TWI442203B - Smart platform control system, platform apparatus and the control method of the platform apparatus - Google Patents

Description

Smart platform control system, platform device and control unit of platform device law

The invention relates to a control module, in particular to a modular control module for lifting and lowering the platform with the tilting angle of the platform device.

Mobile platform units and fixed platform units can be used in many different areas, including robots, transporters, medical beds and electric wheelchairs, saving labor and accelerating time and bringing a lot of life to human life. Convenience.

However, when the items carried by the mobile platform and the fixed platform are too heavy or placed incorrectly, it is easy to shift the center of gravity, or when the platform is on different roads, such as waves or downhill, or even bumpy roads. The platform will change the tilt angle with the undulation of the road surface, that is, the position of the center of gravity of the platform changes with the road condition, and the above situation will cause the platform device to be unstable.

When the platform device is slightly tilted, it will cause the items carried on the transport machine to fall or the patients on the medical bed to panic because of the unstable; if the platform is seriously tilted, that is, the center of gravity is offset too much, the robot body is caused. Damage to the collision after dumping, causing mechanical damage, or causing the wheelchair to overturn and causing the user in the wheelchair to fall and be injured, so the platform device has safety problems in use.

In view of the above problems, the technical problem to be solved by the present invention is to provide a modular control module capable of adjusting the tilt angle of the platform device according to the terrain, which not only reduces the manufacturing cost, but also makes planning and manufacturing quite easy. The convenience of maintenance, and effectively improve the safety of the conventional platform device due to tilting.

It is an object of the present invention to maintain the angle of the platform of the platform assembly with the sea level at an allowable angle to increase the load bearing stability of the platform unit. In order to achieve the above object, a technical solution of the present invention provides a platform device including a platform, a lifting module and a control module, wherein the lifting module is disposed at one side of the bottom of the platform, and the control module and the lifting module Coupling. The control module detects the tilt angle of the platform and determines whether the tilt angle of the platform exceeds a preset tilt angle to adjust the rise or fall of the lift module to maintain the tilt angle of the platform less than or equal to the preset tilt angle.

Another object of the present invention is to provide an operational status of a monitoring platform device. In order to achieve the above object, another technical solution of the present invention provides a smart platform control system including a platform device and a platform control host. The platform device includes a platform, a lifting module and a control module, wherein the lifting module The group is disposed on one side of the bottom of the platform, and the control module is coupled to the lifting module. The control module detects the tilt angle of the platform; the platform control host outputs a preset tilt angle to the control module, and monitors the state of the platform device; the control module adjusts the tilt angle of the platform and the tilt angle of the platform to adjust the lift module. Ascending or descending.

Another technical solution of the present invention provides a control method for a platform device. The platform device includes a lifting module and a control module. The lifting module is coupled to the control module, and the control method step of the platform device includes a control module. The group detects the tilt angle of a platform device and determines whether the tilt angle of the platform exceeds a preset tilt angle; if the tilt angle exceeds the preset tilt angle, the control module controls the rise or fall of the lift module to adjust the tilt angle to be less than or Equal to the preset tilt angle.

The above summary and the following detailed description are exemplary in order to further illustrate the scope of the claims. Other objects and advantages of the present invention will be described in the following description and drawings.

The advantages and spirit of the present invention will be further understood from the following detailed description of the invention.

The spirit of the present invention is to provide a smart modular platform control system and utilize wireless communication protocols to achieve remote control effects.

The present invention will be described with reference to the accompanying drawings and drawings, in order to illustrate the embodiments of the invention The effect that can be achieved.

Please refer to the first figure, which is a schematic diagram of an embodiment of a smart platform control system provided by the present invention. As shown in the first figure, the intelligent platform control system 1 includes a platform device 10 and a platform control host 12, and the platform control host 12 provides a user to monitor the operation status of the platform device 10 through a wired transmission or a wireless communication protocol, including a platform. The battery storage capacity, the carrying weight, the traveling speed, the steering, the positioning and the horizontal tilt angle of the device 10; the platform control host 12 also provides the user to set a preset tilt angle, that is, the maximum tilt angle of the platform device 10 is allowed, and the platform control host 12 The wired or wireless transmission preset tilt angle to the platform device 10 maintains the tilt angle of the platform device 10 within a preset tilt angle. The wireless communication protocol between the platform device 10 and the platform control host 12 may be IEEE802.5.14, ZigBee, BlueTooth, IEEE 802.11 (WiFi), Wireless USB, Wibree or RF, etc. Different transmission Range of wireless protocols.

The platform device 10 includes a platform 101, a lifting module 103, a free wheel 107, a control module 109 and a driving wheel 111. The lifting module 103 is disposed on the bottom side of the platform 101; the free wheel 107 is disposed under the lifting module 103; the driving wheel 111 is disposed at the bottom of the platform 101 with respect to the other side of the free wheel 107; and the control module 109 is disposed on the platform 101. The bottom portion is coupled to the lifting module 103.

The spirit of the present invention is that the platform structure of the platform device 10 and the control module 109 used are independent modular control modules, and the control module 109 detects the posture sensing signal feedback of the platform device 10 to control The lifting module 103 is raised or lowered to raise or lower the platform device 10 such that the horizontal tilt angle of the platform 101 is maintained at a level or less than or equal to a predetermined tilt angle. In actual implementation, the position set by the control module 109 is higher from the ground, and the sensitivity of detecting the angular velocity is higher.

In one embodiment, the platform device 10 has two driving wheels 111 as the front wheels and at least one free wheel 107 as the rear wheels. The front wheel differential driving mode dominates the traveling speed and direction of the platform device 10, and the free wheel 107 passively The speed and direction of the driving wheel 111 are changed. The platform device 10 further includes a damping mold 105 disposed between the free wheel 107 and the lifting module 103 for reducing the platform device 10 due to the ground. The vibration caused by the ruggedness. The shock absorbing module 105 can be a shock absorbing module such as a spring, a rubber, a hydraulic or a pneumatic.

Referring to the first figure, an embodiment of the lifting module 103 is a fork-type lifting module. The lifting module 103 includes a first connecting rod 1031, a second connecting rod 1033, a first sliding rail 1035, and a The second slide rail 1037 and a motor 1039. Wherein the center of the first link 1031 and the middle of the second link 1033 The first link 1031 can be pivoted to the second link 1033 at different angles; one end of the first link 1031 is pivotally connected to one end of the first slide 1035, and the other end of the first link 1031 is movable. The second link 1033 is pivotally connected to one end of the second slide rail 1037, and the other end of the second link 1033 is movably snapped into the first slide rail 1035. Wherein the first rail 1035 is pivotally connected to the first link 1031 and the second rail 1037 is pivotally connected to the second link 1033, that is, pivotally connected to the first rail 1035 and the second rail respectively. The same side of 1037.

The motor 1039 of the lifting module 103 is controlled by the control module 109. The number of the motors 1039 may be one or more, and is coupled to the first connecting rod 1031 and the second connecting rod 1033 respectively to drive the first connecting rod 1031. The angle of intersection with the second link 1033 changes, and changes the movable position of one end of the first link 1031 in the second rail 1037 and the movable position of one end of the second link 1033 in the first rail 1035. The form and operation of the lifting module 103 are merely exemplified herein. In actual implementation, the lifting module 103 can also be replaced with other modules having the same lifting function.

The control module 109 detects the tilt angle of the platform 101 and determines whether the tilt angle of the platform 101 exceeds a preset angle to adjust the rise or fall of the lift module 103 to maintain the tilt angle of the platform 101 less than or equal to the preset tilt angle.

In order to better understand the operation principle of the control module 109, please refer to the second figure, which is a block diagram of an embodiment of a control module provided by the present invention. As shown in the second figure, the control module 109 and the platform control host 12 communicate with each other via a wireless method such as RF or a wired manner such as RS-232; and the control module 109 is electrically connected to the motor 1039 of the lift module 103.

The control module 109 includes a controller 1091 and a horizontal sensor 1093. A motor driver 1095 and a display unit 1097 are coupled to the horizontal sensor 1093, the motor driver 1095, and the display unit 1097, respectively. In actual implementation, the control module 109 further includes other sensors, such as a battery power sensor, an acceleration sensor, a motor drive sensor, a weight sensor or a position sensor, etc., and the controller 1091 can be bidirectional. The data transmission interface such as the two-wire serial bus (I2C) communicates with the sensor such as the horizontal sensor 1093 and the motor driver 1095, and effectively queries the data detected by the horizontal sensor 1093 and the like.

In actual implementation, the horizontal sensor 1093 may include a tilt angle measuring unit and a gyroscope measuring unit, and the tilt angle measuring unit uses the tilt angle of the micromechanical acceleration sensing element measuring platform 101 with respect to the horizontal plane, and the gyroscope measures The angular velocity of the unit measurement platform 101 can be independently operated or mutually corrected to accurately detect the tilt angle of the platform 101, and output an oblique angle signal through A/D conversion.

The controller 1091 also stores a preset tilt angle set by the platform control host 12 at the remote end of the user, and determines whether the tilt angle of the platform 101 exceeds a preset tilt angle according to the tilt angle signal to control the motor driver 1095 to drive the lift. The motor 1039 of the module 103 is used to adjust the rise or fall of the lifting module 103. The display unit 1097 can be a liquid crystal display unit or an indicator light. The user can understand the operating condition of the platform device 10 through the display of the display unit 1097, for example, display battery continuation. The display unit 1097 can be used to display warnings such as excessive load or excessive tilt angle, such as power, load weight, travel speed, steering, positioning, and horizontal tilt angle.

When the platform device 10 is downhill, as shown in the third figure, the control module 109 detects the tilt angle of the platform device 10 and determines whether the preset tilt angle is exceeded. For example, the slope of the platform device 10 is 30 degrees. Preset tilt The inclination angle is 3 degrees. When the inclination angle of the platform 101 changes with the slope and exceeds the preset inclination angle, the control module 109 controls the motor 1039 of the lifting module 103 to adjust the first link 1031 and the second link 1033. At the intersection angle, one end of the first link 1031 and one end of the second link 1033 move respectively on the second slide rail 1037 and the first slide rail 1035 to lower the lift module 103 to maintain the tilt angle of the platform device 10 at 3. When the platform device 10 is uphill, as shown in the fourth figure, the control module 109 detects the tilt angle of the platform device 10 and determines whether the preset tilt angle is exceeded. If the preset tilt angle is exceeded, the control mode is controlled. The group 109 controls the motor 1039 of the lift module 103 to raise the lift module 103 to maintain the tilt angle of the platform unit 10 within a predetermined tilt angle.

In actual implementation, the lengths of the different first rails 1035 and the second rails 1037 and the lengths of the first link 1031 and the second link 1033 determine the limit of the rise or fall of the lifting module 103, so that the platform 101 The tilt angle cannot exceed a certain tilt angle, otherwise the platform device 10 cannot be maintained within a preset tilt angle. Therefore, after the lifting module 103 has been adjusted to the rising limit or the falling limit, if the control module 109 still detects that the tilt angle of the platform device 10 is still changing, the control module 109 controls the driving wheel of the platform device 10. 111, the platform device 10 is stopped from running, the tilt angle is continuously increased, and the preset tilt angle is not controlled, and a warning signal is displayed on the display unit 1097 to remind the user of the condition of the platform device 10.

Please refer to the fifth figure, which is a flowchart of an embodiment of a method for controlling a platform device according to the present invention. As shown in FIG. 5, first, the platform device 10 is initially set (S501), for example, the platform control host 12 sets the maximum load weight, the preset tilt angle, and the maximum speed of the platform device 10, or directly on the platform device. Set on 10; then, control module 109 Reading various setting parameters of the platform device 10 (S503); the control module 109 detects the tilt angle of the platform 101 and determines whether the tilt angle of the platform 101 exceeds a preset tilt angle (S505); if the tilt angle of the platform 101 is greater than a preset The tilting angle of the control module 109 controls the raising or lowering of the lifting module 103 (S507). For example, when the platform device 10 is downhill, the control module 109 controls the lifting module 103 to descend, for example, when the platform device 10 is uphill, The control module 109 controls the lifting module 103 to rise; if the inclination angle of the platform device 10 is less than the preset inclination angle, the state of the lifting module 103 is maintained (S509).

After the control module 109 controls the rise or fall of the lifting module 103, the tilt angle of the platform 101 still changes with the terrain of the platform device 10, so the control module 109 also determines whether the platform device 10 is still moving (S511). If the platform device 10 is moving, the control module 109 detects the tilt angle of the platform 101 again and determines whether the tilt angle exceeds the preset tilt angle (S505); if the platform device 10 is stationary, the control module 109 determines the platform device 10 Whether the camera is continuously stationary for more than a preset time (S513), wherein the preset time is also set by the user at the beginning. When the platform device 10 continues to be stationary for more than the preset time, the control module 109 is in a standby state and is no longer detected. The tilt angle of the platform device 10 until the next time the user activates the platform device 10, the control module 109 continues to detect the tilt angle of the platform device 10. In actual implementation, the control module 109 detects the tilt angle and also detects the load weight, battery storage capacity, travel speed and orientation, and adjusts to the maximum lift, battery exhaustion or travel speed in the lift module 103. The alert signal is displayed by display unit 1097 or displayed by platform control host 12 to provide user monitoring platform device 10.

In view of the above-described embodiments, it can be seen that the present invention utilizes a smart platform control system to maintain the stability of the platform device and utilize none. Line communication protocol to achieve remote monitoring and control of platform device effects. Thus, the platform control system of the present invention not only uses modular control devices to reduce manufacturing costs, but also facilitates planning and manufacturing, increases the convenience of maintenance, and effectively improves the safety of conventional platform devices due to tilting.

The drawings and the descriptions of the present invention are only examples of the present invention, and are not intended to limit the present invention. Anyone skilled in the art can make various changes and refinements according to the above description. The simple equivalent changes and modifications made by the scope of the invention and the description of the invention are still within the scope of the invention.

1‧‧‧Smart Platform Control System

10‧‧‧ platform device

101‧‧‧ platform

103‧‧‧ Lifting module

1031‧‧‧First connecting rod

1033‧‧‧second link

1035‧‧‧First slide rail

1037‧‧‧Second rail

1039‧‧‧Motor

105‧‧‧Vibration Module

107‧‧‧Freewheel

109‧‧‧Control Module

109‧‧‧Control Module

1091‧‧‧ Controller

1093‧‧‧Horizontal Sensor

1095‧‧‧Motor, drive

1097‧‧‧Display unit

111‧‧‧Drive wheel

12‧‧‧ Platform Control Host

S501~S513‧‧‧ platform method control method flow

The first figure is a schematic diagram of an embodiment of a smart platform control system of the present invention; the second figure is a block diagram of an embodiment of the control module of the present invention; FIG. 4 is a schematic diagram of an upper slope of an embodiment of the platform apparatus of the present invention; and FIG. 5 is a flow chart of an embodiment of a control method of the platform apparatus of the present invention.

1‧‧‧Smart Platform Control System

10‧‧‧ platform device

101‧‧‧ platform

103‧‧‧ Lifting module

1031‧‧‧First connecting rod

1033‧‧‧second link

1035‧‧‧First slide rail

1037‧‧‧Second rail

1039‧‧‧Motor

105‧‧‧Vibration Module

107‧‧‧Freewheel

109‧‧‧Control Module

111‧‧‧Drive wheel

12‧‧‧ Platform Control Host

Claims (12)

A platform device includes: a platform; a lifting module disposed on one side of the bottom of the platform, comprising: a first sliding rail; a second sliding rail; a first connecting rod, one end of the first connecting rod Pivoting with one end of the first slide rail, the other end of the first link is movably engaged in the second slide rail; and a second link, one end of the second link is movable Connected to the first sliding rail, the other end of the second connecting rod is pivotally connected to one end of the second sliding rail, and the second connecting rod and the first connecting rod are pivotally connected to each other for the first connecting The lever and the second link intersect to form an angle; and a control module is coupled to the lifting module, the control module detects the tilt angle of the platform and determines whether the tilt angle of the platform exceeds a preset tilt The angle is such that the inclination of the lifting module is adjusted by changing the angle of the lifting module to maintain the inclination angle of the platform less than or equal to the preset inclination angle. The platform device of claim 1, wherein the lifting module comprises a motor controlled by the control module to adjust the lifting or lowering of the lifting module. The platform device of claim 2, wherein the control module comprises: a horizontal sensor for detecting an inclination angle of the platform; a controller coupled to the horizontal sensor, and according to the The tilt angle of the platform controls the rise or fall of the lift module; and A motor driver is controlled by the controller and drives the motor to adjust the rise or fall of the lift module. The platform device of claim 3, wherein the controller, the horizontal sensor and the motor driver communicate with each other by a bidirectional two-wire serial bus. The platform device of claim 4, wherein the preset tilt angle is stored in the controller, and the controller controls the motor driver to drive the lift when the tilt angle of the platform exceeds the preset tilt angle The module is raised or lowered such that the tilt angle of the platform is less than or equal to the preset tilt angle. The platform device of claim 1, further comprising: a plurality of driving wheels disposed at a bottom of the platform relative to the other side of the lifting module; and at least one free wheel coupled to the lifting module. The platform device of claim 6, further comprising a shock absorbing module disposed between the free wheel and the lifting module. A smart platform control system comprising: a platform device comprising: a platform; a lifting module disposed on one side of the bottom of the platform, comprising: a first sliding rail; a second sliding rail; a first connection a rod, one end of the first link is pivotally connected to one end of the first rail, the other end of the first link is movably engaged in the second rail; and a second link, the first One end of the two links is movably snapped to the In the first sliding rail, the other end of the second connecting rod is pivotally connected to one end of the second sliding rail, and the second connecting rod and the first connecting rod are pivotally connected to each other for the first connecting rod and the first connecting rod The second link crosses to form an angle; a control module is coupled to the lift module, the control module detects the tilt angle of the platform; and a platform control host outputs a preset tilt angle to the control mode And monitoring the state of the platform device; the control module compares the preset tilt angle with the tilt angle of the platform to adjust the rise or fall of the lift module through the change of the angle. A method for controlling a platform device, comprising: detecting a tilt angle of a platform of the platform device to determine whether a tilt angle of the platform exceeds a preset tilt angle; and, according to the detection result, a side disposed on a bottom side of the platform The lifting module adjusts the inclination angle of the platform; wherein the lifting module is a first link and a second one that are pivotally connected to each other and can change the active position between the first sliding rail and the second sliding rail The angle between the intersections is adjusted to adjust the rise or fall of the lifting module to maintain the inclination angle of the platform less than or equal to the preset inclination angle. The method for controlling a platform device according to claim 9, wherein the detecting step is performed when the platform device moves. The control method of the platform device according to claim 9, wherein the lifting module is configured to raise or lower the platform by the tilting angle of the platform exceeding the preset tilt angle. So that the tilt angle of the platform is less than or equal to the preset tilt angle. The control method of the platform device according to claim 9 is characterized in that before the detecting step, the platform control unit further sets the preset tilt angle to the platform device.