embodiment, the second detecting device 236 is fixed to the second detecting device mounting plate 235, and is fixed to the U-shaped mounting bracket 231 by the second detecting device mounting plate 235.
In the invention, the rescue connection device 23 is arranged on the second running device 21 of the autonomous transfer rescue device through a U-shaped mounting support 231; the push-pull electromagnet 233 is mounted on the U-shaped mounting bracket 231 by a push-pull electromagnet mounting plate 232; the first detecting device 234 is mounted on the U-shaped mounting bracket 231; the second detecting device 236 is mounted on the U-shaped mounting bracket 231 by the second detecting device mounting plate 235.
The push-pull electromagnet 233, the first detection device 234 and the second detection device 236 are supplied with power by the autonomous transfer rescue device, and the receiving and control of signals are also carried by a controller carried by the autonomous transfer rescue device.
The first detection device 234 and the second detection device 236 are commonly used proximity switches, photoelectric switches, or travel switches.
The working principle when the connector is connected is as follows: before the autonomous transfer rescue device runs to the adjacent position of the failed autonomous transfer device, the rescue connection device is in an open state, i.e. a guide rod on the push-pull electromagnet 233 is in an upper position, so that an effective space is provided for the entry of a traction ring 13 of the subsequent failed autonomous transfer device; when the autonomous transfer rescue device runs to the adjacent position of the failed autonomous transfer device through the system control (the in-place information is confirmed by a signal emitter (not shown in the figure) carried by the autonomous transfer rescue device and a debugging system), in-place secondary confirmation is carried out through the detection signal of the first detection device 234, the push-pull electromagnet 233 extends the guide rod of the autonomous transfer rescue device downwards through the system control, the push-pull electromagnet 233 passes through the upper hole and the lower hole of the U-shaped mounting support 231 and the traction ring 13 of the failed autonomous transfer device forms a hinged form, when the second detection device 236 detects the guide rod, the detection signal is sent out, the rescue connection device 23 is converted into a closed state, and in the running process of the two devices, the rescue connection device 23 is always in the closed state until the two devices are required to be separated when the two devices are dragged and transported to the destination.
Example two
The embodiment further discloses a fault rescue method of the autonomous transfer device, comprising the following steps:
the autonomous transfer device receives signals of the dispatching system and performs autonomous transportation of the articles; when a fault occurs, performing fault self-detection, generating a fault signal and sending the fault signal to a dispatching system;
the dispatching system receives the fault signal of the automatic transfer device and calls the automatic transfer rescue device to rescue;
the autonomous transfer rescue device receives the call signal of the dispatching system to rescue the autonomous transfer device.
In this embodiment, the fault self-checking includes detecting the travel drive, the first vehicle control system, and the first vehicle conveying device, and determining a fault type and a corresponding rescue scheme.
Wherein, the rescue scheme includes:
the autonomous transfer device sends the information of the position and the condition of whether the article exists or not to the dispatching system,
the dispatching system calls the autonomous transfer rescue device and sends the information of the position of the autonomous transfer device and the condition of whether articles exist or not to the autonomous transfer rescue device; the autonomous transfer rescue device receives information and operates to a fault position;
further, the method comprises the steps of,
1) When the traveling drive, the first vehicle-mounted control system and the first vehicle-mounted conveying device all fail, executing a first rescue strategy, including:
the autonomous transfer rescue device is driven to finish the connection of the two devices, and the connected state is shown in figure 8, wherein 1 is a fault autonomous transfer device, abbreviated as a fault device, and 2 is an autonomous transfer rescue device participating in rescue, abbreviated as a rescue device;
the fault device 1 is shipped to a designated position, and maintenance application information is sent out; if the fault device 1 is loaded with articles to be transferred, sending out a manual processing application;
2) When the traveling drive fails and the first vehicle-mounted control system and the first vehicle-mounted conveying device are normal, if articles to be transferred exist, executing a second rescue strategy, otherwise, executing the first rescue strategy,
the second rescue strategy comprises:
the second vehicle-mounted control system in the rescue device 2 is in butt joint with the first vehicle-mounted control system in the fault device 1, so that the articles to be transferred are transferred to the rescue device 2; the transfer process is shown in fig. 9;
the rescue device 2 performs a first rescue strategy after transporting the articles to be transferred to the destination for unloading.
In one embodiment, a fault rescue method operation flow chart of the autonomous transfer device is shown in fig. 10, and includes the following steps:
step 001: the respective main transfer devices in the system normally operate;
step 002: wherein the failure means 1 fails;
step 003: the fault device 1 self-checking system performs self-checking on faults;
step 004: the fault device 1 reports position information and fault codes to the system;
step 005: the dispatching system sets the station section of the fault device 1 to be unavailable so that other autonomous transfer devices can bypass the fault point to execute normal tasks;
step 006: the dispatching system analyzes the fault signals, the fault types are the following two fault states, and corresponding fault processing is carried out:
1) Failure state one
The fault device 1 drives the fault to walk, and the first vehicle control system and the first vehicle conveying device work normally;
a) The dispatching system sends information of the luggage 3 on the fault device 1 and position information of the fault device 1 to the rescue device 2;
b) The rescue device 2 is operated to the adjacent position of the fault device 1; in the invention, each autonomous transfer device and each autonomous transfer rescue device are provided with a controller and a signal receiving transmitter, and are used for controlling the operation of a single machine system and receiving and debugging system signals; the commonly used receiving transmitter is a wireless radio frequency signal, and information transmission can be performed through Wifi.
c) The rescue device 2 takes over the first vehicle control system of the fault device 1 by means of the second vehicle control system; the take over is to transfer information of two devices through the signal receiving transmitter, and then to control and execute a signal instruction sent by the other device through the self-contained controller.
d) The second vehicle-mounted conveying device 22 mounted on the rescue device 2 rotates around the placement point, (after the height difference is formed by rotating, the luggage forms a falling state in the conveying process, so that the risk of jamming can be eliminated), and the conveying surface of the second vehicle-mounted conveying device is lower than the conveying surface of the first vehicle-mounted conveying device 12 mounted on the fault device 1 (for example, the height difference is 50 mm), so that the luggage 3 is prevented from being jammed in the process of conveying the fault device 1 to the rescue device 2;
e) The rescue device 2 controls the first vehicle-mounted conveying device 12 of the fault device 1 to enable the baggage 3 on the fault device 1 to be conveyed to the second vehicle-mounted conveying device 22 of the rescue device 2, and confirms that the baggage 3 is completely delivered through the first detection device 14 and the second detection device 24 of the two conveying devices;
f) The rescue device 2 conveys the baggage 3 to a destination for unloading;
g) After the whole sorting task is completed in the same day, the rescue device 2 operates to the adjacent position of the fault device 1, and after the two devices are connected by starting the connection program, the rescue device is transported to a fixed position and sends out in-place maintenance application signals to wait for manual maintenance treatment.
2) Fault state two
The fault device 1 breaks down overall, i.e. the first vehicle control system fails, the travel drive of the fault device 1 fails and the first vehicle transport device fails.
a) The dispatching system sends information of the luggage 3 on the fault device 1 and position information of the fault device 1 to the rescue device 2;
b) The rescue device 2 operates to the adjacent position of the fault device 1, and receives a confirmation in-place signal through a second vehicle control system; the in-place information is confirmed by the signal transmitter < not shown > carried by itself and the debug system, and the in-place secondary confirmation is performed by the detection signal of the first detection device 234,
c) Starting a connection program to connect the two devices;
two device docking procedure:
when the rescue device 2 runs to the adjacent position of the fault device 1 through the second vehicle control system, the detection signal of the first detection device 234 is used for carrying out in-place secondary confirmation, further, the push-pull electromagnet 233 extends the guide rod of the rescue device downwards, the push-pull electromagnet penetrates through the upper hole and the lower hole of the U-shaped mounting support 231 and the traction ring 13 of the fault device 1 to form a hinged mode, when the second detection device 236 detects that the guide rod sends the detection signal, the rescue connection device 23 is switched to be in a closed state, and in the running process of the two devices, the rescue connection device 23 is always in the closed state until the two devices are required to be disconnected when the two devices are required to be dragged and transported to a destination.
d) After the two devices are connected, the rescue device 2 hauls the fault device 1 to a maintenance point, and the fault device is hauled to a fixed position and sends out in-place maintenance application signals to wait for manual maintenance treatment. If the luggage 3 is mounted on the fault device 1, after the luggage 3 on the fault device 1 is processed by ground clothing personnel, the luggage 3 is maintained after all sorting tasks on the same day are completed; if the luggage 3 is not mounted on the fault device 1, after all sorting tasks are completed on the same day, the ground clothing personnel repair the luggage.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (9)

1. The fault rescue system of the automatic transfer device is characterized by comprising a dispatching system, and an automatic transfer device and an automatic transfer rescue device which are in communication connection with the dispatching system;
the autonomous transfer device is used for receiving signals of the dispatching system to realize autonomous transport of the articles, performing fault self-detection when faults occur, generating fault signals and sending the fault signals to the dispatching system;
the dispatching system is used for receiving fault signals of the automatic transfer device and calling the automatic transfer rescue device to rescue;
the autonomous transfer rescue device is used for receiving a calling signal of the dispatching system and the fault signal to rescue the autonomous transfer device;
the rescue scheme comprises the following steps:
the autonomous transfer device sends the information of the position and the condition of whether the article exists or not to the dispatching system,
the dispatching system calls the autonomous transfer rescue device and sends the information of the position of the autonomous transfer device and the condition of whether articles exist or not to the autonomous transfer rescue device; the autonomous transfer rescue device receives information and operates to a fault position;
when all the traveling driving, the vehicle-mounted control system and the vehicle-mounted conveying device are in fault, executing a first rescue strategy, wherein the first rescue strategy comprises the following steps:
driving the autonomous transfer rescue device, completing connection of the two devices, and after connection, carrying the failed autonomous transfer device to a designated position and sending out maintenance application information; if the autonomous transfer device is loaded with the articles to be transferred, sending out a manual processing application;
when the traveling driving is failed and the vehicle-mounted control system and the vehicle-mounted conveying device are normal, if articles to be transferred exist, executing a second rescue strategy, otherwise, executing the first rescue strategy,
the second rescue strategy comprises:
the second control system in the autonomous transfer rescue device is in butt joint with the first control system in the autonomous transfer rescue device, so that the articles to be transferred are transferred to the autonomous transfer rescue device;
and after the autonomous transfer rescue device conveys the articles to be transferred to the destination for unloading, executing a first rescue strategy.
2. The system according to claim 1, wherein the autonomous transfer device is provided with a first traveling device at the bottom and a first vehicle-mounted conveying device at the top; a drag ring is arranged on the end face perpendicular to the conveying direction of the first vehicle-mounted conveying device;
the autonomous transfer device is internally provided with a plurality of automatic transfer devices,
the first signal transmission module is used for receiving and transmitting signals;
a first control system for controlling the autonomous transfer device to convey the articles according to the received signal, and
the fault self-checking module is used for generating a fault signal when the autonomous transfer device fails.
3. The system according to claim 2, wherein a first baffle plate is extended upward from a side of the autonomous transfer device, the side being parallel to the conveying direction of the first vehicle-mounted conveying device, and the first detection device is mounted on the first baffle plate.
4. The trouble shooting system for autonomous moving apparatus according to claim 1, wherein the autonomous moving apparatus has a second traveling means installed at the bottom, a second vehicle-mounted conveyor installed at the top, a rescue connection means fitted to a pull ring provided on an end face perpendicular to the conveying direction of the second vehicle-mounted conveyor,
the autonomous transfer rescue device is internally provided with,
the second signal transmission module is used for receiving and transmitting signals;
and the second control system is used for controlling the autonomous transfer rescue device to implement rescue work according to the received signals.
5. The fault rescue system of the automatic transfer device according to claim 4, wherein the rescue connection device comprises a U-shaped mounting support, the U-shaped mounting support is fixed on the automatic transfer rescue device through the bottom of the U-shaped mounting support, push-pull electromagnets are fixed above an upper support plate of the U-shaped mounting support, through holes corresponding to the push-pull electromagnets are formed in an upper support plate and a lower support plate of the U-shaped mounting support, and the push-pull electromagnets are used for guiding and positioning a telescopic rod in the push-pull electromagnets.
6. The system according to claim 4, wherein the autonomous transfer rescue device has a second baffle extending upward from a side of the autonomous transfer rescue device having a top parallel to a conveying direction of the second vehicle conveying device, and the second baffle is provided with a second detection device.
7. The system according to claim 4, wherein the second vehicle-mounted conveyor is mounted on top of the second traveling device by a rotation shaft perpendicular to the conveying direction, for rotating the second vehicle-mounted conveyor in a vertical plane parallel to the conveying direction;
an auxiliary guide rod assembly is arranged on one side of the rotating shaft, one end of the auxiliary guide rod assembly is hinged to the lower surface of the vehicle-mounted conveying device, and the other end of the auxiliary guide rod assembly is fixed to the second running device.
8. A fault rescue method of an autonomous transfer device is characterized by comprising the steps of,
the autonomous transfer device receives signals of the dispatching system and performs autonomous transportation of the articles; when a fault occurs, performing fault self-detection, generating a fault signal and sending the fault signal to a dispatching system;
the dispatching system receives the fault signal of the automatic transfer device and calls the automatic transfer rescue device to rescue;
the autonomous transfer rescue device receives a calling signal of the dispatching system to rescue the autonomous transfer device;
the rescue scheme comprises the following steps:
the autonomous transfer device sends the information of the position and the condition of whether the article exists or not to the dispatching system,
the dispatching system calls the autonomous transfer rescue device and sends the information of the position of the autonomous transfer device and the condition of whether articles exist or not to the autonomous transfer rescue device; the autonomous transfer rescue device receives information and operates to a fault position;
when all the traveling driving, the vehicle-mounted control system and the vehicle-mounted conveying device are in fault, executing a first rescue strategy, wherein the first rescue strategy comprises the following steps:
driving the autonomous transfer rescue device, completing connection of the two devices, and after connection, carrying the failed autonomous transfer device to a designated position and sending out maintenance application information; if the autonomous transfer device is loaded with the articles to be transferred, sending out a manual processing application;
when the traveling driving is failed and the vehicle-mounted control system and the vehicle-mounted conveying device are normal, if articles to be transferred exist, executing a second rescue strategy, otherwise, executing the first rescue strategy,
the second rescue strategy comprises:
the second control system in the autonomous transfer rescue device is in butt joint with the first control system in the autonomous transfer rescue device, so that the articles to be transferred are transferred to the autonomous transfer rescue device;
and after the autonomous transfer rescue device conveys the articles to be transferred to the destination for unloading, executing a first rescue strategy.
9. The method of claim 8, wherein the fault self-checking includes detecting a travel drive, a vehicle control system, and a vehicle conveyor, and determining a fault type, and a corresponding rescue plan.
CN202311185722.4A 2023-09-14 2023-09-14 Fault rescue system and method for autonomous transfer device Active CN116911582B (en)

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