CN116923988B - Intelligent remote control monorail conveyor, control method and medium - Google Patents
Intelligent remote control monorail conveyor, control method and medium Download PDFInfo
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- CN116923988B CN116923988B CN202311203198.9A CN202311203198A CN116923988B CN 116923988 B CN116923988 B CN 116923988B CN 202311203198 A CN202311203198 A CN 202311203198A CN 116923988 B CN116923988 B CN 116923988B
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- 238000000034 method Methods 0.000 title claims abstract description 38
- 230000008859 change Effects 0.000 claims abstract description 45
- 230000033001 locomotion Effects 0.000 claims description 23
- 230000003014 reinforcing effect Effects 0.000 claims description 7
- 238000012937 correction Methods 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000004364 calculation method Methods 0.000 claims description 3
- 230000001681 protective effect Effects 0.000 claims description 2
- 230000002441 reversible effect Effects 0.000 claims description 2
- 230000009467 reduction Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000012856 packing Methods 0.000 description 3
- 239000003351 stiffener Substances 0.000 description 3
- 230000002159 abnormal effect Effects 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
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Abstract
The embodiment of the application provides an intelligent remote control monorail conveyor, a control method and a medium, wherein the monorail conveyor comprises the following components: the track and the conveyor body are connected to the top of the track in a matching way; a plurality of tooth plates are arranged at the bottom of the track; the conveyor body comprises a gearbox and a power source arranged at the top of the speed change, and the power source is used for outputting power to the gearbox and controlling the gearbox to slide along a track; the output end of the gearbox is connected with a driving wheel which is meshed with the tooth plate; the application has compact layout and small volume, and the application has the application foundation on equipment with tension space condition, so that the transportation can be carried out without relying on manpower, the manpower is greatly liberated, the transportation efficiency is improved, and the start and stop of the conveyor at any position are realized through intelligent remote control.
Description
Technical Field
The application relates to the field of monorail transportation, in particular to an intelligent remote control monorail transportation machine, a control method and a medium.
Background
The cargo airplane is used for carrying the packing box, can lead through setting up the track in carrying out the in-process, and current cargo airplane all is through the removal of double track carrying out the cargo airplane, has increased area occupied, and the setting of double track can cause the cargo airplane to appear when the deviation at two track speeds, causes the great wearing and tearing of cargo airplane, and the control degree of difficulty is higher, in addition, also can not effectively show in the limited space of part, and the transportation degree of difficulty is great, to above-mentioned problem, await the first-order effectual technical solution at present.
Disclosure of Invention
The embodiment of the application aims to provide an intelligent remote control monorail conveyor, a control method and a medium, and the technology of starting and stopping the conveyor at any position can be realized by intelligently and remotely controlling the position of the conveyor, the moving speed and the moving direction of the conveyor.
The embodiment of the application also provides an intelligent remote control monorail conveyor, which comprises: the track and the conveyor body are connected to the top of the track in a matching way;
a plurality of tooth plates are arranged at the bottom of the track;
the conveyor body comprises a gearbox and a power source arranged at the top of the gearbox, wherein the power source is used for outputting power to the gearbox and controlling the gearbox to slide along a track;
the output end of the gearbox is connected with a driving wheel which is meshed with the tooth plate;
and a guide wheel is arranged at one side of the gearbox and positioned at the top of the track, and the guide wheel synchronously slides with the driving wheel.
Optionally, in the intelligent remote control monorail conveyor according to the embodiment of the present application, one end of the conveyor body is provided with a first traction hinge, the other end of the conveyor body is provided with a second traction hinge, and the ends of the first traction hinge and the second traction hinge are provided with at least one fixing hole.
Optionally, in the intelligent remote control monorail conveyor according to the embodiment of the present application, the conveyor body further includes a first control motor and a second control motor, the first control motor is disposed above the gearbox, a belt pulley is disposed at the top of the gearbox, the first control motor is connected with the belt pulley through a transmission belt, and the first control motor is used for controlling the gear of the gearbox to be shifted to a forward gear or a backward gear; the second control motor is connected with the driving wheel in a matched mode, and the second control motor is used for controlling starting and stopping of the gearbox, so that the driving wheel is driven to slide along the track.
Optionally, in the intelligent remote control monorail transport vehicle according to the embodiment of the present application, a storage battery is provided at one side of the gearbox, a control unit is provided at one side of the storage battery, the storage battery is used for providing power for the control unit, the first control motor and the second control motor, and the control unit is connected with a remote controller in a wireless connection manner.
Optionally, in the intelligent remote control monorail conveyor according to the embodiment of the present application, a protection frame is provided on an outer side of the conveyor body, the power source is a gasoline engine, and an oil tank is provided on one side of the power source.
Optionally, in the intelligent remote control monorail transport machine according to the embodiment of the present application, a plurality of fixing rings are uniformly distributed on one side of the track along the length direction of the track, a bracket is inserted into the inner side of the fixing rings, and the bracket is perpendicular to the track.
Optionally, in the intelligent remote control monorail transport vehicle according to the embodiment of the present application, a fixing seat is provided at the bottom of the support, a reinforcing rod is hinged at the middle position of the support, and an angle between the reinforcing rod and the support is 30-60 degrees.
In a second aspect, an embodiment of the present application provides a control method for an intelligent remote control monorail conveyor, which is applied to the intelligent remote control monorail conveyor according to any one of the preceding claims, and includes the following steps:
acquiring track parameter information, establishing a moving position coordinate according to the track parameter information, and acquiring real-time position information of a conveyor body;
comparing the real-time position information of the conveyor body with preset position information to obtain a position deviation rate;
judging whether the position deviation rate is larger than or equal to a preset deviation rate threshold value;
if the motion parameter is greater than or equal to the motion parameter, generating compensation information, and carrying out feedback correction on the motion parameter of the conveyor body according to the compensation information;
if the movement state information is smaller than the preset value, the movement state information of the conveyor body is acquired in real time.
Optionally, in the method for controlling an intelligent remote control monorail transport according to the embodiment of the present application, after the track parameter information is obtained, a moving position coordinate is established according to the track parameter information, and the real-time position information of the transport body is obtained, the method further includes:
establishing a mark point according to the track parameter information, and acquiring coordinates of the mark point;
acquiring real-time position information of a conveyor body, and generating position coordinates of a central point of the conveyor body;
comparing the position coordinates of the marking points with the position coordinates of the central point of the conveyor body, and calculating the distance between the conveyor body and the marking points;
setting time nodes, and generating distances between conveyor bodies and marking points of different time nodes;
performing difference calculation on the distance between the conveyor body of the adjacent time node and the mark point to obtain a distance difference;
judging whether the distance difference is positive, if so, judging that the conveyor body moves along the first direction;
if the value is negative, judging that the conveyor body moves along the second direction;
the first direction is opposite to the second direction.
In a third aspect, an embodiment of the present application further provides a computer readable storage medium, where the computer readable storage medium includes an intelligent remote control monorail transport control method program, where the intelligent remote control monorail transport control method program, when executed by a processor, implements the steps of the intelligent remote control monorail transport control method according to any one of the preceding claims.
As can be seen from the above, the intelligent remote control monorail conveyor, the control method and the medium provided by the embodiment of the application are characterized in that a track and a conveyor body which is connected to the top of the track in a matching way are arranged; a plurality of tooth plates are arranged at the bottom of the track; the conveyor body comprises a gearbox and a power source arranged at the top of the speed change, and the power source is used for outputting power to the gearbox and controlling the gearbox to slide along a track; the output end of the gearbox is connected with a driving wheel which is meshed with the tooth plate; the application has compact layout and small volume, and the application has the application foundation on equipment with tension space condition, so that the transportation can be carried out without relying on manpower, the transportation efficiency is greatly improved, and the technology of starting and stopping the conveyor at any position is realized through intelligent remote control.
Additional features and advantages of the application will be set forth in the description which follows, and in part will be obvious from the description, the claims, and the drawings, as well as the objects and advantages of the application may be realized and obtained by means of the instrumentalities particularly pointed out in the written description, claims, and drawings.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and should not be considered as limiting the scope, and other related drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic structural diagram of an intelligent remote control monorail transport provided by an embodiment of the present application;
fig. 2 is a schematic perspective view of a conveyor body according to an embodiment of the present application;
FIG. 3 is a schematic view of another angle of the conveyor body according to an embodiment of the present application;
FIG. 4 is a flowchart of a method for controlling an intelligent remote control monorail transport provided by an embodiment of the present application;
fig. 5 is a flow chart of controlling the movement direction of a conveyor body in the control method of the intelligent remote control monorail conveyor according to the embodiment of the application.
In the figure: 1. the protection frame, 2, the conveyor body, 201, the control unit, 202, the storage battery, 203, the belt pulley, 204, the gearbox, 205, the driving wheel, 206, the first control motor, 207, the oil tank, 208, the power source, 209, the second control motor, 210, the bearing wheel, 211 and the guide wheel;
3. the first traction hinge, 4, the second traction hinge, 5, the track, 501, the tooth piece, 502, the fixed ring, 6, the bracket, 7, the fixed seat, 8 and the reinforcing rod.
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. The components of the embodiments of the present application generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the application, as presented in the figures, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by a person skilled in the art without making any inventive effort, are intended to be within the scope of the present application.
It should be noted that like reference numerals and letters refer to like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only to distinguish the description, and are not to be construed as indicating or implying relative importance.
Referring to fig. 1-3, the application discloses an intelligent remote control monorail conveyor, comprising: the track 5 and the conveyor body 2 which are matched and connected to the top of the track 5;
a plurality of tooth plates 501 are arranged at the bottom of the track 5;
the conveyor body 2 comprises a gearbox 204 and a power source 208 arranged at the top of the speed change, wherein the power source 208 is used for outputting power to the gearbox 204 and controlling the gearbox 204 to slide along the track 5;
the output end of the gearbox 204 is connected with a driving wheel 205, the driving wheel 205 is meshed with the tooth piece 501, and one side of the driving wheel 205 is provided with a bearing wheel 210;
a guide wheel 211 is arranged on one side of the gearbox 204 and positioned at the top of the track 5, and the guide wheel 211 and the driving wheel 205 synchronously slide.
In addition, the driving wheel 205 is meshed with the tooth plate 501, so that the conveyor can accurately slide along the track 5, the moving distance of the conveyor along the track 5 is accurately controlled, the control precision is improved, and the driving wheel 205 and the guide wheel 211 are respectively arranged at the bottom and the top of the track 5, so that the conveyor can firmly slide along the track 5 and be prevented from being separated from the track 5.
According to the embodiment of the application, one end of the conveyor body 2 is provided with a first traction hinge 3, the other end of the conveyor body 2 is provided with a second traction hinge 4, and the ends of the first traction hinge 3 and the second traction hinge 4 are provided with at least one fixing hole.
According to the embodiment of the application, the conveyor body 2 further comprises a first control motor 206 and a second control motor 209, the first control motor 206 is arranged above the gearbox 204, a belt pulley 203 is arranged at the top of the gearbox 204, the first control motor 206 is connected with the belt pulley 203 through a transmission belt, and the first control motor 206 is used for controlling the gear of the gearbox 204 to be shifted to a forward gear or a backward gear; the second control motor 209 is cooperatively connected with the driving wheel 205, and the second control motor 209 is used for controlling the start and stop of the gearbox 204, so as to drive the driving wheel 205 to slide along the track 5.
According to the embodiment of the application, a storage battery 202 is arranged on one side of the gearbox 204, a control unit 201 is arranged on one side of the storage battery 202, the storage battery 202 is used for providing power for the control unit 201, the first control motor 206 and the second control motor 209, and the control unit 201 is connected with a remote controller in a wireless connection mode in a matching mode.
It should be noted that, the control unit 201 is configured to process the remote signal, control the rotation and stop of the first control motor 206 and the second control motor 209, so as to implement the actions of starting and stopping, advancing and retreating, etc. of the monorail transporter, and the storage battery 202 mainly provides power for the control unit 201 and the motors; the first control motor 206 changes the gear of the gearbox 204, the second control motor 209 realizes the actions of starting, stopping, advancing, retreating and the like of the whole machine, and the remote controller is used for outputting a remote control signal.
According to the embodiment of the application, the protection frame 1 is arranged on the outer side of the conveyor body 2, the power source 208 is a gasoline engine, and the oil tank 207 is arranged on one side of the power source 208.
According to the embodiment of the application, a plurality of fixing rings 502 are uniformly distributed on one side of the track 5 along the length direction of the track 5, the inner sides of the fixing rings 502 are inserted into the brackets 6, and the brackets 6 are arranged perpendicular to the track 5.
To be noted, the fixing ring 502 is inserted through the bracket 6, so that the track 5 can be horizontally arranged, in addition, the bracket 6 can slide in the fixing ring 502 to adjust the distance between the track 5 and the ground, so that the conveyor can be suitable for various use environments, and the use flexibility is improved.
According to the embodiment of the application, the bottom of the bracket 6 is provided with the fixing seat 7, the middle position of the bracket 6 is hinged with the reinforcing rod 8, and the angle between the reinforcing rod 8 and the bracket 6 is 30-60 degrees.
It should be noted that, the angle between the stiffener 8 and the bracket 6 can be adjusted, the track 5 can be supported and fixed by adjusting the angle between the stiffener 8 and the bracket 6, the fixing effect is improved, preferably, the angle between the stiffener 8 and the bracket is 45 degrees, the fixing seat 7 fixes the track 5 through bolts, so that the track 5 keeps a certain distance from the ground, and the transportation efficiency of the conveyor is improved.
The working principle of the application is as follows: the non-working state, the conveyer body 2 is installed on track 5, fixes on track 5 through leading wheel 211 and bearing wheel 210, and can do horizontal migration at track 5, is connected with the packing box through the first hinge 3 that pulls at conveyer body 2 both ends and second hinge 4 that pulls, and track 5 is formed by square pipe and track 5 tooth piece 501 welding, and support 6 is at the setting of track 5 interval certain distance for support track 5 guarantees certain ground clearance.
In the operating state, the conveyor body 2 is provided with a gasoline engine, a gearbox 204, a control unit 201, a first control motor 206, a second control motor 209, a storage battery 202, a driving wheel 205, a guide wheel 211, a protective frame 1 and a belt pulley 203. After receiving the remote control signal, the control unit 201 hangs the gear at the starting position through the second control motor 209, starts the gasoline engine, after receiving the remote control signal, the control unit 201 dials the gear of the gearbox 204 to the forward gear through the first control motor 206, the power is transmitted to the input shaft of the gearbox 204 through the belt, the output shaft of the gearbox 204 drives the driving wheel 205 to rotate, the tooth piece 501 meshed with the driving wheel 205 has a acting force parallel to the track 5, so that the single conveyor body 2 moves at a constant speed in the horizontal direction on the track 5, and the container is pulled or pushed to move in the same direction through the first traction hinge 3 and the second traction hinge 4.
When the specified position is reached and stopping is needed, the control unit 201 receives a remote signal of the remote controller and then hangs the gear at the stopping position through the second control motor 209, at this time, the rotation speed of the engine is reduced, and the driving wheel 205 stops rotating, so that the monorail conveyor stops moving.
Referring to fig. 4, fig. 4 is a flowchart illustrating a method for controlling an intelligent remote control monorail transport according to some embodiments of the present application. In a second aspect, an embodiment of the present application provides a control method for an intelligent remote control monorail conveyor, which is applied to an intelligent remote control monorail conveyor in any one of the preceding claims, and includes the following steps:
s401, acquiring track parameter information, establishing a moving position coordinate according to the track parameter information, and acquiring real-time position information of a conveyor body;
s402, comparing real-time position information of the conveyor body with preset position information to obtain a position deviation rate;
s403, judging whether the position deviation rate is larger than or equal to a preset deviation rate threshold value;
s404, if the motion parameter is greater than or equal to the motion parameter, generating compensation information, and carrying out feedback correction on the motion parameter of the conveyor body according to the compensation information;
and S405, if the movement state information of the conveyor body is smaller than the movement state information, acquiring the movement state information of the conveyor body in real time.
It should be noted that, through the real-time mobile position of judgement conveyer body, carry out the error of judgement mobile position, carry out the position compensation to the conveyer body through the size of judgement error, improve the accuracy of conveyer body mobile position, improve the moving accuracy, reduce the mobile error.
Referring to fig. 5, fig. 5 is a flow chart illustrating a control method for controlling a movement direction of a conveyor body according to some embodiments of the present application. According to the embodiment of the application, after the track parameter information is acquired, the moving position coordinates are established according to the track parameter information, and the real-time position information of the conveyor body is acquired, the method further comprises the steps of:
s501, establishing a mark point according to track parameter information, and acquiring coordinates of the mark point;
s502, acquiring real-time position information of a conveyor body and generating position coordinates of a central point of the conveyor body;
s503, comparing the position coordinates of the marking points with the position coordinates of the central point of the conveyor body, and calculating the distance between the conveyor body and the marking points;
s504, setting time nodes, generating distances between the conveyor bodies of different time nodes and the mark points, and performing difference calculation on the distances between the conveyor bodies of adjacent time nodes and the mark points to obtain distance differences;
s505, judging whether the distance difference is positive, if so, judging that the conveyor body moves along the first direction; if the value is negative, judging that the conveyor body moves along the second direction;
the first direction is opposite to the second direction.
It should be noted that, through establishing the mark point, form the direction reference point that the conveyer body moved, judge the direction of movement of conveyer body through judging the distance between conveyer body position and the mark point, and then accurately carry out the mobile control of conveyer, improve control accuracy.
According to the embodiment of the application, track parameter information is acquired, a moving position coordinate is established according to the track parameter information, and real-time position information of a conveyor body is acquired, and the method specifically comprises the following steps:
acquiring the positions of the conveyor bodies of different time nodes, and calculating the position difference of the positions of the conveyor bodies of different time nodes to obtain the moving distance;
dividing the moving distance by the time difference of different time nodes to obtain the moving speed change rate of the conveyor body;
judging whether the moving speed change rate of the conveyor body is in a preset speed change rate range or not;
if the speed is in the preset speed change rate range, calculating the moving speed of the conveyor body in real time and storing the moving speed into a database;
if the speed change rate is not in the preset speed change rate range, comparing the moving speed change rate of the conveyor body with the upper limit value of the speed change rate range;
judging whether the moving speed change rate of the conveyor body is larger than the upper limit value of the speed change rate range; if the speed is greater than the preset speed, generating negative feedback information, and adjusting the moving speed or/and the moving direction of the conveyor body according to the negative feedback information to carry out reverse speed correction;
if the speed change rate is smaller than the preset speed change range, calculating the difference between the speed change rate of the conveyor body and the lower limit value of the speed change range, generating positive feedback information, and adjusting the moving speed of the conveyor body according to the positive feedback information.
It should be noted that, through real-time judgment of the moving speed of the conveyor body, when a large deviation occurs in the moving speed, feedback correction in different modes is performed by judging the changing condition of the moving speed, so that the moving speed of the conveyor body is accurately adjusted, and the moving speed of the conveyor body is in a reasonable range.
According to an embodiment of the present application, further comprising:
acquiring pitch information of tooth pitch of a tooth plate and the outer side of a driving wheel;
calculating the moving distance of the conveyor on the track every time the driving wheel rotates by one circle according to the tooth pitch of the tooth sheet and the distance information on the outer side of the driving wheel;
judging the number of rotation turns of the driving wheel by acquiring the distance between the current position and the target position of the conveyor body;
controlling the driving wheel to rotate for a preset number of turns, and obtaining real-time distance information of the movement of the conveyor body;
comparing the real-time distance information of the movement of the conveyor body with preset distance information to obtain a deviation rate;
judging whether the deviation rate is larger than or equal to a preset deviation rate threshold value;
if the wear information of the tooth plates is greater than or equal to the wear information of the driving wheels, generating wear information of the tooth plates and the wear information of the driving wheels, and selectively replacing the tooth plates or the driving wheels according to the wear information of the tooth plates and the wear information of the driving wheels;
and if the running state information is smaller than the running state information of the first control motor is acquired.
It should be noted that, by judging the number of rotation of the driving wheel, the actual moving distance of the conveyor body is calculated, the deviation amount of the actual moving distance is judged, and the abrasion of the driving wheel or the abrasion of the tooth sheet is calculated, so that the service life of the tooth sheet or the driving wheel can be pre-judged in advance, the maintenance or the replacement can be conveniently carried out in advance, and the service life is prolonged.
According to an embodiment of the present application, further comprising:
acquiring target position information of the conveyor body, and setting a limited position of the conveyor body according to the target position information;
and acquiring real-time position information of the conveyor body, and calculating travel information of the conveyor body by the real-time position information of the conveyor body and the limiting position. Obtaining distance information between the limited position and the real-time position;
it is determined whether the distance information is greater than a first distance,
if the speed is greater than the first speed, the conveyor is adjusted to move at a constant speed according to the first moving speed;
if the speed is smaller than the first distance and larger than the second distance, the conveyor is adjusted to perform speed reduction running according to the first speed reduction rate;
and if the distance is smaller than the second distance, adjusting the conveyor to perform deceleration running according to the second deceleration rate.
It should be noted that, through judging the distance between conveyer and the limit position, can realize that conveyer multistage speed carries out flexible control for the conveyer is accurate to control and remove, when the conveyer is about to be close the limit position, then twice speed reduction goes, guarantees through twice speed reduction that the conveyer can be accurate remove the limit position, prevents the striking or the damage of goods in the packing box.
According to an embodiment of the present application, further comprising:
acquiring current electric quantity information of a storage battery;
acquiring real-time running state information of a conveyor body, inputting the real-time running state information of the conveyor body into a preset electric quantity loss model, and outputting real-time electric quantity loss information of a storage battery according to the preset electric quantity loss model;
comparing the current electric quantity information of the storage battery with the real-time loss information of the storage battery to obtain the service time of the storage battery according to the running state of the current conveyor body;
judging the service time of the storage battery and the preset time;
and when the service time of the storage battery is less than the preset time, generating charging information, and charging the storage battery according to the charging information.
It should be noted that, in order to ensure the service time of the storage battery, improve the transportation efficiency of the transporter, determine the electric quantity of the storage battery in real time, so as to analyze and determine the electric quantity of the storage battery, and when the service time of the storage battery is less, charge the storage battery, improve the service time of the storage battery, and ensure that the transporter does not stop running.
According to an embodiment of the present application, further comprising:
acquiring current oil level of the oil tank and moving state information of a conveyor body, and calculating normal change information of the oil level of the oil tank according to the moving state information of the conveyor body;
setting the running time of a conveyor body, and acquiring the real-time change information of the oil level of the oil tank under the running time;
comparing the real-time change information of the oil level of the oil tank with the normal change information of the oil level of the oil tank to obtain the deviation rate of the oil level change;
judging whether the oil level change deviation rate is larger than or equal to a preset oil level change deviation rate threshold value;
if the oil level change deviation rate is greater than or equal to a preset oil level change deviation rate threshold, judging that oil leakage occurs in the oil tank, and acquiring the external humidity information of the oil tank;
if the oil level is smaller than the preset oil level change deviation rate threshold value, judging whether the oil level of the oil tank is smaller than a preset oil level value, and if the oil level is smaller than the preset oil level value, oiling.
It should be noted that, through analyzing the real-time variable quantity of the oil level of the oil tank, when the change occurs faster, the oil tank is judged to have leakage points and oil leakage sites, and the positions of the leakage points of the oil tank are checked, if necessary, the oil tank is maintained or replaced, when the change of the oil level of the oil tank is in a reasonable range, the oil level of the oil tank is detected in real time, and the oil is filled, so that the oil supply time of the oil tank is improved, and the non-stop operation of the conveyor is ensured.
According to the embodiment of the application, if the oil level variation deviation rate threshold value is larger than or equal to the preset oil level variation deviation rate threshold value, the method further comprises the steps of:
acquiring oil tank parameter information, dividing the outside of the oil tank into a plurality of subareas according to the oil tank parameter information, and acquiring the outside humidity information of each subarea;
acquiring the using environment information of the conveyor, and calculating standard humidity information according to the using environment information;
comparing the external humidity information of the oil tank of each sub-area with the standard humidity information to obtain a humidity deviation rate;
judging whether the humidity deviation rate is larger than or equal to a preset humidity deviation rate threshold value;
if the humidity of the oil tank is greater than or equal to the standard humidity, judging that the humidity of the oil tank is abnormal, and analyzing and acquiring the position of a subarea with the humidity of the oil tank greater than the standard humidity;
if the humidity is smaller than the preset value, the humidity of the oil tank is judged to be normal.
It is to be noted that, through judging the real-time oil level of oil tank to carry out the analysis to the oil level of oil tank, judge whether the oil tank oil level changes and is in normal within range, thereby realize the real-time monitoring of oil tank oil level, improve the safety in utilization of oil tank, when the abnormal change appears in the oil tank oil level, through carrying out humidity judgement to the oil tank outside, the position of oil leak appears in the oil tank of analysis, thereby can be accurate overhauld the oil tank, improve the life of oil tank.
A third aspect of the present application provides a computer readable storage medium having embodied therein a program for an intelligent remote control monorail transport control method, which when executed by a processor, implements the steps of the intelligent remote control monorail transport control method as in any one of the above.
The application discloses an intelligent remote control monorail conveyor, a control method and a medium, wherein a track and a conveyor body which is connected to the top of the track in a matching way are arranged; a plurality of tooth plates are arranged at the bottom of the track; the conveyor body comprises a gearbox and a power source arranged at the top of the speed change, and the power source is used for outputting power to the gearbox and controlling the gearbox to slide along a track; the output end of the gearbox is connected with a driving wheel which is meshed with the tooth plate; the application has compact layout and small volume, and the application has the application foundation on equipment with tension space condition, so that the transportation can be carried out without relying on manpower, the transportation efficiency is greatly improved, and the technology of starting and stopping the conveyor at any position is realized through intelligent remote control.
In the several embodiments provided by the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above described device embodiments are only illustrative, e.g. the division of units is only one logical function division, and there may be other divisions in actual implementation, such as: multiple units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. In addition, the various components shown or discussed may be coupled or directly coupled or communicatively coupled to each other via some interface, whether indirectly coupled or communicatively coupled to devices or units, whether electrically, mechanically, or otherwise.
The units described above as separate components may or may not be physically separate, and components shown as units may or may not be physical units; can be located in one place or distributed to a plurality of network units; some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may be separately used as one unit, or two or more units may be integrated in one unit; the integrated units may be implemented in hardware or in hardware plus software functional units.
Those of ordinary skill in the art will appreciate that: all or part of the steps for implementing the above method embodiments may be implemented by hardware related to program instructions, and the foregoing program may be stored in a readable storage medium, where the program, when executed, performs steps including the above method embodiments; and the aforementioned storage medium includes: a mobile storage device, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk or an optical disk, or the like, which can store program codes.
Alternatively, the above-described integrated units of the present application may be stored in a readable storage medium if implemented in the form of software functional modules and sold or used as separate products. Based on such understanding, the technical solution of the embodiments of the present application may be embodied in essence or a part contributing to the prior art in the form of a software product stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a removable storage device, ROM, RAM, magnetic or optical disk, or other medium capable of storing program code.
Claims (8)
1. The control method of the intelligent remote control monorail conveyor is characterized in that the intelligent remote control monorail conveyor comprises the following steps: the track and the conveyor body are connected to the top of the track in a matching way;
a plurality of tooth plates are arranged at the bottom of the track;
the conveyor body comprises a gearbox and a power source arranged at the top of the gearbox, wherein the power source is used for outputting power to the gearbox and controlling the gearbox to slide along a track;
the output end of the gearbox is connected with a driving wheel which is meshed with the tooth plate;
a guide wheel is arranged at one side of the gearbox and positioned at the top of the track, and the guide wheel synchronously slides with the driving wheel;
the control method of the intelligent remote control monorail conveyor comprises the following steps:
acquiring track parameter information, establishing a moving position coordinate according to the track parameter information, and acquiring real-time position information of a conveyor body;
comparing the real-time position information of the conveyor body with preset position information to obtain a position deviation rate;
judging whether the position deviation rate is larger than or equal to a preset deviation rate threshold value;
if the motion parameter is greater than or equal to the motion parameter, generating compensation information, and carrying out feedback correction on the motion parameter of the conveyor body according to the compensation information;
if the movement state information is smaller than the preset value, acquiring the movement state information of the conveyor body in real time;
the method comprises the steps of acquiring track parameter information, establishing a moving position coordinate according to the track parameter information, and acquiring real-time position information of a conveyor body, and further comprises the following steps:
establishing a mark point according to the track parameter information, and acquiring coordinates of the mark point;
acquiring real-time position information of a conveyor body, and generating position coordinates of a central point of the conveyor body;
comparing the position coordinates of the marking points with the position coordinates of the central point of the conveyor body, and calculating the distance between the conveyor body and the marking points;
setting time nodes, and generating distances between conveyor bodies and marking points of different time nodes;
performing difference calculation on the distance between the conveyor body of the adjacent time node and the mark point to obtain a distance difference;
judging whether the distance difference is positive, if so, judging that the conveyor body moves along the first direction;
if the value is negative, judging that the conveyor body moves along the second direction;
the first direction is opposite to the second direction;
acquiring track parameter information, establishing a moving position coordinate according to the track parameter information, and acquiring real-time position information of a conveyor body, wherein the method specifically comprises the following steps of:
acquiring the positions of the conveyor bodies of different time nodes, and calculating the position difference of the positions of the conveyor bodies of different time nodes to obtain the moving distance;
dividing the moving distance by the time difference of different time nodes to obtain the moving speed change rate of the conveyor body;
judging whether the moving speed change rate of the conveyor body is in a preset speed change rate range or not;
if the speed is in the preset speed change rate range, calculating the moving speed of the conveyor body in real time and storing the moving speed into a database;
if the speed change rate is not in the preset speed change rate range, comparing the moving speed change rate of the conveyor body with the upper limit value of the speed change rate range;
judging whether the moving speed change rate of the conveyor body is larger than the upper limit value of the speed change rate range; if the speed is greater than the preset speed, generating negative feedback information, and adjusting the moving speed or/and the moving direction of the conveyor body according to the negative feedback information to carry out reverse speed correction;
if the speed change rate is smaller than the preset speed change range, calculating the difference between the speed change rate of the conveyor body and the lower limit value of the speed change range, generating positive feedback information, and adjusting the moving speed of the conveyor body according to the positive feedback information;
further comprises: acquiring pitch information of tooth pitch of a tooth plate and the outer side of a driving wheel;
calculating the moving distance of the conveyor on the track every time the driving wheel rotates by one circle according to the tooth pitch of the tooth sheet and the distance information on the outer side of the driving wheel;
judging the number of rotation turns of the driving wheel by acquiring the distance between the current position and the target position of the conveyor body;
controlling the driving wheel to rotate for a preset number of turns, and obtaining real-time distance information of the movement of the conveyor body;
comparing the real-time distance information of the movement of the conveyor body with preset distance information to obtain a deviation rate;
judging whether the deviation rate is larger than or equal to a preset deviation rate threshold value;
if the wear information of the tooth plates is greater than or equal to the wear information of the driving wheels, generating wear information of the tooth plates and the wear information of the driving wheels, and selectively replacing the tooth plates or the driving wheels according to the wear information of the tooth plates and the wear information of the driving wheels;
and if the running state information is smaller than the running state information of the first control motor is acquired.
2. The intelligent remote control monorail conveyor control method according to claim 1, wherein a first traction hinge is arranged at one end of the conveyor body, a second traction hinge is arranged at the other end of the conveyor body, and at least one fixing hole is formed in each of the first traction hinge and the second traction hinge.
3. The intelligent remote control monorail conveyor control method according to claim 2, wherein the conveyor body further comprises a first control motor and a second control motor, the first control motor is arranged above the gearbox, a belt pulley is arranged at the top of the gearbox, the first control motor is connected with the belt pulley through a transmission belt, and the first control motor is used for controlling the gear of the gearbox to be shifted to a forward gear or a backward gear; the second control motor is connected with the driving wheel in a matched mode, and the second control motor is used for controlling starting and stopping of the gearbox, so that the driving wheel is driven to slide along the track.
4. The intelligent remote control monorail transport control method according to claim 3, wherein a storage battery is arranged on one side of the gearbox, a control unit is arranged on one side of the storage battery, the storage battery is used for providing power for the control unit, the first control motor and the second control motor, and the control unit is connected with a remote controller in a wireless connection mode in a matching mode.
5. The control method of the intelligent remote control monorail conveyor according to claim 4, wherein a protective frame is arranged on the outer side of the conveyor body, the power source is a gasoline engine, and an oil tank is arranged on one side of the power source.
6. The intelligent remote control monorail conveyor control method according to claim 5, wherein a plurality of fixing rings are uniformly distributed on one side of the track along the length direction of the track, a bracket is inserted into the inner side of each fixing ring, and the bracket is perpendicular to the track.
7. The method for controlling the intelligent remote control monorail conveyor according to claim 6, wherein a fixed seat is arranged at the bottom of the support, a reinforcing rod is hinged to the middle position of the support, and an angle between the reinforcing rod and the support is 30-60 degrees.
8. A computer readable storage medium, wherein the computer readable storage medium includes an intelligent remote control monorail transport control method program, and the intelligent remote control monorail transport control method program, when executed by a processor, implements the steps of the intelligent remote control monorail transport control method of claim 1.
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| CN116923988A (en) | 2023-10-24 |
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