CN117739918A - Portal inclination angle measuring device, transport vehicle and method - Google Patents
Portal inclination angle measuring device, transport vehicle and method Download PDFInfo
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Abstract
The invention relates to the technical field of logistics transport vehicles, and discloses a portal inclination angle measuring device, a transport vehicle and a method, wherein the portal inclination angle measuring device comprises: the distance measuring sensor is arranged on the vehicle body of the transport vehicle and is positioned at one side of the vehicle body facing the portal of the transport vehicle, the measuring end of the distance measuring sensor faces the portal direction, and the position of the measuring point of the distance measuring sensor is provided with a first limit position and a second limit position along with the change of the pitching angle of the portal; the reference target is arranged on the portal frame, and the first limit position, the second limit position and any point between the first limit position and the second limit position are all positioned on the reference target; the calculation unit is electrically connected with the ranging sensor, is suitable for receiving the measurement result of the ranging sensor, calculating and processing the measurement result and outputting the inclination angle of the portal, and the invention obtains the inclination angle of the portal through a simple structure and a simple calculation mode, so that the real-time measurement result is more accurate and reliable and is not influenced by the problems of geographical latitude, road inclination and the like.
Description
Technical Field
The invention relates to the technical field of logistics transport vehicles, in particular to a portal inclination angle measuring device, a transport vehicle and a portal inclination angle measuring method.
Background
Logistics transport vechicles such as commodity circulation transport vechicle includes fork truck, AGV (automated guided vehicle), and its accessory part mainly includes portal and fork, and the fork can go up and down on the portal to lift or put down the material, and portal adopts to rotate with the automobile body to be connected, makes the portal can follow fore-and-aft direction slope, is convenient for dodge the obstacle. The logistics transportation vehicle is mainly used for transporting materials in workshops, factories and other places, and can need to frequently enter and exit places with slopes, such as factory doors and the like and with height limiting requirements. When passing through the ramp, in order to avoid collision between the material and the ramp, one method is to lift the fork of the transport vehicle so as to lift the material, however, excessive lifting of the material easily causes collision between the upper end of the material and obstacles at the same height as the door body structure, so that another method is needed to be matched, namely, the inclination angle of the door frame is adjusted, so that the fork is parallel to the ramp as much as possible, the height of the material to be lifted is reduced, collision with the obstacles at the high position is avoided, and in order to more accurately adjust the inclination angle of the door frame, the angle of the door frame is needed to be measured.
In the related art, the angle of the portal is generally obtained by fixedly installing an angle amplifier on a vehicle body, thereby amplifying the angle of the oil cylinder, measuring, and calculating the angle of the portal, or by installing a gyroscope on the portal, obtaining the angle of the portal according to the acceleration change of the gyroscope through calculation.
However, in the above method, the angle amplifier has a complex structure, poor compatibility with different types of transport vehicles, and the mechanical structure is easily worn to cause the reduction of precision, while the measurement of the gyroscope is greatly affected by the road surface condition, and is only suitable for static measurement, the real-time feedback performance is poor, and may be affected by the geographical latitude.
Disclosure of Invention
In view of the above, the invention provides a portal inclination angle measuring device, a transport vehicle and a portal inclination angle measuring method, which can obtain the portal inclination angle through a simple structure and a simple calculation mode, so that the real-time measurement result is more accurate and reliable, and is not influenced by the problems of geographical latitude, road inclination conditions and the like.
In a first aspect, the present invention provides a mast inclination angle measuring apparatus comprising: the distance measuring sensor is arranged on the vehicle body of the transport vehicle and is positioned on one side of the vehicle body facing the portal of the transport vehicle, the measuring end of the distance measuring sensor faces the portal direction, and the position of the measuring point of the distance measuring sensor is provided with a first limit position and a second limit position along with the change of the pitching angle of the portal; the reference target is arranged on the portal frame, and the first limit position, the second limit position and any point between the first limit position and the second limit position are all positioned on the reference target; and the calculating unit is electrically connected with the ranging sensor and is suitable for receiving the measurement result of the ranging sensor and performing calculation processing and outputting the inclination angle of the portal.
The beneficial effects are that: the distance between the distance measuring sensor and the measured point on the portal is measured rapidly by arranging the distance measuring sensor on the front side of the vehicle body and setting the distance measuring sensor on the portal through the reference target, and when the reference target and the distance measuring sensor are installed, the distance between the distance measuring sensor and the portal rotating shaft, the included angle between the measuring direction straight line and the connecting line between the distance measuring sensor and the portal rotating shaft are all determined known values. The whole dependence of the measurement structure on the mechanical structure is little, the influence of the abrasion of the mechanical structure on the measurement precision is avoided, meanwhile, the measurement structure is very simple in composition and low in cost, the measurement structure is easy to install on the existing transport vehicle, the transformation of the existing transport vehicle is convenient, good practicability and convenience are realized, in addition, the possibility that the measurement result is influenced by the outside is further reduced due to the fact that the required measurement data are single, and the reliability of the measurement structure is improved.
In an alternative embodiment, the ranging sensor includes any one or more of a laser ranging sensor, an infrared ranging sensor, an ultrasonic sensor, an electro-optical ranging sensor, and a pull wire encoder.
The beneficial effects are that: the whole measuring process can be completed by obtaining the distance data between the measuring device and the reference target, so that the usable ranging sensor has very wide variety, the measuring device has very strong adaptability, and the measuring device can adapt to the work of various occasions.
In an alternative embodiment, the ranging sensor is a laser ranging sensor and the reference target is a reflective plate.
The beneficial effects are that: the laser ranging sensor has higher precision and higher measuring speed, and the reflecting plate provides accurate and clear reflecting points for the laser ranging sensor, so that the measuring device can accurately and quickly acquire measured data.
In an alternative embodiment, the distance measuring sensor is arranged at the top of the side of the vehicle body facing the door frame and is positioned at the middle position in the width direction of the vehicle body.
The beneficial effects are that: the distance measuring sensor is arranged in the middle of the width direction of the vehicle body and is positioned at the top, so that the side length of the established triangle model is prolonged, the influence of measurement errors on the calculation result is further reduced, and the calculation accuracy is improved.
In an alternative embodiment, the distance measuring sensor is mounted at the same height as the reference target, and the measuring direction of the distance measuring sensor is parallel to the vehicle body.
The beneficial effects are that: through making measuring direction and automobile body parallel, make the device install the back to the length of the line of required measuring range finding sensor to portal pivot, the contained angle data between line and the measuring direction be measured more easily to reduce measuring error, promote measurement accuracy.
In an alternative embodiment, the calculating unit comprises a control module and a calculating module which are electrically connected with each other, the control module is suitable for receiving the measurement data of the ranging sensor and sending the measurement data to the calculating module, and receiving the calculation result of the calculating module and sending the calculation result to other units, and the control module comprises an electric control box which is arranged on the vehicle body and is positioned on one side of the vehicle body away from the portal frame.
The beneficial effects are that: the interaction of the control module and the calculation module realizes the processing and calculation of the measurement data, and the calculation result is sent to other units such as a transport vehicle computer or a digital display unit and the like through the control module, and the electric cabinet is arranged on one side, far away from the door frame, of the vehicle body, so that the possibility of faults caused by collision between the electric cabinet and goods is reduced, and the structural reliability is improved.
In a second aspect, the present invention also provides a transport vehicle, comprising: comprises a vehicle body; the door frame is arranged on the front side of the vehicle body and is rotationally connected with the vehicle body through a rotating shaft; the driving device is arranged on the vehicle body and connected with the portal frame and is suitable for driving the portal frame to rotate around the rotating shaft in the pitching direction; the portal inclination angle measuring device is arranged on the vehicle body and the portal.
The beneficial effects are that: because portal inclination measuring device simple structure to with low costs, installation are easy, can reform transform current transport vechicle, simultaneously, required measurement data volume is single, makes measuring result highly reliable, makes the transport vechicle can be rapid measure out portal inclination and adjust the transport vechicle gesture according to portal inclination, and feedback regulation response is rapid. In addition, as the required ranging sensors are more in optional types, the transport vehicle can adapt to different application scenes.
In a third aspect, the invention further provides a portal inclination angle measuring method, which is applied to the transport vehicle; installing the distance measuring sensor and the reference target, and enabling the distance measuring sensor and the reference target to be arranged oppositely at the same position in the width direction of the vehicle body;
measuring and obtaining the shortest distance between the distance measuring sensor and the portal rotating shaft to be marked as b, measuring the included angle between a connecting line between the distance measuring sensor and the measuring point and a connecting line between the distance measuring sensor and the portal rotating shaft and the closest point of the distance measuring sensor to be marked as theta, and prefabricating the numerical values of b and theta in the computing unit;
the measured value of the ranging sensor is that the distance between the measuring point and the ranging sensor is marked as a, and the ranging sensor sends the value of a to the calculating unit;
the shortest distance between the measuring point and the portal rotating shaft is marked as c, and the connecting line from the portal rotating shaft to the measuring point and the distance measurement from the portal rotating shaft to the distance measurementThe included angle between the connecting lines of the sensors is recorded as delta, and the calculating unit is used for calculating the included angle according to the formulaCalculating to obtain the value of c, and calculating to obtain the value of delta according to the formula delta=arc ((b 2-abcos theta)/bc);
placing the transport vehicle on a flat ground, adjusting the portal to be vertical to the ground, and taking the measured value a of the distance measuring sensor 3 into the formula to calculate the value of delta at the moment and recording the value as delta 0 Will delta 0 Prefabricating in a computing unit;
the inclination angle of the portal is recorded as beta, and the calculating unit calculates the inclination angle according to the formula beta=delta 0 -delta calculated value of beta.
When β is positive, the gantry is in the tilt-up elevation state, and when β is negative, the gantry is in the tilt-up depression state.
The beneficial effects are that: the data to be measured are only one length data, the rest work can be rapidly calculated by the calculation unit according to a simple formula, the whole calculation process is very rapid, the known quantification required by the calculation formula is easy to obtain, and the calculation result is highly reliable.
In an alternative embodiment, the method further comprises the steps of: obtaining the maximum value and the minimum value of the pitching angle of the portal frame according to the model of the selected transport vehicle, and respectively marking the maximum value and the minimum value as beta 1 And beta 2 According to the formula δ=β - δ 0 Calculated when β=β 1 And β=β 2 The values of delta are respectively recorded as delta 1 And delta 2 ；
According to formula c= (b 2 -2abcos θ)/δ is calculated as δ=δ, respectively 1 And δ=δ 2 The value of c is respectively denoted as c 1 And c 2 ；
The minimum length of the reference target is recorded as L, and the minimum length is recorded as l= |according to the formula L = | 1 -c 2 And calculating the minimum value of L.
The beneficial effects are that: the minimum length of the reference target can be reversely deduced through a calculation formula, so that the reference target with the minimum size in a selectable range can be selected according to a calculation result, interference between the reference target and other structures on the transport vehicle is avoided, and shielding of the reference target on the manual driving type transport vehicle to the sight of a driver is avoided.
In an alternative embodiment, in the case that the transporter is an automatic transporter, the calculating unit is electrically connected to the automatic transporter, and sends the calculated β value to the computer, and the computer compares β with the road inclination angle, and controls the driving device to adjust the angle of the gantry according to the comparison result.
The beneficial effects are that: on the automatic transport vehicle, the calculation result of the portal inclination angle is transmitted to the transport vehicle computer, the portal is rapidly adjusted by the computer according to the obtained ground gradient, and real-time adjustment is continuously carried out according to real-time feedback of the portal inclination angle, so that the working efficiency of the automatic transport vehicle is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic diagram of a portal inclination angle measuring device and a vehicle parking space structure according to an embodiment of the present invention.
Reference numerals illustrate:
1. a reference target; 2. a door frame; 3. a ranging sensor; 4. a vehicle body; 5. an electric control box.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Logistics transportation vehicles include a wide variety of forms, and are mainly divided into long-distance transportation vehicles and short-distance logistics transportation vehicles, wherein cargo loading and unloading of the long-distance transportation vehicles are mainly completed by matching the short-distance logistics transportation vehicles with other equipment, and the short-distance logistics transportation vehicles generally need to independently complete transportation work of trays for storing materials. Short range logistics transfer vehicles generally include a vehicle body having a power source, a mast, and a fork disposed on the mast and capable of being lifted along the mast.
Because the short-distance transport vehicle needs to frequently pass through places with slopes, such as factory gates, and the like and limited high requirements in the working process, the interference between the goods and the slopes cannot be avoided by a single method of lifting the goods by lifting the forks, and therefore the portal frame of the transport vehicle generally has the pitching rotation function, and accordingly the goods can be inclined at a small angle to avoid interference with the road surface by adjusting the angle of the portal frame.
In order to more accurately adjust the inclination angle of the portal, the portal passes through a road section with a gradient and a height limit as much as possible at a smaller inclination angle, the inclination angle of the portal relative to the bottom surface needs to be detected in real time, and the detection method of the inclination angle of the portal in the related art comprises the methods of detecting through an angle amplifying structure matched with an angle sensor, measuring the rotation acceleration of a portal rotating shaft through a gyroscope and the like, but the cost of the structure is higher, the measurement result is influenced by a plurality of factors, and the accuracy and the calculation speed are limited to different degrees.
The portal inclination angle measuring device and method are simple in structure, high in measuring accuracy and simple in calculation process, the existing transport vehicle is convenient to reform, and the portal inclination angle measuring device and method are suitable for large-scale transport vehicle reformation due to low cost, and have important significance for transportation optimization reformation and intelligent reformation of workshops.
An embodiment of the present invention is described below with reference to fig. 1.
According to an embodiment of the present invention, in one aspect, there is provided a device for measuring an inclination angle of a gantry 2, referring to fig. 1, including: the distance measuring sensor 3 is arranged on the vehicle body 4 of the transport vehicle and is positioned on one side of the vehicle body 4 facing the portal 2 of the transport vehicle, the measuring end of the distance measuring sensor 3 faces the portal 2, and the position of the measuring point of the distance measuring sensor 3 is provided with a first limit position and a second limit position along with the change of the pitching angle of the portal 2; the reference target 1 is arranged on the portal frame 2, and the first limit position, the second limit position and any point between the first limit position and the second limit position are all positioned on the reference target 1; and the calculating unit is electrically connected with the ranging sensor 3, and is suitable for receiving the measurement result of the ranging sensor 3 and performing calculation processing to output the inclination angle of the portal frame 2.
The specific type of the ranging sensor 3 is not limited in this embodiment, and the ranging sensor 3 may be a laser sensor or another sensor capable of performing linear distance measurement, and the specific type of the sensor is within the scope of this embodiment.
The measuring point of the ranging sensor 3 is located on the reference target 1, and the reference target 1 is used to reflect the physical signal emitted by the ranging sensor 3 or send the physical signal to the ranging sensor 3, and the specific form and mounting posture of the reference target 1 are not limited in this embodiment, and the reference target 1 may be a straight plate shape, and in some embodiments, the reference target 1 may be other shapes. In the case of a transport vehicle on a flat ground, the reference target 1 may be arranged perpendicularly to the ground or may be arranged obliquely. Illustratively, the distance measuring sensor 3 employs an infrared distance measuring sensor 3, the reference target 1 is a reflecting plate, a straight plate structure is employed, and the reference target 1 is disposed perpendicularly to the ground in the case where the transportation vehicle is on a flat ground.
In this embodiment, the distance between the distance measuring sensor 3 and the measured point on the gantry 2 can be measured quickly by setting the distance measuring sensor 3 on the front side of the vehicle body 4 and setting the reference target 1 on the gantry 2 as the measured target, and when the reference target 1 and the distance measuring sensor 3 are installed, the distance between the distance measuring sensor 3 and the rotating shaft of the gantry 2, the included angle between the straight line of the measuring direction and the connecting line between the distance measuring sensor 3 and the rotating shaft of the gantry 2 are all determined known values, and by setting up a triangle between the distance measuring sensor 3, the measuring point on the reference target 1 and the three points closest to the distance measuring sensor 3 on the rotating shaft of the gantry 2, the real-time angle of the triangle base angle is obtained by a trigonometric function formula, and the real-time angle of the triangle base angle is compared with the base angle of the transport vehicle in the ground state, thereby obtaining the angle between the gantry 2 and the vertical direction. The whole dependence of the measurement structure on the mechanical structure is little, the influence of the abrasion of the mechanical structure on the measurement precision is avoided, meanwhile, the measurement structure is very simple in composition and low in cost, the measurement structure is easy to install on the existing transport vehicle, the transformation of the existing transport vehicle is convenient, good practicability and convenience are realized, in addition, the possibility that the measurement result is influenced by the outside is further reduced due to the fact that the required measurement data are single, and the reliability of the measurement structure is improved.
In one embodiment, the ranging sensor 3 comprises a combination of any one or more of a laser ranging sensor 3, an infrared ranging sensor 3, an ultrasonic sensor, an electro-optical ranging sensor 3, and a pull wire encoder.
In the case of employing a plurality of kinds of sensors, the measurement results of the plurality of sensors are subjected to average processing by the calculation unit, thereby obtaining more reliable measurement results, and the reference target 1 adapted to the kind of the distance measuring sensor 3 can be set for the measurement positions of the different kinds of sensors.
In this embodiment, the whole measurement process can be completed by obtaining the distance data from the reference target 1, so that the usable ranging sensor 3 has very wide variety, so that the measurement device has very strong adaptability, and can adapt to the work of various occasions.
In one embodiment, the ranging sensor 3 is a laser ranging sensor 3 and the reference target 1 is a reflecting plate.
In this embodiment, the accuracy of the laser ranging sensor 3 is higher, the measurement speed is faster, and the reflecting plate provides accurate and clear reflection points for the laser ranging sensor 3, so that the measuring device can accurately and rapidly obtain measured data.
In one embodiment, the distance measuring sensor 3 is provided at the top of the side of the vehicle body 4 facing the portal 2, and is located at a middle position in the width direction of the vehicle body 4.
In this embodiment, since the ranging sensor 3 is disposed in the middle of the width direction of the vehicle body 4 and is located at the top, the side length of the triangle model is lengthened, the influence of the measurement error on the calculation result is further reduced, and the calculation accuracy is improved.
In one embodiment, the distance measuring sensor 3 is mounted at the same height as the reference target 1, and the measuring direction of the distance measuring sensor 3 is parallel to the vehicle body 4.
In this embodiment, the measuring direction is parallel to the vehicle body 4, so that the length of the connecting line from the ranging sensor 3 to the rotating shaft of the gantry 2 to be measured and the included angle data between the connecting line and the measuring direction can be measured more easily after the device is installed, thereby reducing the measuring error and improving the measuring precision.
In one embodiment, the computing unit comprises a control module and a computing module electrically connected to each other, the control module being adapted to receive the measurement data of the distance measuring sensor and to send them to the computing module, and to receive the calculation results of the computing module and to send them to other units, the control module comprising an electric cabinet 5, the electric cabinet 5 being provided on the vehicle body 4 and being located on the side of the vehicle body 4 remote from the mast 2.
In this embodiment, the interaction between the control module and the calculation module realizes the processing and calculation of the measurement data, and the calculation result is sent to other units such as the transport vehicle computer or the digital display unit through the control module, and the electric cabinet 5 is arranged on one side, far away from the door frame 2, of the vehicle body 4, so that the possibility of failure caused by collision between the electric cabinet 5 and goods is reduced, and the structural reliability is improved.
According to an embodiment of the present invention, in another aspect, there is also provided a transport vehicle including a vehicle body 4; the door frame 2 is arranged on the front side of the vehicle body 4 and is rotationally connected with the vehicle body 4 through a rotating shaft; the driving device is arranged on the vehicle body 4 and connected with the portal 2, and is suitable for driving the portal 2 to rotate in the pitching direction around the rotating shaft; the device for measuring the inclination angle of the door frame 2 is arranged on the vehicle body 4 and the door frame 2.
In this embodiment, because portal 2 inclination measuring device simple structure to with low costs, installation are easy, can reform transform current transport vechicle, simultaneously, required measurement data volume is single, makes measuring result highly reliable, makes the transport vechicle can be rapid measure portal 2 inclination and adjust the transport vechicle gesture according to portal 2 inclination, and feedback regulation response is rapid. In addition, as the required ranging sensors 3 are more in optional types, the transport vehicle can adapt to different application scenes.
In some of the above embodiments, in particular, the ranging sensor is disposed in the middle of the front end of the roof of the vehicle body, and the reference target is disposed on the lower side of the middle of the roof beam of the portal, so as to reduce the obstruction of the driver's vision by the measuring structure in the cab.
According to an embodiment of the present invention, on the other hand, there is also provided a method for measuring an inclination angle of the gantry 2, which is applied to the above-mentioned transport vehicle; a distance measuring sensor 3 and a reference target 1 are installed, and the distance measuring sensor 3 and the reference target 1 are arranged oppositely at the same position in the width direction of the vehicle body 4;
measuring and obtaining the shortest distance between the ranging sensor 3 and the rotating shaft of the portal frame 2, marking the shortest distance between a connecting line between the ranging sensor 3 and a measuring point and the connecting line between the ranging sensor 3 and the rotating shaft of the portal frame 2 and the nearest point of the ranging sensor 3 as theta, and prefabricating the numerical values of b and theta in a computing unit;
the reading of the ranging sensor 3 is that the distance between the measuring point and the ranging sensor 3 is marked as a, and the ranging sensor 3 sends the value of a to a calculating unit;
the shortest distance between the measuring point and the rotating shaft of the gantry 2 is marked as c, the included angle between the connecting line between the rotating shaft of the gantry 2 and the measuring point and the connecting line between the rotating shaft of the gantry 2 and the ranging sensor 3 is marked as delta, and the calculating unit is used for calculating the included angle according to the formulaThe value of c is calculated and obtained according to the formula δ=arc ((b) 2 -abcos θ)/bc) calculating to obtain the value of δ;
placing the transport vehicle on a flat ground, and adjusting the portal 2 to be vertical to the groundAnd the value of delta at this time is calculated according to the measurement value a of the distance measuring sensor 3 brought into the formula and recorded as delta 0 Will delta 0 Prefabricating in a computing unit;
the inclination angle of the gantry 2 is denoted as β, and the calculation unit calculates according to the formula β=δ 0 -delta calculated value of beta.
When β is positive, the gantry is in the tilt-up elevation state, and when β is negative, the gantry is in the tilt-up depression state.
In this embodiment, the data to be measured is only one length data, and can be rapidly calculated by the calculation unit according to a simple formula, so that the whole calculation process is very rapid, and the known quantification required by the calculation formula is easy to obtain, so that the calculation result is highly reliable.
In one embodiment, the method further comprises the step of obtaining a maximum value and a minimum value of the pitching angle of the mast 2, respectively denoted as β=β, according to the selected truck model 1 And β=β 2 According to the formula δ=β - δ 0 Calculated when β=β 1 And β=β 2 The values of delta are respectively recorded as delta 1 And delta 2 ；
According to formula c= (b 2 -2abcos θ)/bcos δ, respectively, when δ=δ 1 And δ=δ 2 The value of c is respectively denoted as c 1 And c 2 ；
The minimum length of the reference target 1 is recorded as L, and l= |c is calculated according to the formula 1 -c 2 And calculating the minimum value of L.
In this embodiment, the minimum length of the reference target 1 can be reversely calculated through a calculation formula, so that the reference target 1 with the minimum size in the optional range can be selected according to the calculation result, the interference between the reference target 1 and other structures on the transport vehicle is avoided, and the shielding of the reference target 1 on the manually driven transport vehicle to the sight of the driver is avoided.
In one embodiment, in the case that the transport vehicle is an automatic transport vehicle, the calculating unit is electrically connected to the automatic transport vehicle and transmits the calculated value of β to the computer, which compares β with the road surface inclination angle and controls the driving device to adjust the angle of the gantry 2 according to the comparison result.
In this embodiment, on the automatic transport vehicle, through transmitting the calculation result of the inclination angle of the portal 2 to the transport vehicle computer, the portal 2 is rapidly adjusted according to the obtained ground gradient by the computer, and real-time adjustment is continuously performed according to real-time feedback of the inclination angle of the portal 2, so that the working efficiency of the automatic transport vehicle is improved.
Although embodiments of the present invention have been described in connection with the accompanying drawings, various modifications and variations may be made by those skilled in the art without departing from the spirit and scope of the invention, and such modifications and variations fall within the scope of the invention as defined by the appended claims.
Claims (10)
1. A mast tilt angle measuring apparatus, comprising:
the distance measuring sensor (3) is arranged on a vehicle body (4) of the transport vehicle and is positioned on one side of the vehicle body (4) facing the portal (2) of the transport vehicle, the measuring end of the distance measuring sensor (3) faces the portal (2), and the position of a measuring point of the distance measuring sensor (3) is provided with a first limit position and a second limit position along with the change of the pitching angle of the portal (2);
the reference target (1) is arranged on the portal frame (2), and the first limit position, the second limit position and any point between the first limit position and the second limit position are all positioned on the reference target (1);
and the calculating unit is electrically connected with the ranging sensor (3), and is suitable for receiving the measurement result of the ranging sensor (3) and performing calculation processing and outputting the inclination angle of the portal (2).
2. The mast inclination angle measurement device according to claim 1, wherein the ranging sensor (3) comprises any one or a combination of a laser ranging sensor (3), an infrared ranging sensor (3), an ultrasonic sensor, an electro-optical ranging sensor (3) and a wire-drawing encoder.
3. Portal inclination angle measuring device according to claim 2, characterized in that the distance measuring sensor (3) is a laser distance measuring sensor (3) and the reference target (1) is a reflecting plate.
4. A mast inclination angle measuring apparatus according to any one of claims 1 to 3, wherein the distance measuring sensor (3) is provided at a top portion of a side of the vehicle body (4) facing the mast (2), and is located at a middle position in a width direction of the vehicle body (4).
5. Portal inclination angle measuring device according to claim 4, characterized in that the distance measuring sensor (3) is mounted at the same height as the reference target (1), the measuring direction of the distance measuring sensor (3) being parallel to the vehicle body (4).
6. The mast inclination angle measuring device according to claim 1, wherein the calculation unit comprises a control module and a calculation module electrically connected to each other, the control module being adapted to receive measurement data of the distance measuring sensor and to send to the calculation module, and to receive calculation results of the calculation module and to send to other units, the control module comprising an electric cabinet (5), the electric cabinet (5) being provided on the vehicle body (4) and being located on a side of the vehicle body (4) remote from the mast (2).
7. A transport vehicle, comprising:
a vehicle body (4);
the door frame (2) is arranged on the front side of the vehicle body (4) and is rotationally connected with the vehicle body (4) through a rotating shaft;
the driving device is arranged on the vehicle body (4) and connected with the door frame (2) and is suitable for driving the door frame (2) to rotate around the rotating shaft in the pitching direction;
the mast (2) inclination angle measuring device according to any one of claims 1 to 6, provided on the vehicle body (4) and the mast (2).
8. A method for measuring the inclination angle of a portal, which is characterized by being applied to the transport vehicle of claim 7;
mounting the distance measuring sensor (3) and the reference target (1) such that the distance measuring sensor (3) and the reference target (1) are disposed opposite to each other at the same position in the width direction of the vehicle body (4);
measuring and obtaining the shortest distance between the ranging sensor (3) and the rotating shaft of the portal (2) to be recorded as b, measuring the included angle between the connecting line between the ranging sensor (3) and the measuring point and the connecting line between the ranging sensor (3) and the rotating shaft of the portal (2) and the nearest point of the ranging sensor (3) to be recorded as theta, and prefabricating the values of b and theta in the computing unit;
the measured value of the ranging sensor (3) is that the distance between the measuring point and the ranging sensor (3) is marked as a, and the ranging sensor (3) sends the value of a to the calculating unit;
the shortest distance between the measuring point and the rotating shaft of the door frame (2) is marked as c, the included angle between the connecting line from the rotating shaft of the door frame (2) to the measuring point and the connecting line from the rotating shaft of the door frame (2) to the ranging sensor (3) is marked as delta, and the calculating unit is used for calculating the included angle according to the formulaThe value of c is calculated and obtained according to the formula δ=arc ((b) 2 -abcos θ)/bc) calculating to obtain the value of δ;
placing the transport vehicle on a flat ground, adjusting the portal (2) to be vertical to the ground, and taking the measured value a of the ranging sensor (3) into the formula to calculate the value of delta at the moment and recording the value as delta 0 Will delta 0 Prefabricating and passing through a computing unit;
the inclination angle of the portal (2) is recorded as beta, and the calculation unit calculates the inclination angle according to the formula beta=delta 0 -delta calculated value of beta.
9. The portal tilt angle measurement method of claim 8, further comprising the steps of: obtaining the maximum value and the minimum value of the pitching angle of the portal frame (2) according to the selected transport vehicle model, and respectively marking the maximum value and the minimum value as beta 1 And beta 2 According toFormula δ=β - δ 0 Calculated when β=β 1 And β=β 2 The values of delta are respectively recorded as delta 1 And delta 2 ；
According to formula c= (b 2 -2abcos θ)/bcos δ, respectively, when δ=δ 1 And δ=δ 2 The value of c is respectively denoted as c 1 And c 2 ；
The minimum length of the reference target is recorded as L, and the minimum length is recorded as L= |c according to the formula 1 -c 2 And calculating the minimum value of L.
10. The mast tilt angle measurement method according to claim 9, wherein, in said mast, said mast is tilted at a predetermined angle
In the case of an automatic transport vehicle, the computing unit is electrically connected to the automatic transport vehicle,
and transmits the calculated value of beta to the computer, which compares beta with the road inclination angle,
and controlling the driving device to adjust the angle of the door frame (2) according to the comparison result.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311646895.1A CN117739918A (en) | 2023-11-30 | 2023-11-30 | Portal inclination angle measuring device, transport vehicle and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311646895.1A CN117739918A (en) | 2023-11-30 | 2023-11-30 | Portal inclination angle measuring device, transport vehicle and method |
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| Publication Number | Publication Date |
|---|---|
| CN117739918A true CN117739918A (en) | 2024-03-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311646895.1A Pending CN117739918A (en) | 2023-11-30 | 2023-11-30 | Portal inclination angle measuring device, transport vehicle and method |
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| Country | Link |
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| CN (1) | CN117739918A (en) |
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