TWM651596U - Rail vehicle monitoring management system - Google Patents
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Abstract
Description
本創作涉及一種監控管理系統,特別是涉及一種軌道車監控管理系統。 This creation relates to a monitoring and management system, in particular to a rail car monitoring and management system.
現有無人車使用的RGV(Rail Guided Vehicle)控制系統,並不具震動偵測功能,大部分都是於無人車試運行時額外安裝感測器以確認是否有異常。然而當無人車實際載運貨物時,初期使用可能不會有過大震動量,但隨著使用時間的增加,無人車或軌道可能受損或是變形,進而導致震動量加大,最後對載運貨物的品質造成影響。 The RGV (Rail Guided Vehicle) control system currently used by unmanned vehicles does not have a vibration detection function. Most of them install additional sensors during the trial operation of the unmanned vehicle to confirm whether there are any abnormalities. However, when the unmanned vehicle actually carries goods, there may not be excessive vibration in the initial use. However, as the use time increases, the unmanned vehicle or the track may be damaged or deformed, resulting in an increase in the amount of vibration, and ultimately affecting the quality of the goods being carried. Quality is affected.
本創作所要解決的技術問題在於,針對現有技術的不足提供一種軌道車監控管理系統。 The technical problem to be solved by this creation is to provide a rail car monitoring and management system in view of the shortcomings of the existing technology.
本創作實施例提供一種軌道車監控管理系統,包括無人車及監控主機。其中無人車於一軌道行駛時,無線輸出一行車訊息,該行車訊息包括該無人車行駛於該軌道的一行車位置及一震動量。以及監控主機無線接收該行車訊息,並分析該行車訊息以得知該無人車於該軌道行駛的一震動狀況。其中該監控主機於該無人車在該行車位置的該震動量與相對應的一基準值不相符時,該監控主機進一步判斷一震動輔助條件是否成立; 其中當該震動輔助條件判斷成立時,該監控主機認定該震動狀況為異常並輸出一警報信號,以及當該震動輔助條件判斷不成立時,該監控主機紀錄該無人車於該行車位置出現異常。 This creative embodiment provides a rail car monitoring and management system, including an unmanned vehicle and a monitoring host. When the unmanned vehicle is driving on a track, it wirelessly outputs a driving message. The driving message includes a driving position and a vibration amount of the unmanned vehicle driving on the track. And the monitoring host wirelessly receives the driving information and analyzes the driving information to learn a vibration condition of the unmanned vehicle driving on the track. Wherein, when the vibration amount of the unmanned vehicle at the driving position does not match a corresponding reference value, the monitoring host further determines whether a vibration assistance condition is established; When the vibration auxiliary condition is judged to be true, the monitoring host determines that the vibration condition is abnormal and outputs an alarm signal; and when the vibration auxiliary condition is not true, the monitoring host records that the unmanned vehicle is abnormal at the driving position.
綜上所述,本創作實施例提供的軌道車監控管理系統,可準確偵測無人車行駛的震動狀況,並可進一步準確確認震動來源對象,藉此可以確保被載運貨物的品質不受震動量影響。 To sum up, the rail car monitoring and management system provided by this creative embodiment can accurately detect the vibration conditions of the unmanned vehicle, and can further accurately identify the source of the vibration, thereby ensuring that the quality of the goods being carried is not affected by the amount of vibration. influence.
為使能更進一步瞭解本創作的特徵及技術內容,請參閱以下有關本創作的詳細說明與圖式,然而所提供的圖式僅用於提供參考與說明,並非用來對本創作加以限制。 In order to further understand the characteristics and technical content of this creation, please refer to the following detailed description and diagrams about this creation. However, the diagrams provided are only for reference and illustration and are not used to limit this creation.
1:無人車 1:Unmanned vehicle
10:第一控制器 10:First controller
12:行車模組 12: Driving module
14:偵測裝置 14:Detection device
141:辨識電路 141:Identification circuit
143:慣性感測器 143:Inertial sensor
16:第一無線電路 16:First Radio Circuit
2:監控主機 2: Monitor the host
20:第二控制器 20: Second controller
22:第二無線電路 22:Second Radio Circuit
24:資料庫 24:Database
26:警報電路 26:Alarm circuit
GR:軌道 GR: orbit
GR1:第一軌道 GR1: first track
GR2:第二軌道 GR2: Second track
OB:異物 OB: foreign body
IB:辨識件 IB: identification piece
BS:搬運站點 BS: moving site
L1:第一路線 L1: First route
L2:第二路線 L2: Second route
S401:無人車啟動行進 S401: The unmanned vehicle starts traveling
S403:收集偵測數據資料 S403: Collect detection data
S405:回傳行車訊息給監控主機 S405: Return driving information to the monitoring host
S501:接收各無人車回傳資料 S501: Receive data returned from each unmanned vehicle
S503:資料正常 S503: Data is normal
S505:有基準值 S505: There is a reference value
S507:比對相符 S507: Match match
S509:紀錄基準值於資料庫 S509: Record the reference value in the database
S511:其他無人車異常 S511: Other unmanned vehicles are abnormal
S513:發出此區段軌道異常的警報 S513: Issue an alarm for track anomalies in this section
S515:於其他區段軌道也異常 S515: Tracks in other sections are also abnormal.
S517:發出無人車異常的警報 S517: Issue an alarm for abnormality of the unmanned vehicle
S519:異常次數達標 S519: The number of exceptions reaches the standard
S521:發出此區段軌道與無人車異常的警報 S521: Issue an alarm for abnormality of tracks and unmanned vehicles in this section
S523:紀錄異常 S523: Record abnormality
圖1為本創作實施例提供軌道車監控管理系統的電路方塊圖。 Figure 1 is a circuit block diagram of a rail car monitoring and management system provided by this embodiment of the invention.
圖2為本創作實施例提供無人車於軌道行駛的示意圖。 Figure 2 is a schematic diagram of an unmanned vehicle traveling on a track according to this embodiment of the invention.
圖3為正常狀況無人車行駛時取得的震動量波形圖。 Figure 3 is a vibration waveform obtained when an unmanned vehicle is driving under normal conditions.
圖4為本創作實施例提供無人車行駛的操作流程圖。 Figure 4 is an operation flow chart for autonomous vehicle driving according to this embodiment of the present invention.
圖5為本創作實施例提供軌道車監控管理的控制流程圖。 Figure 5 is a control flow chart for rail car monitoring and management provided by this creative embodiment.
圖6為本創作實施例提供無人車於正常軌道行駛的示意圖。 Figure 6 is a schematic diagram of an unmanned vehicle traveling on a normal track according to this embodiment of the present invention.
圖7為本創作實施例提供無人車於軌道有異物行駛的示意圖。 Figure 7 is a schematic diagram of an unmanned vehicle traveling on a track with foreign objects according to this embodiment of the present invention.
圖8為本創作實施例提供無人車於軌道歪斜行駛的示意圖。 Figure 8 is a schematic diagram of an unmanned vehicle traveling on a tilted track according to this embodiment of the present invention.
圖9為本創作實施例提供無人車於軌道歪斜行駛的另一示意。 Figure 9 is another schematic diagram of an unmanned vehicle traveling on a skewed track according to this embodiment of the present invention.
圖10為本創作實施例提供無人車於軌道異常間隔行駛的示 意圖。 Figure 10 is an example of an unmanned vehicle traveling at abnormal intervals on the track according to this creative embodiment. intention.
以下是通過特定的具體實施例來說明本創作的實施方式,本領域技術人員可由本說明書所提供的內容瞭解本創作的優點與效果。本創作可通過其他不同的具體實施例加以施行或應用,本說明書中的各項細節也可基於不同觀點與應用,在不悖離本創作的構思下進行各種修改與變更。另外,本創作的附圖僅為簡單示意說明,並非依實際尺寸的描繪,事先聲明。以下的實施方式將進一步詳細說明本創作的相關技術內容,但所提供的內容並非用以限制本創作的保護範圍。 The following is a specific embodiment to illustrate the implementation of the present invention. Those skilled in the art can understand the advantages and effects of the present invention from the content provided in this specification. This invention can be implemented or applied through other different specific embodiments, and various details in this description can also be modified and changed based on different viewpoints and applications without departing from the concept of this invention. In addition, the accompanying drawings of this creation are only simple illustrations and are not depictions based on actual size, as stated in advance. The following embodiments will further describe the relevant technical content of this creation in detail, but the content provided is not intended to limit the scope of protection of this creation.
應當可以理解的是,雖然本文中可能會使用到“第一”、“第二”、“第三”等術語來描述各種元件或者訊號,但這些元件或者訊號不應受這些術語的限制。這些術語主要是用以區分一元件與另一元件,或者一訊號與另一訊號。另外,本文中所使用的術語“或”,應視實際情況可能包含相關聯的列出項目中的任一個或者多個的組合。 It should be understood that although terms such as “first”, “second” and “third” may be used herein to describe various components or signals, these components or signals should not be limited by these terms. These terms are mainly used to distinguish one component from another component, or one signal from another signal. In addition, the term "or" used in this article shall include any one or combination of more of the associated listed items, depending on the actual situation.
本創作實施例提供一種軌道車監控管理系統及其軌道車監控管理方法,在此所述的軌道車監控管理系統是針對無人自動駕駛且用於自動搬運貨物的無人車(Raid Guided Vehicle;RGV),此無人車可與遠端的監控主機以無線通訊技術進行相關資料傳輸,透過監控無人車回報資料,並判斷行駛狀況的震動量是否有異常發生,並可於認定有異常時主動通報;藉以確保無人車的載運貨物不受異常震動量影響。 Embodiments of this invention provide a rail car monitoring and management system and a rail car monitoring and management method thereof. The rail car monitoring and management system described here is for unmanned autonomous vehicles (Raid Guided Vehicles; RGV) that are used to automatically transport goods. , this unmanned vehicle can transmit relevant data with the remote monitoring host using wireless communication technology. By monitoring the unmanned vehicle reporting data, it can determine whether there is an abnormality in the vibration amount of the driving situation, and can proactively report when an abnormality is determined; thereby Ensure that the cargo carried by unmanned vehicles is not affected by abnormal vibration.
[軌道車監控管理系統的硬體架構] [Hardware architecture of rail car monitoring and management system]
請參照圖1及圖2,圖1為本創作實施例提供軌道車監控管理系統的電路方塊圖,圖2為本創作實施例提供無人車於軌道行駛的示意
圖。本實施例所述軌道車監控管理系統例如包括但不限於無人車1及監控主機2,其中無人車1於軌道行駛時可主動回傳行車訊息給監控主機2,以供監控主機2於接收到此行車訊息可分析無人車1於軌道行駛過程中各種可能的震動狀況。
Please refer to Figures 1 and 2. Figure 1 is a circuit block diagram of a rail car monitoring and management system provided by this embodiment of the invention. Figure 2 is a schematic diagram of an unmanned vehicle traveling on a track provided by this embodiment of the invention.
Figure. The rail vehicle monitoring and management system described in this embodiment includes, but is not limited to, an unmanned vehicle 1 and a
再者,在此監控主機2更可根據分析結果精準判斷是否有震動異常及造成此震動異常的來源為何。例如監控主機2可根據多個判斷條件的比對結果,即可得知震動異常來源是來自於無人車1及軌道其中的至少任一個。而當監控主機2認定震動有異常發生時,更可主動輸出警報以提醒相關人員改善目前的異常狀況,進而有效確保無人車1及軌道在長期使用時仍然能提早發現震動異常狀況。
Furthermore, the
進一步來說,無人車1例如包括但不限於第一控制器10、行車模組12、偵測裝置14及第一無線電路16,其中第一控制器10電性連接行車模組12、偵測裝置14及第一無線電路16。行車模組12例如包括可帶動無人車1行進的馬達模組及馬達驅動電路。偵測裝置14例如包括辨識電路141及慣性感測器143,無人車1可於軌道行駛時透過辨識電路141取得軌道上的辨識件的辨識信息,辨識信息至少包括無人車1的行車位置及行車速度等。慣性感測器143用於取得無人車1行駛時的震動量,慣性感測器143至少包括加速度計及陀螺儀的任一個,在此慣性感測器143取得的震度量例如包括但不限於偵測無人車行進間震動(如Acc X、Acc Y、Acc Z)、偵測無人車穩態水平度(如Angle X、Angle Y、Angle X)、偵測無人車行進間暫態旋轉(如Gyro X、Gyro Y、Gyro Z)、偵測無人車穩態偏擺(如Roll(X軸)、Pitch(Y軸)、Yaw(Z軸))等。
Furthermore, the unmanned vehicle 1 includes, for example, but is not limited to, a
在一實施例中,第一控制器10經配置以處理行車模組12及偵測裝置14的相關控制,例如第一控制器10可透過第一無線電路16取得無人
車1於軌道上的行車任務,並根據行車任務相對控制行車模組12運作以帶動無人車1行進。且第一控制器10透過偵測裝置14的偵測結果取得無人車1的行車訊息,並將此行車訊息透過第一無線電路16無線輸出到監控主機2。此行車訊息例如包括但不限於透過辨識電路141取得的行車位置及透過慣性感測器143取得的震動量。
In one embodiment, the
在此圖2為舉例說明無人車於軌道行駛以取得行車訊息,其中軌道GR設置有多個辨識件IB及搬運站點BS,無人車1可根據不同的行車任務而於軌道GR行駛一第一路線L1或第二路線L2,並透過搬運站點BS進行載運貨物的上貨或下貨。無人車1於行進時可透過辨識電路141得知經過那一個辨識件IB,如此即可得知目前無人車1在此軌道GR中的那一區段,也就是說第一控制器10根據辨識電路141的辨識結果可取得無人車1在軌道的行車位置。且第一控制器10同時透過慣性感測器143可取得無人車1在目前行車位置的震動量。據此無人車1透過此種方式運行即可取得軌道GR中各區段的行車訊息,而此行車訊息例如是包括但不限於軌道GR中的行車位置、相對應的震動量以及無人車1本身的身分資料。
Figure 2 is an example of an unmanned vehicle driving on a track to obtain driving information. The track GR is provided with multiple identification parts IB and transfer stations BS. The unmanned vehicle 1 can drive on the track GR according to different driving tasks. Route L1 or the second route L2, and load or unload the cargo through the handling station BS. When the unmanned vehicle 1 is traveling, it can know which identification piece IB it passes through through the identification circuit 141, so that it can know which section of the track GR the unmanned vehicle 1 is currently on. That is to say, the
需注意的是,在無人車1及軌道GR均正常狀況下,此時無人車1於軌道行進取得的震動量可以視為正常,如圖3所示是舉例說明無人車1於軌道GR的直走段或是右轉段取得的各種正常的震動量。而這些正常的震動量即可作為後續監控主機2判斷震動狀況有無異常的基準值使用。
It should be noted that when both the unmanned vehicle 1 and the track GR are under normal conditions, the vibration amount obtained by the unmanned vehicle 1 traveling on the track can be considered normal. Figure 3 shows an example of the direct vibration of the unmanned vehicle 1 on the track GR. Various normal vibration amounts obtained during walking sections or right-turn sections. These normal vibration amounts can be used as reference values for
於一實施例中,監控主機2例如包括但不限於第二控制器20、第二無線電路22、資料庫24及警報電路26,第二控制器20分別電性連接第二無線電路22、資料庫24及警報電路26。第二控制器20經配置以處理震動量異常判斷程序,在此所述震動異常判斷程序是指第二控制器20透過第二無線電路22接收各無人車1回傳的資料(例如軌道GR可供一或多台無
人車1單獨或同時行駛,且監控主機2可根據取得不同的身分資料以辨識不同無人車1),在此所述回傳的資料例如無人車1的行車訊息。接著透過分析行車訊息以得知無人車1於軌道行駛的震動狀況。資料庫24則是供儲存判斷震動狀況使用的基準值,例如此基準值是指無人車1在正常情況下(無異常震動)在軌道各區段行駛的正常震動值。
In one embodiment, the
在一實施例中,監控主機2根據接收到的行車訊息後,針對無人車1所在行車位置的震動量與相對應的一基準值進行比對是否相符,當比對認定相符時即可認定目前無人車1於軌道的行車位置並無出現異常震動狀況。反之當前述比對結果不相符時,則可初步認定有可能有異常的震動狀況,在此還會進一步結合其他的震動輔助條件,以進一步確認此異常震動來源。若震動輔助條件判斷成立,則可認定異常的震動狀況來自於無人車1本身及軌道的其中一者或是兩者都是,且監控主機2可同時透過警報電路26輸出相對應的警報內容。而若震動輔助條件最終判斷不成立,此時監控主機2可紀錄無人車1於目前行車位置出現異常,以供後續再執行震動輔助條件時的比對數據使用。
In one embodiment, the
值得注意的是,在此震動輔助條件可為一或多種判斷條件的結合,監控主機2於執行震動輔助條件的判斷時,主要是判斷目前該筆行車訊息以外的監控數據,監控主機2透過其他監控數據再配合目前的該筆行車訊息,即可精準判斷異常震動狀況的來源。
It is worth noting that the vibration auxiliary condition here can be a combination of one or more judgment conditions. When the
舉例來說,震動輔助條件例如為判斷是否有其它無人車1於相同的行車位置出現震動量與相對應基準值不相符,若此震動輔助條件判斷為是,監控主機2認定目前無人車1所在行車位置的軌道出現異常。
For example, the vibration auxiliary condition is to determine whether there is another unmanned vehicle 1 at the same driving position whose vibration amount does not match the corresponding reference value. If the vibration auxiliary condition is determined to be yes, the
又或者,震動輔助條件例如為判斷無人車1於軌道的其它不同行車位置的震動量是否與相對應的基準值不相符,若此震動輔助條件判
斷為是,監控主機2認定無人車1異常。
Or, for example, the vibration assistance condition is to determine whether the vibration amount of the unmanned vehicle 1 at other different driving positions on the track does not match the corresponding reference value. If the vibration assistance condition determines whether
If the result is yes, the
又或者,震動輔助條件例如為判斷無人車1在行車位置的震動量與相對應的基準值不相符的次數是否超過一預設次數,若此震動輔助條件判斷為是,監控主機2認定無人車1及無人車1在目前行車位置的軌道異常。
Or, for example, the vibration assistance condition is to determine whether the vibration amount of the unmanned vehicle 1 in the driving position does not match the corresponding reference value more than a preset number of times. If the vibration assistance condition is determined to be yes, the
[無人車回報方式的實施例] [Example of unmanned vehicle reporting method]
請參照圖4。圖4為本創作實施例提供無人車行駛的操作流程圖。圖4所示的流程圖是以圖1的架構舉例配合說明,但並不以此為限。圖4所示流程例如包括如下步驟。 Please refer to Figure 4. Figure 4 is an operation flow chart for autonomous vehicle driving according to this embodiment of the present invention. The flow chart shown in Figure 4 is based on the architecture of Figure 1 as an example, but is not limited thereto. The process shown in Figure 4 includes, for example, the following steps.
於步驟S401中,無人車1啟動行進。當無人車1的第一控制器10透過第一無線電路16取得監控主機2無線輸出的行車任務時,第一控制器10即可控制行車模組12啟動,無人車1即可於軌道行進。
In step S401, the unmanned vehicle 1 starts traveling. When the
於步驟S403中,收集偵測數據資料。當無人車1在行進過程中,第一控制器10透過偵測裝置14取得無人車1的行車訊息,例如透過偵測裝置14中的辨識電路141可以取得無人車1在軌道上的行車位置(如軌道中的那一個區段),以及透過慣性感測器143可以取得無人車1於目前行車位置的震動量。
In step S403, detection data is collected. When the unmanned vehicle 1 is traveling, the
於步驟S405中,回傳行車訊息給監控主機2。第一控制器10根據偵測裝置14的偵測結果取得至少包含無人車1的行車位置及此行車位置的對應震動量的一行車訊息後,第一控制器10透過第一無線電路16將此行車訊息無線回傳給監控主機2。
In step S405, the driving information is sent back to the
[軌道車監控管理方法的實施例] [Example of rail car monitoring and management method]
請參照圖5。圖5為本創作實施例提供軌道車監控管理的控制流程圖。圖5所示的流程圖是以圖1的架構舉例配合說明,但並不以此為 限。圖5所示流程例如包括如下步驟。 Please refer to Figure 5. Figure 5 is a control flow chart for rail car monitoring and management provided by this creative embodiment. The flow chart shown in Figure 5 is based on the architecture of Figure 1 as an example, but it is not intended to be used as an example. limit. The process shown in Figure 5 includes, for example, the following steps.
於步驟S501中,接收各無人車1回傳資料。若軌道上有多部無人車1行駛時,監控主機2中的第二控制器20可透過第二無線電路22分別無線接收各無人車1回傳的行車訊息。
In step S501, data returned by each unmanned vehicle 1 is received. If there are multiple unmanned vehicles 1 traveling on the track, the
於步驟S503中,判斷機收資料是否正常。當監控主機2於收到任一無人車1回傳的行車訊息後,監控主機2的第二控制器20判斷收到行車訊息是否包含行車位置及震動量的資料,若未包含則可認定此筆資料並不正常,而無法再繼續執行後續有關無人車1的震動判斷,即步驟S503判斷為否後將回到步驟S501。
In step S503, it is determined whether the data received by the machine is normal. When the
於步驟S505中,判斷是否有相對基準值。當步驟S503判斷為是後,監控主機2可接著繼續判斷行車資訊中的震動量在資料庫24中是否有相對應的基準值可供比對。在此第二控制器20是判斷資料庫24中是否有對應目前行車資訊中的行車位置的基準值,當步驟S505判斷為否,則可能是無人車1在正常情況下第一次使用時,此時資料庫24中尚無相對基準值。
In step S505, it is determined whether there is a relative reference value. When the determination in step S503 is yes, the
於步驟S507中,比對是否相符。當步驟S505判斷為是,則監控主機2將針對目前無人車1的震動量與資料庫24相對應的基準值進行比對,當比對結果相符即代表目前無人車1的震動狀況並無異常,即第二控制器20認定目前無人車1的震動值是在正常範圍內。
In step S507, compare whether they match. When the determination in step S505 is yes, the
於步驟S509中,紀錄基準值於資料庫24。當步驟S505判斷為否時,此時第二控制器20會將收到的行車資訊息儲存於資料庫24,即將目前行車資訊中的行車位置的對應震動值設定於資料庫24中當基準值使用,以供後續比對使用。而紀錄於資料庫24中的每一筆基準值都有相對應的行車位置,即資料庫24可紀錄軌道中不同區段的對應基準值,如此即可供後續無人車1於行駛不同區段的軌道時得到的震動值都有相對應的基準
值可供比對使用。
In step S509, the reference value is recorded in the
於步驟S511中,判斷其他無人車1於相同行車位置是否異常。當步驟S507判斷為否,則表示震動狀況有異常,此時監控主機2的第二控制器20將確認其他無人車1在此相同的行車位置是否也同樣發生如步驟S507中比對不相符的結果,如此可以進一步確認是否有多部無人車1在相同位置行車位置都發生震動異常。在此監控主機2經由步驟S511的判斷可以準確認定異常震動的來源是否為軌道本身。
In step S511, it is determined whether other unmanned vehicles 1 are abnormal at the same driving position. When the determination in step S507 is negative, it means that the vibration situation is abnormal. At this time, the
於步驟S513中,發出此區段軌道異常的警報。當步驟S511判斷判斷為是,此時監控主機2可基於已有多部無人車1在此相同的行車位置都發生震動異常,故監控主機2的第二控制器20即可認定在此區段軌道異常,並可透過警報電路26進行發報。
In step S513, an alarm is issued that the track of this section is abnormal. When the judgment in step S511 is yes, the
於步驟S515中,判斷目前無人車1於其他區段軌道是否也異常。當步驟S511判斷為否,監控主機2可透過確認同一無人車1在軌道的其他區段中是否也有發生震動狀況為異常的判斷結果,經由步驟S515的判斷可以準確認定異常震動的來源是否為目前無人車1本身。
In step S515, it is determined whether the current unmanned vehicle 1 is also abnormal in other sections of the track. When the determination in step S511 is negative, the
於步驟S517中,發出無人車1異常的警報。當步驟S515判斷為是,此時監控主機2可基於同一無人車在軌道不同區段的行車位置都發生震動異常,故監控主機2的第二控制器20即可認定在目前此無人車1本身為異常震動來源,並可透過警報電路26進行發報。
In step S517, an alarm is issued that the unmanned vehicle 1 is abnormal. When the determination in step S515 is yes, the
於步驟S519中,判斷異常次數是否達標。當步驟S515判斷為否後,監控主機2可進一步判斷目前無人車1在相同位置發生震動異常次數是否達標,例如當異常次數累積達到預設值時,監控主機即認定達標。由於步驟S519步驟執行時已代表分別排除異常震動的單一來源(如無人車或軌道),而經由此S519步驟的執行判斷可以確認異常震動來源是否同時來
自於無人車1及軌道兩者交互作用造成。
In step S519, it is determined whether the number of exceptions reaches the standard. When the determination in step S515 is negative, the
於步驟S521中,發出此區段軌道與無人車1異常的警報,當步驟S519判斷為是,此時監控主機2可基於異常震動來源為來自於無人車1及軌道兩者交互作用造成,故監控主機2的第二控制器20即可認定在目前此無人車1及此區段的軌道本身為異常震動來源,並可透過警報電路26進行發報。
In step S521, an alarm is issued that there is an abnormality between the track and the unmanned vehicle 1 in this section. When step S519 is determined to be yes, the
於步驟S523中,紀錄異常,當步驟S519判斷為否,監控主機可針對目前無人車1於此區段的軌道發生異常的次數進行累加,例如發生異常次數的初始值為0,而當每次發生異常時將會對目前發生異常次數進行加1的累加,並直到發生異常次數累加達標為止,之後即可再將發生異常次數重置為0以作為下次重新判斷使用。 In step S523, the abnormality is recorded. When the determination in step S519 is no, the monitoring host can accumulate the number of abnormal times of the current unmanned vehicle 1 on the track in this section. For example, the initial value of the number of abnormal times is 0, and when each time When an exception occurs, the current number of exceptions will be accumulated by 1 until the accumulated number of exceptions reaches the standard. After that, the number of exceptions can be reset to 0 for next time re-judgment.
根據上述說明可知,無人車1於軌道GR行駛時,可透過無人車1內建的偵測裝置14以得知無人車1行駛過程的震動量,並透過監控主機2對各無人車1回傳的震動量進行監控,監控主機2即可根據監控結果得知無人車1行駛是否有異常震動以及透過分析可得知造成異常震動的來源為何。
According to the above description, when the unmanned vehicle 1 is traveling on the track GR, the amount of vibration during the driving process of the unmanned vehicle 1 can be known through the built-in
接著舉例說明,造成無人車1於軌道GR行駛產生異常震動的幾種狀況。請參閱圖6,圖6為本創作實施例提供無人車於正常軌道行駛的示意圖,在此圖6所示的軌道GR及無人車1本身是以處於正常狀況舉例說明,此時監控主機2透過接收到無人車1於軌道GR行駛過程中即時回傳的行車訊息,監控主機2再藉由判斷行車訊息中的震動量即可即時得知目前無人車1於行駛時並未有異常震動。另外行車訊息中的震動量是可透過設置於無人車1適當位置的偵測裝置14取得,且圖6所示的偵測裝置14設置位置僅是舉例說明,本創作並不以此為限。
Next, examples will be given to illustrate several situations that cause the unmanned vehicle 1 to generate abnormal vibrations while driving on the track GR. Please refer to Figure 6. Figure 6 is a schematic diagram of an unmanned vehicle traveling on a normal track according to this embodiment of the invention. Here, the track GR and the unmanned vehicle 1 shown in Figure 6 are exemplified as being in a normal condition. At this time, the
請參閱圖7,圖7為本創作實施例提供無人車於軌道有異物行駛的示意圖,在此圖7所示的軌道GR相較於圖6是多了異物OB的存在,且此異物OB存在軌道GR的位置是會對行駛於此位置的無人車1產生異常震動。故此時監控主機2於接收到無人車1行駛過此異物OB回傳的行車訊息後,監控主機2再藉由判斷行車訊息中的震動量即可即時得知目前無人車1於行駛時已認定產生異常震動。此外監控主機2更可進一步判斷出不同無人車1於行駛到異物OB存在軌道GR的位置都被認定產生異常震動時,這時監控主機2即可明確確認此異物OB存在軌道GR的位置已有異常,並可進一步發出此區段軌道GR異常的警報通知。
Please refer to Figure 7. Figure 7 is a schematic diagram of an unmanned vehicle traveling on a track with foreign objects according to this creative embodiment. Compared with Figure 6, the track GR shown in Figure 7 has more foreign objects OB, and this foreign object OB exists. The position of the track GR will produce abnormal vibrations for the unmanned vehicle 1 traveling at this position. Therefore, at this time, after the
請參閱圖8及圖9,圖8為本創作實施例提供無人車於軌道歪斜行駛的示意圖,圖9為本創作實施例提供無人車於軌道歪斜行駛的另一示意圖。在此圖8及圖9所示的軌道GR相較於圖6是產生歪斜狀況,在此所述軌道GR歪斜是指軌道GR中相鄰的第一軌道GR1與第二軌道GR2兩者並無相互對齊。即無人車1於行駛於第一軌道GR1與第二軌道GR2的相交未對齊處將產生異常震動。故此時監控主機2於接收到無人車1行駛過第一軌道GR1與第二軌道GR2相交未對齊處回傳的行車訊息後,監控主機2再藉由判斷行車訊息中的震動量即可即時得知目前無人車1於行駛時已認定產生異常震動。同理,監控主機2更可進一步判斷出不同無人車1於行駛到第一軌道GR1與第二軌道GR2的相交未對齊處都被認定產生異常震動時,這時監控主機2即可明確確認於第一軌道GR1與第二軌道GR2相交未對齊處的位置已有異常,並可進一步發出此區段軌道GR異常的警報通知。
Please refer to FIGS. 8 and 9 . FIG. 8 is a schematic diagram of an unmanned vehicle driving on a skewed track according to an embodiment of the invention. FIG. 9 is another schematic diagram of an unmanned vehicle driving on a skewed track according to an embodiment of the invention. Compared with FIG. 6 , the track GR shown in FIGS. 8 and 9 is skewed. The skewed track GR here means that the adjacent first track GR1 and the second track GR2 in the track GR are not skewed. Align each other. That is, the unmanned vehicle 1 will generate abnormal vibrations when traveling at the misaligned intersection of the first track GR1 and the second track GR2. Therefore, at this time, after the
請參閱圖10,圖10為本創作實施例提供無人車於軌道異常間隔行駛的示意圖。在此圖10所示的軌道GR相較於圖6是產生間隔狀況,在此所述軌道GR間隔是指軌道中相鄰的第一軌道GR1與第二軌道GR2兩者
並無相互緊密相靠。即無人車1於行駛於第一軌道GR1與第二軌道GR2的相交間隔處將產生異常震動。故此時監控主機2於接收到無人車1行駛過第一軌道與第二軌道相交間隔處回傳的行車訊息後,監控主機2再藉由判斷行車訊息中的震動量即可即時得知目前無人車1於行駛時已認定產生異常震動。同理,監控主機2更可進一步判斷出不同無人車1於行駛到第一軌道與第二軌道的相交間隔處都被認定產生異常震動時,這時監控主機2即可明確確認於第一軌道GR1與第二軌道GR2相交間隔處的位置已有異常,並可進一步發出此區段軌道GR異常的警報通知。
Please refer to Figure 10. Figure 10 is a schematic diagram of an unmanned vehicle traveling at abnormal intervals on a track according to this embodiment of the present invention. Compared with Figure 6 , the track GR shown in Figure 10 has a gap situation. The track GR gap here refers to both the adjacent first track GR1 and the second track GR2 in the track.
They are not closely dependent on each other. That is, the unmanned vehicle 1 will generate abnormal vibration at the intersection interval between the first track GR1 and the second track GR2. Therefore, after receiving the driving message returned by the unmanned vehicle 1 at the intersection of the first track and the second track, the
根據上述圖8至圖10揭示內容可知,當監控主機2得知無人車1有異常震動時,可進一步分析不同無人車1是否皆於軌道GR相同處產生異常震動,若判斷為是則可認定此區段軌道GR已有異常。軌道GR異常的狀況例如為前述舉例說明的軌道GR有異物、軌道GR歪斜或軌道GR有間隔等異常現象,但本創作並不以此為限。
According to the contents disclosed in Figures 8 to 10 above, when the
在一實施例中,當監控主機2得知第一無人車有異常震動時,可進一步分析第一無人車以外的無人車1是否皆於軌道GR相同處產生異常震動,若判斷為否且第一無人車於軌道GR不同區段皆被監控主機2認定發生異常震動時,則可確認此震動來源屬於第一無人車本身而非軌道GR有異常。
In one embodiment, when the
在一實施例中,上述第一無線電路16及第二無線電路22例如為WI-FI通訊電路、藍芽通訊電路或無線射頻通訊電路。警報電路26例如為顯示電路、燈號指示電路或是揚聲電路的各種組合。第一控制器10及第二控制器20可例如為特定應用積體電路(ASIC)、現場可規劃閘陣列(FPGA)或系統單晶片(SOC)的其中之一或任意組合,並可配合其他相關電路元件以及配合韌體以實現上述控制流程,但本創作並不以此為限。
In one embodiment, the
綜上所述,監控主機2可透過長期觀察無人車1回報的行車訊息,例如當無人車1長期使用時造成內部零件老化(如行車模組中的皮帶彈性疲乏)、機械磨損或是長期承重,這些因素都會造成振動量變大,本創作可以於震動擴大到會影響無人車1搬運貨物品質之前,提早預警以使相關人員可以提早維修保養,避免因過大震動量產生超出預期粉塵而影響到載運貨物的生產良率。
To sum up, the
[實施例的有益效果] [Beneficial effects of the embodiment]
本創作所提供軌道車監控管理系統,可準確偵測無人車行駛的震動狀況,並可進一步準確確認震動來源對象,藉此可以確保被載運貨物的品質不受震動量影響,且透過警報預警可使得無人車或軌道於異常時可以即時被人員處理。 The rail car monitoring and management system provided by our company can accurately detect the vibration conditions of unmanned vehicles and further accurately identify the source of the vibration. This can ensure that the quality of the goods being carried is not affected by the amount of vibration, and the alarm can be used to warn This allows unmanned vehicles or tracks to be handled immediately by personnel when abnormalities occur.
以上所提供的內容僅為本創作的優選可行實施例,並非因此侷限本創作的申請專利範圍,所以凡是運用本創作說明書及圖式內容所做的等效技術變化,均包含於本創作的申請專利範圍內。 The contents provided above are only the preferred and feasible embodiments of this invention, and do not limit the scope of the patent application for this invention. Therefore, all equivalent technical changes made by using the description and drawings of this invention are included in the application for this invention. within the scope of the patent.
1:無人車 1:Unmanned vehicle
10:第一控制器 10:First controller
12:行車模組 12: Driving module
14:偵測裝置 14:Detection device
141:辨識電路 141:Identification circuit
143:慣性感測器 143:Inertial sensor
16:第一無線電路 16:First Radio Circuit
2:監控主機 2: Monitor the host
20:第二控制器 20: Second controller
22:第二無線電路 22:Second Radio Circuit
24:資料庫 24:Database
26:警報電路 26:Alarm circuit
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