CN117930850A - Air cushion suspension vehicle controller, control method and system - Google Patents
Air cushion suspension vehicle controller, control method and system Download PDFInfo
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Abstract
The invention relates to the technical field of control, in particular to an air cushion suspension vehicle controller, a control method and a system, which are used for solving the problems that the control precision of an air cushion suspension vehicle is not high and the stability is poor because the existing air cushion suspension vehicle cannot monitor and analyze the state of the air cushion suspension vehicle in multiple aspects and further cannot accurately judge the actual condition of the air cushion suspension vehicle; the system comprises the following modules: the system comprises an abnormality detection module, a data analysis module, an intelligent control platform, a control detection module and a fault warning module; according to the air cushion suspension carrier controller, the control method and the system, through deep detection of the state information of the air cushion suspension carrier in multiple aspects and combination of the data processing technology, the state of the air cushion suspension carrier is accurately judged, the stability and the safety of the air cushion suspension carrier during carrying are improved, the air cushion suspension carrier controller can be widely applied to various complex environments and scenes, and more efficient and reliable carrier tools are provided for logistics transportation.
Description
Technical Field
The invention relates to the technical field of control, in particular to an air cushion suspension vehicle controller, a control method and a control system.
Background
With the rapid development of the logistics industry, the performance and efficiency of the carrier are important to the efficiency and cost of logistics transportation. The air cushion suspension carrier as a novel carrier has the advantages of high speed, high efficiency, low energy consumption and the like, and is widely applied to places such as warehouses, airports and the like. However, the existing air cushion suspension carrier still has some problems, such as incapability of carrying out multi-aspect monitoring and analysis on the state of the air cushion suspension carrier, and further incapability of accurately judging the actual condition of the air cushion suspension carrier, so that the air cushion suspension carrier is low in control precision and poor in stability, and safety problems are easy to occur in the carrying process, so that the wide application of the air cushion suspension carrier is limited. Therefore, it is important to develop an efficient, stable and safe air cushion suspension carrier controller, a control method and a system.
Disclosure of Invention
In order to overcome the technical problems, the invention aims to provide an air cushion suspension vehicle controller, a control method and a system: the air cushion suspension vehicle is subjected to anomaly detection through the anomaly detection module, anomaly detection information is obtained, the anomaly detection coefficient is obtained through the data analysis module according to the anomaly detection information, the intelligent control platform is used for generating an anomaly warning instruction or a control detection instruction according to the anomaly detection coefficient, the control detection module is used for controlling and detecting the air cushion suspension vehicle after receiving the control detection instruction, the control detection information is obtained, the control detection coefficient is obtained through the data analysis module according to the control detection information, the intelligent control platform is used for generating a control warning instruction or detecting a normal instruction according to the control detection coefficient, and warning processing is carried out after receiving the warning instruction through the fault warning module, so that the technical problems that the existing air cushion suspension vehicle cannot monitor and analyze the state of the air cushion suspension vehicle in multiple aspects, and further the actual situation of the air cushion suspension vehicle cannot be accurately judged, so that the control precision of the air cushion suspension vehicle is low, the stability is poor, and the safety problem is easy to occur in the conveying process are solved.
The aim of the invention can be achieved by the following technical scheme:
The control method of the air cushion suspension vehicle comprises the following steps:
Step S1: the anomaly detection module is used for carrying out anomaly detection on the air cushion suspension vehicle to obtain anomaly detection information, wherein the anomaly detection information comprises a friction value MC, a height value GD and a differential pressure value YC, and the anomaly detection information is sent to the data analysis module;
Step S2: the data analysis module obtains an abnormal detection coefficient YJ according to the abnormal detection information and sends the abnormal detection coefficient YJ to the intelligent control platform;
Step S3: the intelligent control platform generates an abnormal warning instruction or a control detection instruction according to the abnormal detection coefficient YJ, sends the abnormal warning instruction to the fault warning module, and sends the control detection instruction to the control detection module;
Step S4: the control detection module receives a control detection instruction, then carries out control detection on the air cushion suspension vehicle, and acquires control detection information, wherein the control detection information comprises a difference value CS and a speed value SD, and sends the control detection information to the data analysis module;
Step S5: the data analysis module obtains a control detection coefficient KZ according to the control detection information and sends the control detection coefficient KZ to the intelligent control platform;
Step S6: the intelligent control platform generates a control warning instruction or a detection normal instruction according to the control detection coefficient KZ, and sends the control warning instruction or the detection normal instruction to the fault warning module;
step S7: the fault warning module receives the warning instruction and then carries out warning processing, wherein the warning instruction comprises an abnormal warning instruction, a control warning instruction and a detection normal instruction.
As a further scheme of the invention: the specific process of the abnormality detection module obtaining the abnormality detection information is as follows:
Starting the air cushion suspension vehicle, enabling the air cushion suspension vehicle to move a preset distance according to a preset direction, and detecting abnormality of the air cushion suspension vehicle after the movement is completed;
Acquiring the real-time friction force between the air cushion suspension vehicle and the ground in the moving process of the air cushion suspension vehicle, acquiring the average value of the real-time friction force, marking the average value as a equimolar value JM, acquiring the maximum real-time friction force and the minimum real-time friction force, acquiring the difference value between the two friction force and the minimum real-time friction force, marking the difference value as a differential friction value CM, carrying out quantization treatment on the equimolar value JM and the differential friction value CM, extracting the numerical values of the equimolar value JM and the differential friction value CM, substituting the numerical values into a formula for calculation, and according to the formula Obtaining a friction value MC, wherein m1 and m2 are preset proportional coefficients corresponding to a set average friction value JM and a set differential friction value CM respectively, m1 and m2 meet m1+m2=1, 0 < m1 < m2 < 1, m1=0.35 and m2=0.65;
Acquiring the height of the highest point of the air cushion suspension vehicle in the moving process of the air cushion suspension vehicle, marking the height as a real-time height value, acquiring the average value of the real-time height values, marking the average value as a uniform height value JG, acquiring the maximum real-time height value and the minimum real-time height value, acquiring the difference value between the maximum real-time height value and the minimum real-time height value, marking the difference value as a difference height value CG, carrying out quantization treatment on the uniform height value JG and the difference height value CG, extracting the numerical values of the uniform height value JG and the difference height value CG, substituting the numerical values into a formula for calculation according to the formula Obtaining a height value GD, wherein g1 and g2 are preset proportional coefficients corresponding to a set average height value JG and a set difference height value CG respectively, g1 and g2 meet g1+g2=1, 0 < g1 < g2 < 1, g1=0.41 is taken, and g2=0.59;
acquiring the air cushion pressure of the air cushion suspension vehicle and the preset standard air cushion pressure in the moving process of the air cushion suspension vehicle, acquiring the difference between the air cushion pressure and the preset standard air cushion pressure, and marking the difference as a differential pressure value YC;
the friction value MC, the altitude value GD and the pressure difference value YC are sent to a data analysis module.
As a further scheme of the invention: the specific process of obtaining the anomaly detection coefficient YJ by the data analysis module is as follows:
Quantizing the friction value MC, the height value GD and the differential pressure value YC, extracting the values of the friction value MC, the height value GD and the differential pressure value YC, substituting the values into a formula for calculation, and calculating according to the formula Obtaining an anomaly detection coefficient YJ, wherein e is a mathematical constant, K is a preset error adjustment factor, K=0.959 is taken, c1, c2 and c3 are respectively preset weight factors corresponding to a set friction value MC, a set height value GD and a set differential pressure value YC, c1, c2 and c3 meet the conditions that c1 > c2 > c3 > 2.153, c1=3.11, c2=2.76 and c3=2.31;
And sending the anomaly detection coefficient YJ to the intelligent control platform.
As a further scheme of the invention: the specific process of generating the abnormal warning instruction or controlling the detection instruction by the intelligent control platform is as follows:
comparing the abnormality detection coefficient YJ with a preset abnormality detection threshold YJy:
If the abnormality detection coefficient YJ is more than or equal to an abnormality detection threshold YJy, generating an abnormality warning instruction and sending the abnormality warning instruction to a fault warning module;
If the anomaly detection coefficient YJ is less than the anomaly detection threshold YJy, a control detection instruction is generated and sent to the control detection module.
As a further scheme of the invention: the specific process of the control detection module for obtaining the control detection information is as follows:
after receiving the control detection instruction, controlling the air cushion suspension vehicle to move according to a preset control instruction, wherein the control instruction comprises a forward instruction, a backward instruction, a left movement instruction, a right movement instruction, a starting instruction and a closing instruction;
Acquiring the time generated by the control instruction and the time when the air cushion suspension vehicle starts to move, acquiring the time difference between the time and the time, and marking the time difference as a difference value CS;
Obtaining a difference value between the moving speed of the air cushion suspension vehicle and the preset moving speed, marking the difference value as a speed difference value SC, obtaining a difference value between the moving acceleration of the air cushion suspension vehicle and the preset acceleration, marking the difference value as a difference adding value JC, carrying out quantization processing on the speed difference value SC and the difference adding value JC, extracting the numerical values of the speed difference value SC and the difference adding value JC, substituting the numerical values into a formula for calculation, and obtaining a difference value between the moving acceleration of the air cushion suspension vehicle and the preset acceleration according to the formula Obtaining a speed value SD, wherein d1 and d2 are respectively preset proportional coefficients corresponding to a set speed difference value SC and a sum difference value JC, d1 and d2 meet d1+d2=1, 0 < d2 < d1 < 1, d1=0.53 and d2=0.47;
the difference value CS, the speed value SD are sent to a data analysis module.
As a further scheme of the invention: the specific process of the data analysis module for obtaining the control detection coefficient KZ is as follows:
quantizing the difference value CS and the speed value SD, extracting the values of the difference value CS and the speed value SD, substituting the values into a formula for calculation, and calculating according to the formula Obtaining a control detection coefficient KZ, wherein pi is a mathematical constant, epsilon is a preset error adjustment factor, epsilon=1.102 is taken, k1 and k2 are respectively preset weight factors corresponding to a set difference value CS and a speed value SD, k1 and k2 meet k2 & gtk 1 & gt1.396, and k1=1.71 and k2=2.33 are taken;
And sending the control detection coefficient KZ to the intelligent control platform.
As a further scheme of the invention: the specific process of the intelligent control platform generating the control warning instruction or detecting the normal instruction is as follows:
comparing the control detection coefficient KZ with a preset control detection threshold KZy:
if the control detection coefficient KZ is more than or equal to the control detection threshold KZy, generating a control warning instruction and sending the control warning instruction to the fault warning module;
If the control detection coefficient KZ is smaller than the control detection threshold KZy, a detection normal instruction is generated and sent to the fault warning module.
As a further scheme of the invention: the specific process of the fault warning module for warning treatment is as follows:
after receiving the abnormal warning instruction, ringing an abnormal warning bell, and controlling a status lamp on the air cushion suspension vehicle to display red;
after receiving the control warning instruction, sounding a control warning bell and controlling a status lamp on the air cushion suspension vehicle to display yellow;
and after receiving the detection normal instruction, controlling a status lamp on the air cushion suspension vehicle to display green.
As a further scheme of the invention: an air cushion suspension vehicle control system comprising:
The abnormality detection module is used for carrying out abnormality detection on the air cushion suspension vehicle, acquiring abnormality detection information and sending the abnormality detection information to the data analysis module; the abnormality detection information comprises a friction value MC, a height value GD and a differential pressure value YC;
The data analysis module is used for obtaining an abnormal detection coefficient YJ according to the abnormal detection information and sending the abnormal detection coefficient YJ to the intelligent control platform; the intelligent control platform is also used for obtaining a control detection coefficient KZ according to the control detection information and sending the control detection coefficient KZ to the intelligent control platform;
The intelligent control platform is used for generating an abnormal warning instruction or a control detection instruction according to the abnormal detection coefficient YJ, sending the abnormal warning instruction to the fault warning module and sending the control detection instruction to the control detection module; the control warning instruction or the normal detection instruction is generated according to the control detection coefficient KZ, and the control warning instruction or the normal detection instruction is sent to the fault warning module;
the control detection module is used for carrying out control detection on the air cushion suspension vehicle after receiving the control detection instruction, acquiring control detection information and sending the control detection information to the data analysis module; wherein the control detection information comprises a difference value CS and a speed value SD;
The fault warning module is used for warning after receiving the warning instruction; the warning instructions comprise abnormal warning instructions, control warning instructions and normal detection instructions.
As a further scheme of the invention: an air cushion suspension vehicle controller comprising: the intelligent control system comprises a processor and a memory, wherein the memory is stored with an intelligent control program of the air cushion suspension vehicle, and the air cushion suspension vehicle control method is realized when the intelligent control program of the air cushion suspension vehicle is executed by the processor.
The invention has the beneficial effects that:
According to the air cushion suspension vehicle controller, the control method and the system, firstly, the abnormality detection information is acquired, the abnormality degree of the air cushion suspension vehicle can be comprehensively measured according to the abnormality detection coefficient acquired according to the abnormality detection information, the higher the abnormality detection coefficient is, the higher the abnormality degree is, the warning processing is carried out when the abnormality detection coefficient is too high, then the air cushion suspension vehicle is further detected, the control detection information is acquired, the abnormality degree of the control process of the air cushion suspension vehicle can be comprehensively measured according to the control detection coefficient acquired according to the control detection information, the higher the control detection coefficient is, the higher the abnormality degree of the control process is, and the warning processing is carried out when the control detection coefficient is too high; according to the air cushion suspension carrier controller, the control method and the system, through deep detection of the state information of the air cushion suspension carrier in multiple aspects and combination of the data processing technology, accurate judgment of the state of the air cushion suspension carrier is achieved, and finally the air cushion suspension carrier with excellent state is selected for carrying operation, so that stability and safety of the air cushion suspension carrier during carrying are improved, the air cushion suspension carrier controller can be widely applied to various complex environments and scenes, and more efficient and reliable carrying tools are provided for logistics transportation.
Drawings
The invention is further described below with reference to the accompanying drawings.
FIG. 1 is a schematic diagram of an air cushion suspension control system according to the present invention;
FIG. 2 is a process flow diagram of a method for controlling an air-cushion suspension vehicle in accordance with the present invention.
Detailed Description
The technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1:
referring to fig. 1, the present embodiment is a control method for an air cushion suspension vehicle, comprising the following steps:
Step S1: the anomaly detection module is used for carrying out anomaly detection on the air cushion suspension vehicle to obtain anomaly detection information, wherein the anomaly detection information comprises a friction value MC, a height value GD and a differential pressure value YC, and the anomaly detection information is sent to the data analysis module;
Step S2: the data analysis module obtains an abnormal detection coefficient YJ according to the abnormal detection information and sends the abnormal detection coefficient YJ to the intelligent control platform;
Step S3: the intelligent control platform generates an abnormal warning instruction or a control detection instruction according to the abnormal detection coefficient YJ, sends the abnormal warning instruction to the fault warning module, and sends the control detection instruction to the control detection module;
Step S4: the control detection module receives a control detection instruction, then carries out control detection on the air cushion suspension vehicle, and acquires control detection information, wherein the control detection information comprises a difference value CS and a speed value SD, and sends the control detection information to the data analysis module;
Step S5: the data analysis module obtains a control detection coefficient KZ according to the control detection information and sends the control detection coefficient KZ to the intelligent control platform;
Step S6: the intelligent control platform generates a control warning instruction or a detection normal instruction according to the control detection coefficient KZ, and sends the control warning instruction or the detection normal instruction to the fault warning module;
step S7: the fault warning module receives the warning instruction and then carries out warning processing, wherein the warning instruction comprises an abnormal warning instruction, a control warning instruction and a detection normal instruction.
Example 2:
Referring to fig. 2, the present embodiment is an air cushion suspension vehicle control system, which includes the following modules: the system comprises an abnormality detection module, a data analysis module, an intelligent control platform, a control detection module and a fault warning module;
The abnormality detection module is used for carrying out abnormality detection on the air cushion suspension vehicle, acquiring abnormality detection information and sending the abnormality detection information to the data analysis module; the abnormality detection information comprises a friction value MC, a height value GD and a differential pressure value YC;
The data analysis module is used for obtaining an abnormal detection coefficient YJ according to the abnormal detection information and sending the abnormal detection coefficient YJ to the intelligent control platform; the intelligent control platform is also used for obtaining a control detection coefficient KZ according to the control detection information and sending the control detection coefficient KZ to the intelligent control platform;
The intelligent control platform is used for generating an abnormal warning instruction or a control detection instruction according to the abnormal detection coefficient YJ, sending the abnormal warning instruction to the fault warning module and sending the control detection instruction to the control detection module; the control warning instruction or the normal detection instruction is generated according to the control detection coefficient KZ, and the control warning instruction or the normal detection instruction is sent to the fault warning module;
The control detection module is used for controlling and detecting the air cushion suspension vehicle after receiving the control detection instruction, acquiring control detection information and sending the control detection information to the data analysis module; wherein the control detection information comprises a difference value CS and a speed value SD;
The fault warning module is used for warning after receiving the warning instruction; the warning instructions comprise abnormal warning instructions, control warning instructions and normal detection instructions.
Example 3:
Based on any one of the above embodiments, embodiment 3 of the present invention is an anomaly detection module, which is used for obtaining anomaly detection information, where the anomaly detection information includes a friction value MC, a height value GD and a differential pressure value YC, and the specific process is as follows:
Starting the air cushion suspension vehicle, enabling the air cushion suspension vehicle to move a preset distance according to a preset direction, and detecting abnormality of the air cushion suspension vehicle after the movement is completed;
The anomaly detection module obtains real-time friction force between the air cushion suspension vehicle and the ground in the moving process of the air cushion suspension vehicle, obtains an average value of the real-time friction force, marks the average value as an average friction value JM, obtains the maximum real-time friction force and the minimum real-time friction force, obtains a difference value between the average friction force and the minimum real-time friction force, marks the difference value JM as a difference friction value CM, carries out quantization treatment on the average friction value JM and the difference friction value CM, extracts numerical values of the average friction value JM and the difference friction value CM, substitutes the numerical values into a formula to calculate, and calculates according to the formula Obtaining a friction value MC, wherein m1 and m2 are preset proportional coefficients corresponding to a set average friction value JM and a set differential friction value CM respectively, m1 and m2 meet m1+m2=1, 0 < m1 < m2 < 1, m1=0.35 and m2=0.65;
The anomaly detection module obtains the height of the highest point of the air cushion suspension vehicle in the moving process of the air cushion suspension vehicle, marks the height as a real-time height value, obtains the average value of the real-time height values, marks the average height value as a uniform height value JG, obtains the maximum real-time height value and the minimum real-time height value, obtains the difference value between the maximum real-time height value and the minimum real-time height value, marks the difference value as a difference height value CG, carries out quantization treatment on the uniform height value JG and the difference height value CG, extracts the numerical values of the uniform height value JG and the difference height value CG, substitutes the numerical values into a formula to calculate, and calculates according to the formula Obtaining a height value GD, wherein g1 and g2 are preset proportional coefficients corresponding to a set average height value JG and a set difference height value CG respectively, g1 and g2 meet g1+g2=1, 0 < g1 < g2 < 1, g1=0.41 is taken, and g2=0.59;
The anomaly detection module obtains the air cushion pressure of the air cushion suspension vehicle and the preset standard air cushion pressure in the moving process of the air cushion suspension vehicle, obtains the difference between the air cushion pressure and the preset standard air cushion pressure, and marks the difference as a pressure difference value YC;
The anomaly detection module sends the friction value MC, the height value GD and the pressure difference value YC to the data analysis module.
Example 4:
based on any of the above embodiments, embodiment 4 of the present invention is a data analysis module, which has two functions;
One function is to obtain an anomaly detection coefficient YJ, which is specifically as follows:
The data analysis module carries out quantization processing on the friction value MC, the height value GD and the differential pressure value YC, extracts the numerical values of the friction value MC, the height value GD and the differential pressure value YC, substitutes the numerical values into a formula for calculation, and calculates according to the formula Obtaining an anomaly detection coefficient YJ, wherein e is a mathematical constant, K is a preset error adjustment factor, K=0.959 is taken, c1, c2 and c3 are respectively preset weight factors corresponding to a set friction value MC, a set height value GD and a set differential pressure value YC, c1, c2 and c3 meet the conditions that c1 > c2 > c3 > 2.153, c1=3.11, c2=2.76 and c3=2.31;
The data analysis module sends the abnormal detection coefficient YJ to the intelligent control platform;
the second function is to obtain a control detection coefficient KZ, and the specific process is as follows:
The data analysis module carries out quantization processing on the difference value CS and the speed value SD, extracts the numerical values of the difference value CS and the speed value SD, substitutes the numerical values into a formula for calculation, and calculates according to the formula Obtaining a control detection coefficient KZ, wherein pi is a mathematical constant, epsilon is a preset error adjustment factor, epsilon=1.102 is taken, k1 and k2 are respectively preset weight factors corresponding to a set difference value CS and a speed value SD, k1 and k2 meet k2 & gtk 1 & gt1.396, and k1=1.71 and k2=2.33 are taken;
and the data analysis module sends the control detection coefficient KZ to the intelligent control platform.
Example 5:
Based on any one of the above embodiments, embodiment 5 of the present invention is an intelligent control platform, which has two functions;
one function is to generate an abnormal warning instruction or a control detection instruction, and the specific process is as follows:
The intelligent control platform compares the anomaly detection coefficient YJ with a preset anomaly detection threshold YJy:
If the abnormality detection coefficient YJ is more than or equal to an abnormality detection threshold YJy, generating an abnormality warning instruction and sending the abnormality warning instruction to a fault warning module;
if the anomaly detection coefficient YJ is smaller than the anomaly detection threshold YJy, generating a control detection instruction and sending the control detection instruction to a control detection module;
The second function is to generate control warning instruction or detect normal instruction, the specific process is as follows:
the intelligent control platform compares the control detection coefficient KZ with a preset control detection threshold KZy:
if the control detection coefficient KZ is more than or equal to the control detection threshold KZy, generating a control warning instruction and sending the control warning instruction to the fault warning module;
If the control detection coefficient KZ is smaller than the control detection threshold KZy, a detection normal instruction is generated and sent to the fault warning module.
Example 6:
based on any of the above embodiments, embodiment 6 of the present invention is a control detection module, where the control detection module is used to obtain control detection information, where the control detection information includes a difference value CS and a speed value SD, and the specific process is as follows:
The control detection module receives a control detection instruction and then controls the air cushion suspension vehicle to move according to a preset control instruction, wherein the control instruction comprises a forward instruction, a backward instruction, a left movement instruction, a right movement instruction, a starting instruction and a closing instruction;
The control detection module obtains the time of control instruction generation and the time of the movement of the air cushion suspension vehicle, obtains the time difference between the control instruction generation and the time of the movement of the air cushion suspension vehicle, and marks the time difference as a difference value CS;
The control detection module obtains the difference between the moving speed of the air cushion suspension vehicle and the preset moving speed, marks the difference as a speed difference value SC, obtains the difference between the moving acceleration of the air cushion suspension vehicle and the preset acceleration, marks the difference as a difference adding value JC, carries out quantization processing on the speed difference value SC and the difference adding value JC, extracts the values of the speed difference value SC and the difference adding value JC, substitutes the values into a formula to calculate, and calculates according to the formula Obtaining a speed value SD, wherein d1 and d2 are respectively preset proportional coefficients corresponding to a set speed difference value SC and a sum difference value JC, d1 and d2 meet d1+d2=1, 0 < d2 < d1 < 1, d1=0.53 and d2=0.47;
The control detection module sends the difference value CS and the speed value SD to the data analysis module.
Example 7:
based on any one of the above embodiments, embodiment 7 of the present invention is a fault warning module, and the function of the fault warning module is to perform warning processing, and the specific process is as follows:
the fault warning module sounds an abnormal warning bell after receiving the abnormal warning instruction, and controls a status lamp on the air cushion suspension vehicle to display red;
The fault warning module sounds a control warning bell after receiving the control warning instruction, and controls a status lamp on the air cushion suspension vehicle to display yellow;
and the fault warning module controls a status lamp on the air cushion suspension vehicle to display green after receiving the detection normal instruction.
Based on the above embodiments 1-7, the working principle of the present invention is as follows:
The system carries out anomaly detection on the air cushion suspension vehicle through an anomaly detection module to obtain anomaly detection information, obtains an anomaly detection coefficient according to the anomaly detection information through a data analysis module, generates an anomaly warning instruction or a control detection instruction according to the anomaly detection coefficient through an intelligent control platform, carries out control detection on the air cushion suspension vehicle after receiving the control detection instruction through the control detection module to obtain control detection information, obtains a control detection coefficient according to the control detection information through the data analysis module, generates a control warning instruction or a detection normal instruction according to the control detection coefficient through the intelligent control platform, and carries out warning treatment after receiving the warning instruction through a fault warning module;
Firstly, acquiring anomaly detection information, comprehensively measuring the anomaly degree of an air cushion suspension vehicle according to the anomaly detection coefficient acquired by the anomaly detection information, wherein the higher the anomaly detection coefficient is, the higher the anomaly degree is, warning processing is carried out when the anomaly detection coefficient is too high, then further detection is carried out on the air cushion suspension vehicle, control detection information is acquired, the anomaly degree of the control process of the air cushion suspension vehicle can be comprehensively measured according to the control detection coefficient acquired by the control detection information, the higher the control detection coefficient is, the higher the anomaly degree of the control process is, and warning processing is carried out when the control detection coefficient is too high;
According to the air cushion suspension carrier controller, the control method and the system, through deep detection of the state information of the air cushion suspension carrier in multiple aspects and combination of the data processing technology, accurate judgment of the state of the air cushion suspension carrier is achieved, and finally the air cushion suspension carrier with excellent state is selected for carrying operation, so that stability and safety of the air cushion suspension carrier during carrying are improved, the air cushion suspension carrier controller can be widely applied to various complex environments and scenes, and more efficient and reliable carrying tools are provided for logistics transportation.
It should be further noted that, the above formulas are all formulas obtained by collecting a large amount of data and performing software simulation, and selecting a formula close to the true value, and coefficients in the formulas are set by those skilled in the art according to actual situations.
In the description of the present specification, the descriptions of the terms "one embodiment," "example," "specific example," and the like, mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The foregoing is merely illustrative and explanatory of the invention, as various modifications and additions may be made to the particular embodiments described, or in a similar manner, by those skilled in the art, without departing from the scope of the invention or exceeding the scope of the invention as defined in the claims.
Claims (10)
1. The control method of the air cushion suspension vehicle is characterized by comprising the following steps of:
Step S1: the anomaly detection module is used for carrying out anomaly detection on the air cushion suspension vehicle to obtain anomaly detection information, wherein the anomaly detection information comprises a friction value MC, a height value GD and a differential pressure value YC, and the anomaly detection information is sent to the data analysis module;
Step S2: the data analysis module obtains an abnormal detection coefficient YJ according to the abnormal detection information and sends the abnormal detection coefficient YJ to the intelligent control platform;
Step S3: the intelligent control platform generates an abnormal warning instruction or a control detection instruction according to the abnormal detection coefficient YJ, sends the abnormal warning instruction to the fault warning module, and sends the control detection instruction to the control detection module;
Step S4: the control detection module receives a control detection instruction, then carries out control detection on the air cushion suspension vehicle, and acquires control detection information, wherein the control detection information comprises a difference value CS and a speed value SD, and sends the control detection information to the data analysis module;
Step S5: the data analysis module obtains a control detection coefficient KZ according to the control detection information and sends the control detection coefficient KZ to the intelligent control platform;
Step S6: the intelligent control platform generates a control warning instruction or a detection normal instruction according to the control detection coefficient KZ, and sends the control warning instruction or the detection normal instruction to the fault warning module;
step S7: the fault warning module receives the warning instruction and then carries out warning processing, wherein the warning instruction comprises an abnormal warning instruction, a control warning instruction and a detection normal instruction.
2. The air cushion suspension vehicle control method according to claim 1, wherein the specific process of the abnormality detection module obtaining abnormality detection information is as follows:
Starting the air cushion suspension vehicle, enabling the air cushion suspension vehicle to move a preset distance according to a preset direction, and detecting abnormality of the air cushion suspension vehicle after the movement is completed;
Acquiring real-time friction force between the air cushion suspension vehicle and the ground in the moving process of the air cushion suspension vehicle, acquiring an average value of the real-time friction force, marking the average value as a equimolar value JM, acquiring the maximum real-time friction force and the minimum real-time friction force, acquiring a difference value between the maximum real-time friction force and the minimum real-time friction force, marking the difference value as a differential friction value CM, carrying out quantization treatment on the equimolar value JM and the differential friction value CM, and carrying out quantization treatment according to a formula Obtaining a friction value MC, wherein m1 and m2 are preset proportional coefficients corresponding to a set average friction value JM and a set differential friction value CM respectively;
The method comprises the steps of obtaining the height of the highest point of an air cushion suspension vehicle in the moving process of the air cushion suspension vehicle, marking the height as a real-time height value, obtaining the average value of the real-time height values, marking the average value as a uniform height value JG, obtaining the maximum real-time height value and the minimum real-time height value, obtaining the difference value between the maximum real-time height value and the minimum real-time height value, marking the difference value as a difference height value CG, quantifying the uniform height value JG and the difference height value CG according to a formula Obtaining a height value GD, wherein g1 and g2 are preset proportional coefficients corresponding to a set average height value JG and a set difference height value CG respectively;
acquiring the air cushion pressure of the air cushion suspension vehicle and the preset standard air cushion pressure in the moving process of the air cushion suspension vehicle, acquiring the difference between the air cushion pressure and the preset standard air cushion pressure, and marking the difference as a differential pressure value YC;
the friction value MC, the altitude value GD and the pressure difference value YC are sent to a data analysis module.
3. The method for controlling an air cushion suspension vehicle according to claim 1, wherein the specific process of obtaining the anomaly detection coefficient YJ by the data analysis module is as follows:
the friction value MC, the height value GD and the differential pressure value YC are quantized according to the formula Obtaining an anomaly detection coefficient YJ, wherein e is a mathematical constant, K is a preset error adjustment factor, and c1, c2 and c3 are preset weight factors corresponding to a set friction value MC, a set height value GD and a set differential pressure value YC respectively;
And sending the anomaly detection coefficient YJ to the intelligent control platform.
4. The method for controlling the air cushion suspension vehicle according to claim 1, wherein the specific process of generating the abnormality warning command or controlling the detection command by the intelligent control platform is as follows:
comparing the abnormality detection coefficient YJ with a preset abnormality detection threshold YJy:
If the abnormality detection coefficient YJ is more than or equal to an abnormality detection threshold YJy, generating an abnormality warning instruction and sending the abnormality warning instruction to a fault warning module;
If the anomaly detection coefficient YJ is less than the anomaly detection threshold YJy, a control detection instruction is generated and sent to the control detection module.
5. The method for controlling an air cushion suspension vehicle according to claim 1, wherein the specific process of the control detection module obtaining the control detection information is as follows:
after receiving the control detection instruction, controlling the air cushion suspension vehicle to move according to a preset control instruction;
Acquiring the time generated by the control instruction and the time when the air cushion suspension vehicle starts to move, acquiring the time difference between the time and the time, and marking the time difference as a difference value CS;
Obtaining a difference value between the moving speed of the air cushion suspension vehicle and the preset moving speed, marking the difference value as a speed difference value SC, obtaining a difference value between the moving acceleration of the air cushion suspension vehicle and the preset acceleration, marking the difference value as a difference value JC, carrying out quantization processing on the speed difference value SC and the difference value JC, and carrying out quantization processing according to a formula Obtaining a speed value SD, wherein d1 and d2 are respectively preset proportional coefficients corresponding to a set speed difference value SC and a difference value JC;
the difference value CS, the speed value SD are sent to a data analysis module.
6. The method for controlling an air cushion suspension vehicle according to claim 1, wherein the specific process of obtaining the control detection coefficient KZ by the data analysis module is as follows:
The difference value CS and the speed value SD are quantized and processed according to the formula Obtaining a control detection coefficient KZ, wherein pi is a mathematical constant, epsilon is a preset error adjustment factor, and k1 and k2 are preset weight factors corresponding to a set difference value CS and a speed value SD respectively;
And sending the control detection coefficient KZ to the intelligent control platform.
7. The method for controlling the air cushion suspension vehicle according to claim 1, wherein the specific process of generating the control warning command or detecting the normal command by the intelligent control platform is as follows:
comparing the control detection coefficient KZ with a preset control detection threshold KZy:
if the control detection coefficient KZ is more than or equal to the control detection threshold KZy, generating a control warning instruction and sending the control warning instruction to the fault warning module;
If the control detection coefficient KZ is smaller than the control detection threshold KZy, a detection normal instruction is generated and sent to the fault warning module.
8. The method for controlling the air cushion suspension vehicle according to claim 1, wherein the specific process of the warning processing by the fault warning module is as follows:
after receiving the abnormal warning instruction, ringing an abnormal warning bell, and controlling a status lamp on the air cushion suspension vehicle to display red;
after receiving the control warning instruction, sounding a control warning bell and controlling a status lamp on the air cushion suspension vehicle to display yellow;
and after receiving the detection normal instruction, controlling a status lamp on the air cushion suspension vehicle to display green.
9. An air cushion suspension vehicle control system, comprising:
The abnormality detection module is used for carrying out abnormality detection on the air cushion suspension vehicle, acquiring abnormality detection information and sending the abnormality detection information to the data analysis module; the abnormality detection information comprises a friction value MC, a height value GD and a differential pressure value YC;
The data analysis module is used for obtaining an abnormal detection coefficient YJ according to the abnormal detection information and sending the abnormal detection coefficient YJ to the intelligent control platform; the intelligent control platform is also used for obtaining a control detection coefficient KZ according to the control detection information and sending the control detection coefficient KZ to the intelligent control platform;
The intelligent control platform is used for generating an abnormal warning instruction or a control detection instruction according to the abnormal detection coefficient YJ, sending the abnormal warning instruction to the fault warning module and sending the control detection instruction to the control detection module; the control warning instruction or the normal detection instruction is generated according to the control detection coefficient KZ, and the control warning instruction or the normal detection instruction is sent to the fault warning module;
the control detection module is used for carrying out control detection on the air cushion suspension vehicle after receiving the control detection instruction, acquiring control detection information and sending the control detection information to the data analysis module; wherein the control detection information comprises a difference value CS and a speed value SD;
The fault warning module is used for warning after receiving the warning instruction; the warning instructions comprise abnormal warning instructions, control warning instructions and normal detection instructions.
10. An air cushion suspension vehicle controller, comprising: the air cushion suspension vehicle control method according to any one of claims 1-8, when the intelligent control program of the air cushion suspension vehicle is executed by the processor.
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