CN117148745A

CN117148745A - Heavy-load driving unit control method and system, intelligent terminal and storage medium

Info

Publication number: CN117148745A
Application number: CN202311439034.6A
Authority: CN
Inventors: 范依清; 洪建云; 何立彬
Original assignee: Ningbo Shunyu Bell Robot Co ltd
Current assignee: Ningbo Shunyu Bell Robot Co ltd
Priority date: 2023-11-01
Filing date: 2023-11-01
Publication date: 2023-12-01
Anticipated expiration: 2043-11-01
Also published as: CN117148745B

Abstract

The application relates to a control method, a control system, an intelligent terminal and a storage medium of a heavy-load driving unit, which relate to the field of lifter driving technology and comprise the steps of acquiring movement triggering information of the heavy-load driving unit; controlling a heavy-load driving unit to start according to the movement triggering information so as to drive a preset lifter to move, and acquiring movement speed information of the lifter after acquiring preset detection time information; judging whether the moving speed information meets the requirement of preset reference speed information or not; if yes, continuing to acquire the moving speed information; if not, acquiring bottom plate pressure detection information of the lifting machine; judging whether the base plate pressure detection information meets the requirement of preset reference base plate pressure information or not; if yes, outputting preset prompting information to prompt; if the signals do not accord with the signals, the heavy-load driving unit is controlled to assist the lifter to get rid of the trapping. The application has the effect of improving the convenience of the movement of the lifter.

Description

Heavy-load driving unit control method and system, intelligent terminal and storage medium

Technical Field

The application relates to the field of lifter driving technology, in particular to a control method and system of a heavy-load driving unit, an intelligent terminal and a storage medium.

Background

The heavy duty drive unit is a mechanical device for powering the transport means and is typically comprised of motor driven rollers.

In the related art, a mobile lifter is generally driven by an ultra-thin heavy-duty driving unit to drive transportation accessories in a factory building. The ultrathin heavy-load driving unit is usually arranged below a bottom plate of the lifting machine, the ultrathin heavy-load driving unit adopts a driving motor to drive a rotating shaft, and the rotating shaft and a matched driving roller of the gear set rotate to realize the advancing and retreating of the lifting machine, and the ultrathin heavy-load driving unit also comprises a steering telescopic rod, and the angle of the roller is adjusted through the telescopic of the telescopic rod, so that the steering of the lifting machine is realized.

For the related art, the ultrathin heavy-load driving unit is arranged below the bottom plate of the lifter, when the lifter moves to a complex topography with high and low fluctuation, the bottom plate of the lifter is easy to collide with the ground with higher height, so that the ultrathin heavy-load driving unit cannot contact with the ground when entering the pit, the lifter cannot move, and the improvement is still provided.

Disclosure of Invention

In order to improve the convenience of movement of a lifting machine, the application provides a control method and system of a heavy-load driving unit, an intelligent terminal and a storage medium.

In a first aspect, the present application provides a control method for a heavy-duty driving unit, which adopts the following technical scheme:

a heavy duty drive unit control method comprising:

acquiring movement triggering information of the heavy-load driving unit;

controlling a heavy-load driving unit to start according to the movement triggering information so as to drive a preset lifter to move, and acquiring movement speed information of the lifter after acquiring preset detection time information;

judging whether the moving speed information meets the requirement of preset reference speed information or not;

if yes, continuing to acquire the moving speed information;

if not, acquiring bottom plate pressure detection information of the lifting machine;

judging whether the base plate pressure detection information meets the requirement of preset reference base plate pressure information or not;

if yes, outputting preset prompting information to prompt;

if the signals do not accord with the signals, the heavy-load driving unit is controlled to assist the lifter to get rid of the trapping.

By adopting the technical scheme, when the heavy-load driving unit is controlled to start to drive the lifting machine to move according to the movement trigger information, the movement speed information of the lifting machine is detected, when the movement speed information does not meet the requirement of the reference speed information, namely, the movement speed information exceeds the normal speed range, the movement of the lifting machine is indicated to be abnormal, therefore, the bottom plate pressure detection information of the lifting machine is detected, when the bottom plate pressure detection information does not meet the requirement of the reference bottom plate pressure information, the situation that the bottom plate is scratched due to complex topography is indicated, the speed of the lifting machine is reduced, and the heavy-load driving unit is controlled to assist the lifting machine to get rid of poverty, so that the convenience of the movement of the lifting machine is improved.

Optionally, the heavy-duty driving unit includes a getting rid of the poverty subassembly and driving assembly, and the method for controlling the getting rid of the poverty subassembly to assist the lifter to get rid of the poverty includes:

acquiring reference stress detection information of the heavy-load driving unit based on the movement trigger information;

when the base plate pressure detection information does not meet the requirement of the reference base plate pressure information, obtaining the movement stress information of the heavy-load driving unit;

judging whether the moving stress information meets the requirement of the reference stress detection information;

if yes, continuing to acquire the bottom plate pressure detection information;

if not, acquiring abnormal roller information and normal roller information;

and controlling the getting rid of poverty assembly to assist the lifter in getting rid of poverty according to the abnormal roller information and the normal roller information.

By adopting the technical scheme, when the movement triggering information is detected, the reference stress detection information of the heavy-load driving unit is detected, when the base plate pressure detection information does not meet the requirement of the reference base plate pressure information, the movement stress information of the current heavy-load driving unit is detected, when the movement stress information does not meet the requirement of the reference stress detection information, the roller in the heavy-load driving unit is indicated to be separated from the ground, the lifting machine cannot be driven to move, so that the abnormal roller information and the normal roller information are detected, the lifting machine is assisted to get rid of poverty by the getting rid of poverty component according to the abnormal roller information and the normal roller information, and the convenience of the lifting machine is improved.

Optionally, the method for controlling the getting rid of poverty component to assist the lifter to get rid of poverty according to the abnormal roller information and the normal roller information comprises the following steps:

acquiring bottom plate angle information between abnormal roller information and normal roller information;

analyzing according to the angle information of the bottom plate to determine abnormal roller adjustment information or normal roller adjustment information;

based on the abnormal roller adjustment information, controlling the escaping component to assist the lifter in escaping according to the abnormal roller adjustment information;

based on the determined normal roller adjustment information, controlling the escaping assembly to adjust the height of the bottom plate corresponding to the normal roller information according to preset height ascending direction information and preset height ascending speed information, and acquiring bottom plate adjustment angle information;

when the bottom plate adjusting angle information meets the requirement of the preset balance angle information, controlling the getting rid of poverty assembly to stop adjusting the height of the bottom plate corresponding to the normal roller information;

controlling the escaping component to adjust the height of the abnormal roller information according to the height ascending direction information and the height ascending speed information, and acquiring abnormal roller touchdown trigger information;

and controlling the standby of the escape assembly according to the abnormal roller grounding triggering information, and controlling the starting of the driving assembly to drive the lifting machine to move.

By adopting the technical scheme, the base plate angle information of the base plate corresponding to the abnormal roller information and the base plate angle information of the base plate corresponding to the normal roller information are detected, so that the position of the abnormal roller information or the position of the normal roller information is judged to be higher according to the base plate angle information, the abnormal roller adjustment information or the normal roller adjustment information is determined, and when the normal roller adjustment information is determined, the height of the abnormal roller information is explained, so that the lifting machine is controlled to be driven to move by the control driving assembly, and the convenience of the lifting machine is improved.

Optionally, the method for controlling the getting rid of poverty assembly to assist the lifter in getting rid of poverty according to the abnormal roller adjustment information comprises the following steps:

based on the abnormal roller adjustment information, controlling the escaping assembly to adjust the height of the base plate corresponding to the normal roller information according to preset height descending direction information and preset height descending speed information, and acquiring adjustment distance information between the normal roller information and the base plate;

Judging whether the adjustment distance information meets the requirement of preset safety distance information;

if the height information is not consistent with the height information, continuously controlling the getting-out assembly to adjust the height of the bottom plate corresponding to the normal roller information according to the height lowering direction information and the height lowering speed information;

if yes, controlling the getting rid of the trapping assembly to stop adjusting the height of the base plate corresponding to the normal roller information, and controlling the getting rid of the trapping assembly to adjust the height of the base plate corresponding to the abnormal roller information according to the height ascending direction information and the height ascending speed information;

acquiring the lifting angle information of the bottom plate;

when the lifting angle information of the bottom plate meets the requirement of the balance angle information, the getting-off component is controlled to stand by, and the driving component is controlled to start so as to drive the lifting machine to move.

Through adopting above-mentioned technical scheme, when confirming unusual gyro wheel adjustment information, then indicate that the height of the bottom plate that unusual gyro wheel information corresponds is lower, consequently, the subassembly that gets rid of poverty is adjusted normal gyro wheel information with altitude direction information and altitude decline speed information and is corresponded the height of bottom plate earlier, make the bottom plate of both sides as far as on same horizontal plane, the subassembly that gets rid of poverty is adjusted the height of unusual gyro wheel information with altitude direction information and altitude rise speed information and is corresponded the bottom plate again, when bottom plate rise angle information accords with balanced angle information, control drive assembly starts the drive lift and removes, thereby guarantee unusual gyro wheel information contact ground, and the bottom plate is in the horizontality, and then improve the convenience that the lift removed.

Optionally, the method for controlling the actuation of the drive assembly to drive the movement of the lift comprises:

controlling the driving assembly to start according to the movement triggering information so as to drive the lifting machine to move, and acquiring restarting movement speed information of the lifting machine;

judging whether the restarting moving speed information meets the requirement of the reference speed information;

if yes, continuing to control the driving assembly to drive the lifting machine to move;

if not, acquiring surrounding environment image information of the abnormal roller information;

analyzing according to the surrounding environment image information to determine the height minimum direction information;

the driving assembly is controlled to drive the lifting machine to move according to the information of the lowest height direction.

By adopting the technical scheme, the driving assembly is controlled to start to drive the lifting machine to move according to the movement triggering information, the restarting movement speed information after restarting the lifting machine is detected, and when the restarting movement speed information does not meet the requirement of the reference speed information, the surrounding environment image information of the abnormal roller information is detected, so that the height minimum direction information of the movement of the lifting machine is determined, the driving assembly is controlled to drive the lifting machine to move according to the height minimum direction information, and the convenience of the movement of the lifting machine is further improved.

Optionally, when the bottom plate pressure detection information meets the requirement of the reference bottom plate pressure information, the method further comprises a stable control method of the lift bottom plate by the escaping assembly, and the specific method comprises the following steps:

acquiring inclination angle information of a bottom plate;

analyzing according to the inclination angle information of the bottom plate to determine the normal state information of the lifting machine or the ascending and descending state information of the lifting machine;

outputting prompt information to prompt based on the determined normal state information of the lifting machine;

based on the information of the ascending and descending slope of the lifting machine, the escaping assembly is controlled to stabilize the lifting machine bottom plate according to the information of the inclination angle of the bottom plate.

By adopting the technical scheme, the inclination angle information of the bottom plate is detected, so that whether the lifting machine is in the ascending and descending state information of the lifting machine is determined, if the lifting machine is in the ascending and descending state information of the lifting machine, the escaping component is controlled to stabilize the lifting machine bottom plate according to the inclination angle information of the bottom plate, and the stability of the lifting machine during moving is improved.

Optionally, the method for controlling the getting rid of poverty assembly to stabilize the bottom plate of the lifting machine according to the bottom plate inclination angle information comprises the following steps:

acquiring information of rollers below the lifting machine when the information of the ascending and descending slope state of the lifting machine is determined;

controlling the escaping assembly to adjust the height of the bottom plate corresponding to the roller information below the lifting machine according to preset height ascending direction information and preset height ascending speed information;

Acquiring inclination adjustment angle information of the bottom plate;

when the inclination adjustment angle information of the bottom plate meets the requirement of the preset balance angle information, the escaping component is controlled to stop adjusting the height of the roller information below the lifting machine corresponding to the bottom plate, and the driving component is controlled to continuously drive the lifting machine to move.

By adopting the technical scheme, when the lifter is in the state information of ascending and descending the lifter, the roller information below the lifter, which is positioned below the lifter on the slope, is detected, so that the escaping component is controlled to adjust the height of the roller information below the lifter corresponding to the bottom plate according to the height ascending direction information and the height ascending speed information, the inclination adjustment angle information of the bottom plate is enabled to meet the requirement of the balance angle information, and even if the bottom plate is in a horizontal state, the driving component is controlled to drive the lifter to move, and the stability of the lifter in the moving process is improved.

In a second aspect, the present application provides a control system for a heavy-duty driving unit, which adopts the following technical scheme:

a heavy duty drive unit control system comprising:

the acquisition module is used for acquiring movement trigger information, movement speed information and bottom plate pressure detection information;

a memory for storing a program of a heavy load drive unit control method according to any one of the above;

A processor, a program in the memory being capable of being loaded by the processor for execution and implementing a method of controlling a reload drive unit as defined in any one of the above.

By adopting the technical scheme, the acquisition module acquires a series of data related to the control of the heavy-duty driving unit, so that the processor loads and executes a computer program of a control method of the heavy-duty driving unit stored in the memory, and the series of data acquired by the acquisition module is analyzed and processed, thereby completing the control of the heavy-duty driving unit, enabling the lifting machine to rapidly move on complex terrains, and further improving the moving convenience of the lifting machine.

In a third aspect, the present application provides an intelligent terminal, which adopts the following technical scheme:

an intelligent terminal comprising a memory and a processor, the memory having stored thereon a computer program capable of being loaded by the processor and executing a method of controlling a reload drive unit as defined in any one of the above.

By adopting the technical scheme, the intelligent terminal is operated by personnel, so that the processor loads and executes the computer program of the control method of the heavy-load driving unit stored in the memory, thereby controlling the heavy-load driving unit to assist the lifting machine to move, and further improving the convenience of the lifting machine to move.

In a fourth aspect, the present application provides a computer storage medium capable of storing a corresponding program, which has the characteristics of being convenient for improving the convenience of the movement of a lifter, and adopts the following technical scheme:

a computer-readable storage medium storing a computer program capable of being loaded by a processor and executing any one of the above-described heavy duty drive unit control methods.

By adopting the technical scheme, the computer program of the control method of the heavy-duty driving unit is stored in the computer readable storage medium, and when the heavy-duty driving unit is needed to assist the lifting machine to move, the processor is enabled to load and execute the computer program stored in the memory, so that the heavy-duty driving unit is controlled to assist the lifting machine to move, and the convenience of the lifting machine in moving is improved.

In summary, the present application includes at least one of the following beneficial technical effects:

detecting the movement speed information of the lifting machine when the heavy-load driving unit is controlled to start to drive the lifting machine to move according to the movement triggering information, wherein the movement speed information does not meet the requirement of the reference speed information, namely, when the movement speed information exceeds the normal speed range, the movement of the lifting machine is indicated to be abnormal, so that the bottom plate pressure detection information of the lifting machine is detected, when the bottom plate pressure detection information does not meet the requirement of the reference bottom plate pressure information, the situation that the bottom plate is scratched due to complex topography is indicated, the speed of the lifting machine is reduced, and the heavy-load driving unit is controlled to assist the lifting machine to get rid of the trouble, so that the convenience of the movement of the lifting machine is improved;

Detecting reference stress detection information of the heavy-load driving unit when the movement trigger information is detected, detecting movement stress information of the current heavy-load driving unit when the base plate pressure detection information does not meet the requirement of the reference base plate pressure information, and indicating that a roller in the heavy-load driving unit is separated from the ground and cannot drive the lifter to move when the movement stress information does not meet the requirement of the reference stress detection information, so that abnormal roller information and normal roller information are detected, and a getting-out component is controlled to assist the lifter to get-out according to the abnormal roller information and the normal roller information, thereby improving the convenience of lifter movement;

the abnormal roller information is corresponding to the bottom plate and the normal roller information is corresponding to the bottom plate angle information of the bottom plate, so that the abnormal roller information is higher or the normal roller information is higher according to the bottom plate angle information, the abnormal roller adjustment information or the normal roller adjustment information is determined, when the normal roller adjustment information is determined, the abnormal roller information is higher, therefore, the lifting machine is controlled to be driven to move by the driving component, and the lifting machine is driven to move conveniently by controlling the escaping component.

Drawings

Fig. 1 is a flowchart of a control method of a heavy load driving unit according to an embodiment of the present application.

FIG. 2 is a flow chart of a method of controlling a dislodging component to assist a lift in dislodging in accordance with an embodiment of the present application.

FIG. 3 is a flowchart of a method for controlling a lift assembly to assist in lift removal based on abnormal roller information and normal roller information in an embodiment of the present application.

FIG. 4 is a flowchart of a method for controlling a lift-off assembly to assist in lift-off according to abnormal roller adjustment information in an embodiment of the application.

Figure 5 is a flow chart of a method of controlling actuation of a drive assembly to drive movement of a lift in accordance with an embodiment of the present application.

FIG. 6 is a flow chart of a method for stabilizing and controlling a lift floor by a lift assembly according to an embodiment of the application.

FIG. 7 is a flow chart of a method of controlling a dislodging assembly to stabilize a lift floor based on floor inclination angle information in accordance with an embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings 1 to 7 and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.

The application discloses a method for enabling a lifting machine to enter a complex terrain and be unable to move, and particularly discloses a heavy-load driving unit and a processing system, wherein the heavy-load driving unit comprises a driving component and a escaping component, the driving component is used for driving the lifting machine to integrally move, the escaping component is used for assisting the lifting machine to escape, the heavy-load driving unit is connected with the processing system through a local area network, so that data interaction is realized, the heavy-load driving unit sends detected data to the processing system, and the processing system analyzes and processes the detected data and outputs the processed result to the heavy-load driving unit, so that the heavy-load driving unit assists the lifting machine to rapidly escape in the complex terrain.

Referring to fig. 1, an embodiment of the application discloses a control method of a heavy-duty driving unit, which comprises the following steps:

step S100: and acquiring movement trigger information of the heavy-load driving unit.

The heavy-load driving unit is a driving device for driving the lifting machine to move and assisting the lifting machine to get rid of the trapped air in complex terrains, and comprises a driving component and a getting rid of the trapped air component, wherein the driving component is used for driving the lifting machine to move, and two groups of independent motors can be adopted to respectively drive different rollers, so that the steering of the lifting machine is realized by means of the speed difference of the motors; the escaping component is used for adjusting the distance between the roller and the bottom plate of the lifter, so that the bottom plate of the lifter can pass through barriers with different heights in a non-contact way, a motor and a hinged disc can be adopted, the driving components are all installed on independent hinge plates, and when the motor drives the hinge plates to rotate, the rollers in the driving components are always in the direction of gravity, and the rollers with higher heights are moved to the direction close to the ground so as to contact the ground.

The movement trigger information refers to trigger data for controlling the heavy-duty driving unit to start to drive the lifting machine to move, and comprises information such as moving direction, moving speed and the like, wherein the information is input in the processing system by personnel, and the processing system sends the movement trigger information to the heavy-duty driving unit.

Step S101: and controlling the heavy-load driving unit to start according to the movement triggering information so as to drive the preset lifter to move, and acquiring the movement speed information of the lifter after acquiring the preset detection time information.

The lifting machine refers to a device for transporting accessories, and generally comprises a hydraulic type and a motor driven type, wherein a heavy-load driving unit is arranged below a bottom plate of the lifting machine so as to drive the lifting machine to move. The detection time information refers to the time for detecting the speed of the lifting machine after the lifting machine moves, and specific time values are set by a person skilled in the art according to actual conditions and are not described in detail herein.

When the heavy-load driving unit receives the movement trigger information, the heavy-load driving unit is started, the lifting machine is driven to move according to the movement direction and the movement speed corresponding to the movement trigger information, and after a period of time corresponding to the detection time information, the current movement speed information of the lifting machine is detected, so that data support is provided for the follow-up judgment of whether the movement of the lifting machine is normal or not.

The moving speed information refers to the speed value of the lifting machine after the time corresponding to the moving detection time information of the lifting machine, and the processing system controls the velocimeter to detect and receive the detection result at the time corresponding to the detection time information.

Step S102: and judging whether the moving speed information meets the requirement of preset reference speed information.

The reference speed information refers to a normal moving speed value of the lifter, and is obtained by a person skilled in the art according to the moving speed information input by the person, and is not described herein. The requirement of the reference speed information means not less than the movement speed value corresponding to the reference speed information.

And judging whether the moving speed information meets the requirement of the reference speed information, namely whether the moving speed information is not smaller than a moving speed value corresponding to the reference speed information, so as to determine whether the moving speed of the lifting machine under the drive of the heavy-load driving unit is in a normal state.

Step S1021: if yes, continuing to acquire the moving speed information.

If the moving speed information meets the requirement of the reference speed information, that is, the moving speed information is not smaller than the moving speed value corresponding to the reference speed information, the moving speed of the lifting machine under the drive of the heavy-load driving unit is indicated to be in a normal state, so that the lifting machine moves normally, the heavy-load driving unit is not required to assist the lifting machine in escaping, and the moving speed information of the lifting machine is continuously detected to continuously pay attention to the change of the moving speed information.

Step S1022: if the base plate pressure detection information does not accord with the base plate pressure detection information, base plate pressure detection information of the lifting machine is obtained.

The pressure detection information of the bottom plate refers to a pressure value received by one side, close to the ground, of the bottom plate of the lifter, and the pressure value is detected by a force-sensitive sensor arranged below the bottom plate of the lifter and sent to a processing system.

If the moving speed information does not meet the requirement of the reference speed information, namely, the moving speed information is smaller than the moving speed value corresponding to the reference speed information, the moving speed of the lifting machine is lower than the normal speed under the driving of the heavy-load driving unit, so that the lifting machine possibly has a bulge which is abutted under the lifting machine bottom plate, the lifting machine speed is reduced, the bottom plate pressure detection information of the lifting machine is detected, and data support is provided for the follow-up determination of whether the lifting machine is prevented from moving by the obstacle.

Step S103: judging whether the base plate pressure detection information meets the requirement of preset reference base plate pressure information.

The reference bottom plate pressure detection information refers to a pressure value received by the lower side of the bottom plate of the lifter in a normal state, and is generally zero. The requirement of the reference floor pressure information means that the pressure value corresponding to the reference floor pressure information is the same.

And judging whether the base plate pressure detection information meets the requirement of the reference base plate pressure information or not, namely, judging whether the pressure value corresponding to the base plate pressure detection information is the same as the pressure value corresponding to the reference base plate pressure information or not, thereby determining whether an obstacle is against the base plate of the lifting machine to prevent the lifting machine from moving or not.

Step S1031: if yes, outputting preset prompting information to prompt.

The prompting information is a prompting signal for prompting the personnel to lift the machine to fail, and can be set by the personnel according to actual conditions by adopting voice prompting or prompting on a screen of a handheld terminal of the personnel.

If the base plate pressure detection information meets the requirement of the reference base plate pressure information, namely, the pressure value corresponding to the base plate pressure detection information is the same as the pressure value corresponding to the reference base plate pressure information, the fact that the moving speed of the lifting machine is abnormal is not caused by interference of the base plate is indicated, and therefore the moving speed of the lifting machine is slow possibly caused by faults or electric quantity reduction, and prompt information is output to prompt.

Step S1032: if the signals do not accord with the signals, the heavy-load driving unit is controlled to assist the lifter to get rid of the trapping.

If the pressure detection information of the base plate does not meet the requirement of the reference base plate pressure information, that is, the pressure value corresponding to the base plate pressure detection information is different from the pressure value corresponding to the reference base plate pressure information, it indicates that the abnormal movement speed of the lifting machine may be caused by interference of the base plate, so that the heavy-load driving unit is controlled to assist the lifting machine to get rid of the trouble, and the specific assisting method refers to the step of fig. 2.

Referring to fig. 2, the heavy-duty driving unit includes a escaping component and a driving component, and the method for controlling the escaping component to assist the lifter in escaping includes the following steps:

step S200: and acquiring reference stress detection information of the heavy-load driving unit based on the movement trigger information.

The reference stress detection information refers to static pressure applied to a roller in the heavy-load driving unit when the heavy-load driving unit receives the movement trigger information, and the static pressure is detected by a force-sensitive sensor arranged on the roller.

Step S201: and when the base plate pressure detection information does not meet the requirement of the reference base plate pressure information, acquiring the movement stress information of the heavy-load driving unit.

When the base plate pressure detection information does not meet the requirement of the reference base plate pressure information, the static pressure of the idler wheel in the heavy-load driving unit is detected by a force sensor arranged on the idler wheel.

Step S202: judging whether the moving stress information meets the requirement of the reference stress detection information.

The requirement of the reference stress detection information is that the pressure value corresponding to the reference stress detection information is the same. And judging whether the moving stress information meets the requirement of the reference stress detection information or not, namely, judging whether the pressure value corresponding to the moving stress information is the same as the pressure value corresponding to the reference stress detection information or not, thereby determining whether the roller is in a suspended state because the bottom plate of the lifting machine is jacked up by an obstacle or whether the roller is suspended due to the fact that the bottom plate abuts against the edge of the tunnel when entering the tunnel on the ground.

Step S2021: if yes, continuing to acquire the bottom plate pressure detection information.

If the moving stress information meets the requirement of the reference stress detection information, that is, the pressure value corresponding to the moving stress information is the same as the pressure value corresponding to the reference stress detection information, the roller is indicated to be normally contacted with the ground, and the cause of the pressure change of the bottom plate may be caused by the rolling and rubbing of the ground, so that the pressure detection information of the bottom plate is continuously detected, and the change of the pressure detection information of the bottom plate is continuously concerned.

Step S2022: if not, acquiring abnormal roller information and normal roller information.

The abnormal roller information is a roller in a suspended state, the normal roller information is a roller in normal contact with the ground, the abnormal roller information is determined by the processing system according to the stress condition of the roller, and the analysis method comprises the following steps: the rollers with stress are in normal contact with the ground, so that the information of the rollers is normal, and the rollers without stress are in a suspended state, so that the information of the rollers is abnormal.

If the moving stress information does not meet the requirement of the reference stress detection information, namely, the pressure value corresponding to the moving stress information is different from the pressure value corresponding to the reference stress detection information, the condition that the rollers are in a suspended state because the bottom plate of the lifting machine is jacked up by an obstacle is indicated, or the rollers enter an underground tunnel on the ground, the bottom plate and the edges of the underground tunnel are propped against each other to cause suspension of the rollers, so that abnormal roller information and normal roller information are detected, and support is provided for subsequent concrete escaping.

Step S203: and controlling the getting rid of poverty assembly to assist the lifter in getting rid of poverty according to the abnormal roller information and the normal roller information.

After determining the abnormal roller information and the normal roller information in the heavy-duty driving unit, the lift is assisted by controlling the escaping component according to the abnormal roller information and the normal roller information, and the specific assistance method refers to the step of fig. 3.

Referring to fig. 3, a method for controlling a getting rid of poverty assembly to assist a lifter to get rid of poverty according to abnormal roller information and normal roller information includes the following steps:

step S300: and acquiring the angle information of the bottom plate between the abnormal roller information and the normal roller information.

The bottom plate angle information is an angle value of inclination of the bottom plate corresponding to the abnormal roller information and the bottom plate corresponding to the normal roller information, and is detected by a gyroscope arranged on the bottom plate.

Step S301: and analyzing according to the angle information of the bottom plate to determine abnormal roller adjustment information or normal roller adjustment information.

The abnormal roller adjusting information is trigger data for enabling the lifter to get rid of the trapping by adjusting the abnormal roller information, the normal roller adjusting information is trigger data for enabling the lifter to get rid of the trapping by adjusting the normal roller information, the processing system calls the bottom plate angle information to analyze, and the analysis method comprises the following steps: when the angle corresponding to the angle information of the bottom plate is a positive value, the abnormal roller information is suspended at a lower position, so that the abnormal roller information is required to support the bottom plate away from the ground, and abnormal roller adjustment information is determined; when the angle corresponding to the angle information of the bottom plate is a negative value, the abnormal roller information is suspended at a higher position, so that the normal roller information is required to support the bottom plate on the principle ground, the bottom plate is horizontal, and the normal roller adjustment information is determined.

Step S3011: based on the abnormal roller adjustment information, the escaping component is controlled to assist the lifter in escaping according to the abnormal roller adjustment information.

When the abnormal roller adjustment information is determined, the escaping component is controlled to assist the lifter in escaping according to the abnormal roller adjustment information, and the specific assisting method refers to the step of fig. 4.

Step S3012: based on the determined normal roller adjustment information, the getting rid of poverty assembly is controlled to adjust the height of the base plate corresponding to the normal roller information according to the preset height ascending direction information and the preset height ascending speed information, and the base plate adjustment angle information is obtained.

The height ascending direction information refers to the direction that the escape assembly drives the normal roller information to be close to the ground, so that the supporting bottom plate is far away from the ground, and the height ascending speed information refers to the speed value of the supporting bottom plate of the normal roller information, and all the speed values are set in the processing system in advance by a person skilled in the art.

When the normal roller adjustment information is determined, the control escape assembly controls the normal roller information to be close to the ground at a speed corresponding to the direction corresponding to the height rising direction information and the height rising speed information, and the normal roller information supports the bottom plate away from the ground because the normal roller information is in contact with the ground, so that the bottom plate corresponding to the normal roller information and the bottom plate corresponding to the abnormal roller information are gradually at the same level, and therefore the bottom plate adjustment angle information is detected to continuously monitor whether adjustment is completed.

The bottom plate adjustment angle information refers to the inclination angle value between the bottom plate corresponding to the normal roller information and the bottom plate corresponding to the abnormal roller information after the normal roller information supports the bottom plate to be far away from the ground, and the inclination angle value is detected by a gyroscope arranged on the bottom plate.

Step S302: when the bottom plate adjusting angle information meets the preset requirement of the balance angle information, the getting rid of poverty assembly is controlled to stop adjusting the height of the bottom plate corresponding to the normal roller information.

The balance angle information refers to the angle of the base plate when the base plate corresponding to the abnormal roller information and the base plate corresponding to the normal roller information are at the same level, namely, zero degrees, and is set in the processing system in advance by a person skilled in the art. The requirement of the balance angle information means that the angle value corresponding to the balance angle information is the same.

When the base plate adjusting angle information meets the requirement of the balance angle information, namely, when the angle value corresponding to the base plate adjusting angle information is the same as the angle value corresponding to the balance angle information, the base plate corresponding to the normal roller information and the base plate corresponding to the abnormal roller information are indicated to be on the same level, so that the escaping component is controlled to stop adjusting the height of the base plate corresponding to the normal roller information.

Step S303: and controlling the getting rid of poverty assembly to adjust the height of the abnormal roller information according to the height ascending direction information and the height ascending speed information, and acquiring the abnormal roller touchdown trigger information.

The height of the abnormal roller information is adjusted by the control escape assembly according to the direction corresponding to the height ascending direction information and the speed corresponding to the height ascending speed information, and the abnormal roller information is in a suspended state, so that the abnormal roller information is close to the ground, and the abnormal roller grounding triggering information is detected, so that whether the abnormal roller information is grounded or not is judged.

The abnormal roller touch trigger information is trigger information which is contacted with the ground when the abnormal roller information is close to the ground, and is output when the pressure from the ground is detected by a force-sensitive sensor arranged on a roller corresponding to the abnormal roller information.

Step S304: and controlling the standby of the escape assembly according to the abnormal roller grounding triggering information, and controlling the starting of the driving assembly to drive the lifting machine to move.

When abnormal roller touch trigger information is detected, namely the abnormal roller information is contacted with the ground, the escape assembly is controlled to stand by, so that the bottom plate is in a horizontal state, and the normal roller information and the abnormal roller information are grounded, so that the driving assembly is controlled to start and drive the lifter to move, and the moving direction and speed are still according to the direction and speed corresponding to the movement trigger information.

Referring to fig. 4, a method for controlling a getting rid of poverty assembly to assist a lifter in getting rid of poverty according to abnormal roller adjustment information includes the following steps:

Step S400: based on the abnormal roller adjustment information, the getting-out component is controlled to adjust the height of the base plate corresponding to the normal roller information according to the preset height descending direction information and the preset height descending speed information, and the adjustment distance information between the normal roller information and the base plate is obtained.

The height descending direction information refers to the direction that the escape assembly control roller approaches the bottom plate of the lifter, and the height descending speed information refers to the speed that the escape assembly control roller approaches the bottom plate of the lifter, and the escape assembly control roller are both arranged in the processing system in advance by a person skilled in the art.

After the abnormal roller adjustment information is determined, the control escape assembly controls the normal roller information to be close to the bottom plate at the speed corresponding to the direction of the height falling direction information and the speed corresponding to the height falling speed information, because the normal roller information is tightly pressed on the ground, and the bottom plate corresponding to the normal roller information is only supported by the normal roller information, when the normal roller information is close to the bottom plate, the normal roller information is still positioned on the ground, and the bottom plate is close to the normal roller information under the action of gravity, so that the bottom plate corresponding to the normal roller information and the bottom plate corresponding to the abnormal roller information tend to be horizontal, and the adjustment distance information between the normal roller information and the bottom plate is detected, so that excessive adjustment is prevented.

The adjustment distance information refers to a distance value between a roller corresponding to normal roller information and a corresponding bottom plate, and is detected by a distance meter arranged on the roller or the bottom plate.

Step S401: judging whether the adjustment distance information meets the requirement of preset safety distance information.

The safety distance information refers to the minimum distance value between the roller and the bottom plate, and is obtained by inputting the minimum distance value into the processing system in advance by a person skilled in the art. The requirement of the safe distance information refers to a distance equal to the safe distance information corresponds to.

And judging whether the adjustment distance information meets the requirement of the safety distance information, namely, judging whether the distance corresponding to the adjustment distance information is equal to the distance corresponding to the safety distance information, so as to determine whether the height of the bottom plate corresponding to the adjustment of the normal roller information reaches the limit distance or not.

Step S4011: if the height information is not matched with the height information, the getting-off component is continuously controlled to adjust the height of the bottom plate corresponding to the normal roller information according to the height lowering direction information and the height lowering speed information.

If the adjustment distance information does not meet the requirement of the safety distance information, that is, the adjustment distance information corresponds to the distance which is not equal to the distance corresponding to the safety distance information, the escaping component is indicated to control the normal roller information to adjust the height of the corresponding bottom plate to be not up to the limit distance, so that the escaping component is controlled to continuously adjust the height of the corresponding bottom plate of the normal roller information at the direction corresponding to the height descending direction information and the speed corresponding to the height descending speed information, and the height of the corresponding bottom plate of the normal roller information and the height of the corresponding bottom plate of the abnormal roller information are located at the same level as possible.

Step S4012: if the height information is in accordance with the height information, the getting-out component is controlled to stop adjusting the height of the base plate corresponding to the normal roller information, and the getting-out component is controlled to adjust the height of the base plate corresponding to the abnormal roller information according to the height ascending direction information and the height ascending speed information.

If the adjustment distance information meets the requirement of the safety distance information, that is, the adjustment distance information corresponds to the distance equal to the distance corresponding to the safety distance information, the escaping component is controlled to adjust the height of the corresponding bottom plate to reach the limit distance, so that the escaping component is controlled to stop adjusting the height of the corresponding bottom plate of the normal roller information, the escaping component is controlled to control the abnormal roller information to be close to the ground in the direction corresponding to the height ascending direction information and the speed corresponding to the height ascending speed information, and after the abnormal roller information is contacted with the ground, the corresponding bottom plate is supported by the abnormal roller information to be far away from the ground, so that the corresponding bottom plate of the abnormal roller information and the corresponding bottom plate of the normal roller information are at the same level.

Step S402: and acquiring the lifting angle information of the bottom plate.

The lifting angle information of the bottom plate refers to an inclination angle value between the abnormal roller information corresponding bottom plate and the normal roller information corresponding bottom plate after the lifting angle information of the bottom plate is controlled by the getting rid of poverty assembly to adjust the height of the corresponding bottom plate, and the inclination angle value is detected by a gyroscope arranged on the bottom plate.

Step S403: when the lifting angle information of the bottom plate meets the requirement of the balance angle information, the getting-off component is controlled to stand by, and the driving component is controlled to start so as to drive the lifting machine to move.

When the lifting angle information of the bottom plate meets the requirement of the balance angle information, that is, when the lifting angle information of the bottom plate is zero, the abnormal roller information corresponding to the bottom plate and the normal roller information corresponding to the bottom plate are at the same level, so that the escaping component is controlled to stand by, the driving component is controlled to start so as to drive the lifting machine to move, and the specific control method refers to the step of fig. 5.

Referring to fig. 5, a method of controlling actuation of a drive assembly to drive movement of a lift, comprising the steps of:

step S500: and controlling the driving assembly to start according to the movement triggering information so as to drive the lifting machine to move, and acquiring restarting movement speed information of the lifting machine.

The driving assembly is controlled to drive the lifting machine to move according to the direction and the speed corresponding to the movement triggering information, so that restarting movement speed information of the lifting machine is detected, and data support is provided for the follow-up judgment of whether abnormal roller information can normally run in the tunnel.

The restarting moving speed information refers to a speed value of restarting and driving the lifting machine to move by the driving component after the bottom plate reaches the level, and the speed value is detected by the velocimeter and sent to the processing system.

Step S501: and judging whether the restarting movement speed information meets the requirement of the reference speed information.

And judging whether the restarting moving speed information meets the requirement of the reference speed information or not, namely whether the speed value corresponding to the restarting moving speed information is not smaller than the moving speed value corresponding to the reference speed information or not, so as to determine whether the abnormal roller information can normally run in the tunnel or not.

Step S5011: if the driving force is in accordance with the driving force, the driving assembly is continuously controlled to drive the lifting machine to move.

If the restarting moving speed information meets the requirement of the reference speed information, namely the speed value corresponding to the restarting moving speed information is not smaller than the moving speed value corresponding to the reference speed information, the abnormal roller information can normally run in the tunnel, and therefore the driving component is continuously controlled to drive the lifting machine to move.

Step S5012: if not, acquiring surrounding environment image information of the abnormal roller information.

If the restarting moving speed information does not meet the requirement of the reference speed information, that is, the speed value corresponding to the restarting moving speed information is smaller than the moving speed value corresponding to the reference speed information, the abnormal roller information cannot normally run in the tunnel, so that surrounding environment image information of the abnormal roller information is detected, and data support is provided for follow-up control of movement of the abnormal roller information.

The surrounding environment image information is an environment image around the abnormal roller information corresponding to the roller, and is obtained by shooting the abnormal roller information corresponding to a camera installed on the bottom plate.

Step S502: and analyzing according to the surrounding environment image information to determine the height minimum direction information.

The lowest-altitude direction information refers to the direction in which the abnormal roller information is located and the gradient of the tunnel is the slowest, the processing system calls surrounding environment image information, and the tunnel image recognition is carried out on the image corresponding to the surrounding environment image information.

Step S503: the driving assembly is controlled to drive the lifting machine to move according to the information of the lowest height direction.

After the information of the lowest height direction is determined, the driving assembly is controlled to drive the lifting machine to move in the direction corresponding to the information of the lowest height direction, so that the abnormal roller is separated from the tunnel, and the lifting machine is more convenient to move.

Referring to fig. 6, when the pressure detection information of the bottom plate meets the requirement of the reference bottom plate pressure information, the method further includes a method for stably controlling the bottom plate of the lifter by the escaping assembly, and the method specifically includes the following steps:

step S600: and acquiring inclination angle information of the bottom plate.

When the bottom plate of the lifter is not scratched by the protrusions, the speed abnormality of the lifter is independent of the obstruction of complex terrains to the lifter, so that the inclination angle information of the bottom plate is detected, and data support is provided for the follow-up judgment of the state of the lifter.

The bottom plate inclination angle information refers to an angle value of inclination of the bottom plate of the lifter, and is detected by a gyroscope arranged on the bottom plate.

Step S601: and analyzing according to the inclination angle information of the bottom plate to determine the normal state information of the lifting machine or the ascending and descending state information of the lifting machine.

The normal state information of the lifter refers to that the lifter is positioned on the horizontal ground, the ascending and descending state of the lifter refers to that the lifter is positioned on the ground with a gradient, and the analysis method is determined after the processing system calls the bottom plate inclination angle information analysis and comprises the following steps of: judging whether the angle value corresponding to the inclination angle information of the bottom plate is zero degrees or not, if so, indicating that the lifter is on the horizontal ground, and determining the normal state information of the lifter as the bottom plate is also horizontal; if the angle is not zero, the lifting machine is positioned on the ground with the gradient, and the bottom plate is inclined, so that the ascending and descending state of the lifting machine is determined.

Step S6011: based on the determined normal state information of the lifting machine, outputting prompt information to prompt.

When the normal state information of the lifting machine is determined, the speed abnormality of the lifting machine is indicated to be irrelevant to the ascending and descending of the lifting machine, so that the speed abnormality of the lifting machine can be caused by the failure of the lifting machine, and prompt information is output to prompt.

Step S6012: based on the information of the ascending and descending slope of the lifting machine, the escaping assembly is controlled to stabilize the lifting machine bottom plate according to the information of the inclination angle of the bottom plate.

When the information of the ascending and descending slope of the lifting machine is determined, it is indicated that the abnormal speed of the lifting machine may be caused by the ascending and descending slope of the lifting machine, so that the lifting machine bottom plate is stabilized by the escaping component according to the information of the inclination angle of the bottom plate, and the lifting machine is more stable during transportation, and the specific stabilization method refers to the step of fig. 7.

Referring to fig. 7, a method for controlling a lift base plate to be stabilized by a getting rid of poverty assembly according to base plate inclination angle information comprises the following steps:

step S700: and when the information of the ascending and descending slope states of the lifting machine is determined, acquiring the information of the roller below the lifting machine.

When the condition information of the lifting machine in the ascending and descending slope state of the lifting machine is determined, the information of the roller wheels below the lifting machine, which is below the lifting machine, is detected, so that data support is provided for the subsequent control of the lifting machine bottom plate level.

The information of the roller below the lifting machine refers to the roller with a lower position in the ascending or descending process of the lifting machine, and the position of the roller is obtained by shooting and identifying by a camera arranged on the bottom plate.

Step S701: the escaping component is controlled to adjust the height of the bottom plate corresponding to the roller information below the lifting machine according to the preset height ascending direction information and the preset height ascending speed information.

The height-increasing direction information and the height-increasing speed information in this step are the same as those in step S3012. The lifting machine lower roller information is controlled to be close to the ground by the control escape component according to the direction corresponding to the height ascending direction information and the speed corresponding to the height ascending speed information, and the lifting machine lower roller information is located on the ground, so that the corresponding bottom plate is far away from the ground by the lifting machine lower roller information support, and the lifting machine lower roller information corresponding bottom plate and the upper roller corresponding bottom plate are located at the same level.

Step S702: and acquiring the inclination adjustment angle information of the bottom plate.

The bottom plate inclination adjustment angle information refers to an angle value of the inclination of the bottom plate when the lift bottom plate is adjusted to be horizontal by the escaping assembly, and the angle value is detected by a gyroscope arranged on the bottom plate.

Step S703: when the inclination adjustment angle information of the bottom plate meets the requirement of the preset balance angle information, the escaping component is controlled to stop adjusting the height of the roller information below the lifting machine corresponding to the bottom plate, and the driving component is controlled to continuously drive the lifting machine to move.

The balance angle information in this step is the same as the balance angle information in step S302. When the bottom plate inclination adjustment angle information meets the requirement of balance angle information, namely, when the angle value corresponding to the bottom plate inclination adjustment angle information is zero degrees, the bottom plate of the lifting machine is in a horizontal state, so that the escaping component is controlled to stop adjusting the height of the roller information below the lifting machine corresponding to the bottom plate, and the driving component is controlled to continuously drive the lifting machine to move.

Based on the same inventive concept, an embodiment of the present invention provides a heavy-duty driving unit control system, including:

the device comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring movement triggering information, movement speed information, bottom plate pressure detection information, reference stress detection information, movement stress information, abnormal roller information, normal roller information, bottom plate angle information, bottom plate adjustment angle information, abnormal roller touchdown triggering information, adjustment distance information, bottom plate lifting angle information, restarting movement speed information, surrounding environment image information, bottom plate inclination angle information, lifter lower roller information and bottom plate inclination adjustment angle information;

a memory for storing a program of a reload driving unit control method as in any one of fig. 1 to 7;

a processor, a program in a memory capable of being loaded by the processor and implementing a reload drive unit control method as in any of fig. 1 to 7.

It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional modules is illustrated, and in practical application, the above-described functional allocation may be performed by different functional modules according to needs, i.e. the internal structure of the apparatus is divided into different functional modules to perform all or part of the functions described above. The specific working processes of the above-described systems, devices and units may refer to the corresponding processes in the foregoing method embodiments, which are not described herein.

Embodiments of the present invention provide a computer-readable storage medium storing a computer program capable of being loaded by a processor and executing a method of controlling a reload driving unit.

The computer storage medium includes, for example: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.

Based on the same inventive concept, an embodiment of the present invention provides an intelligent terminal, including a memory and a processor, where the memory stores a computer program that can be loaded by the processor and execute a method for controlling a reload driving unit.

The foregoing description of the preferred embodiments of the application is not intended to limit the scope of the application in any way, including the abstract and drawings, in which case any feature disclosed in this specification (including abstract and drawings) may be replaced by alternative features serving the same, equivalent purpose, unless expressly stated otherwise. That is, each feature is one example only of a generic series of equivalent or similar features, unless expressly stated otherwise.

Claims

1. A heavy-duty drive unit control method, characterized by comprising:

acquiring movement triggering information of the heavy-load driving unit;

if yes, continuing to acquire the moving speed information;

if yes, outputting preset prompting information to prompt;

if the signals do not accord with the signals, the heavy-load driving unit is controlled to assist the lifter to get rid of the trapping;

The heavy-load driving unit comprises a getting rid of the trapping assembly and a driving assembly, and the method for controlling the getting rid of the trapping assembly to assist the lifter to get rid of the trapping comprises the following steps:

if yes, continuing to acquire the bottom plate pressure detection information;

if not, acquiring abnormal roller information and normal roller information;

2. The method of claim 1, wherein the method of controlling the escape assembly to assist the lift in escaping according to the abnormal roller information and the normal roller information comprises:

3. The method of claim 2, wherein the step of controlling the escape assembly to assist the lift in escaping according to the abnormal roller adjustment information comprises:

acquiring the lifting angle information of the bottom plate;

4. A method of controlling a heavy duty drive unit according to claim 3, wherein the method of controlling actuation of the drive assembly to drive movement of the lift comprises:

5. The control method of the heavy-duty drive unit according to claim 1, wherein when the floor pressure detection information meets the requirement of the reference floor pressure information, the method further comprises a stable control method of the lift floor by the escaping assembly, and the specific method comprises the following steps:

acquiring inclination angle information of a bottom plate;

6. The method of claim 5, wherein the step of controlling the escape assembly to stabilize the floor of the lift based on the floor tilt angle information comprises:

acquiring inclination adjustment angle information of the bottom plate;

7. A heavy duty drive unit control system, comprising:

a memory for storing a program of a reload driving unit control method according to any one of claims 1 to 6;

a processor, a program in a memory being capable of being loaded and executed by the processor and implementing a reload drive unit control method according to any one of claims 1 to 6.

8. An intelligent terminal comprising a memory and a processor, wherein the memory stores a computer program capable of being loaded by the processor and executing a method for controlling a reload driving unit according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that a computer program capable of being loaded by a processor and executing a reload drive unit control method according to any one of claims 1 to 6 is stored.