WO2024007603A1 - 山地果园单轨运输机智能控制系统及其控制方法 - Google Patents
山地果园单轨运输机智能控制系统及其控制方法 Download PDFInfo
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- WO2024007603A1 WO2024007603A1 PCT/CN2023/079512 CN2023079512W WO2024007603A1 WO 2024007603 A1 WO2024007603 A1 WO 2024007603A1 CN 2023079512 W CN2023079512 W CN 2023079512W WO 2024007603 A1 WO2024007603 A1 WO 2024007603A1
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- Prior art keywords
- motor
- transporter
- main controller
- speed
- power generation
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- 239000002420 orchard Substances 0.000 title claims abstract description 35
- 238000000034 method Methods 0.000 title claims abstract description 24
- 238000001514 detection method Methods 0.000 claims abstract description 19
- 238000011084 recovery Methods 0.000 claims abstract description 15
- 229910000831 Steel Inorganic materials 0.000 claims abstract 4
- 239000010959 steel Substances 0.000 claims abstract 4
- 238000010248 power generation Methods 0.000 claims description 57
- 238000005096 rolling process Methods 0.000 claims description 22
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 15
- 229910052744 lithium Inorganic materials 0.000 claims description 15
- 238000005265 energy consumption Methods 0.000 claims description 7
- 230000000007 visual effect Effects 0.000 claims description 6
- 230000002159 abnormal effect Effects 0.000 claims description 5
- 238000005303 weighing Methods 0.000 claims description 5
- 230000008859 change Effects 0.000 claims description 3
- 230000002441 reversible effect Effects 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 9
- 238000002955 isolation Methods 0.000 description 5
- 238000012545 processing Methods 0.000 description 5
- 230000002457 bidirectional effect Effects 0.000 description 4
- 230000009977 dual effect Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 230000003111 delayed effect Effects 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 241000196324 Embryophyta Species 0.000 description 2
- 239000003990 capacitor Substances 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 235000013399 edible fruits Nutrition 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 239000012773 agricultural material Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000010587 phase diagram Methods 0.000 description 1
- 238000005381 potential energy Methods 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000011218 segmentation Effects 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
Definitions
- the invention relates to the technical field of mountain transport machine control, and more specifically to an intelligent control system for a mountain orchard monorail transport machine and a control method thereof.
- Unmanned transportation equipment represented by rail transport aircraft can adapt to complex terrain environments. It has the characteristics of simple structure, strong climbing ability, safety and ease of use, and is suitable for production operations in hilly orchards.
- the traditional gear transmission system does not have a self-locking function, which makes the monorail transport machine using a gear transmission device prone to slipping and overshooting when going up and down slopes with a full load, posing certain safety risks. At the same time, it does not have energy recovery function.
- the present invention provides an intelligent control system for a mountain orchard monorail transporter and a control method thereof, which can realize the functions of uphill rolling detection, downhill stable speed control and energy recovery.
- An intelligent control system for a mountain orchard monorail transporter including: a transporter, a transport track and a control subsystem;
- the control subsystem includes: main controller, anti-rolling detection component, attitude sensor, DC motor, actuator and power-off brake;
- the anti-rolling detection component includes a first Hall sensor and a first magnet; the first magnet is evenly installed on the outer periphery of the rotating shaft of the DC motor; the first Hall sensor is installed on the DC motor. Right above the rotating shaft, it is used to sense the magnetic field signal of the first magnet and detect the actual rotation speed and rotation direction of the DC motor according to the magnetic field signal; the main controller detects the actual rotation speed and rotation direction of the DC motor according to the actual rotation direction and Whether the driving direction of the operation instructions is consistent, determine whether there is a rolling situation, and when there is a rolling situation, control the power-off brake through the actuator to brake;
- the attitude sensor is used to detect the driving attitude of the transport aircraft on the transport track
- the main controller determines that the transporter is in an uphill section, a downhill section or a flat road section based on the driving attitude of the transporter, and controls the braking of the power-off brake through the actuator in different braking modes according to different road sections. Condition.
- control subsystem also includes: a motor controller and a lithium battery;
- the motor controller is used to switch the DC motor into a driving mode or a power generation mode
- the main controller is used to control the motor controller through the actuator to switch the working mode of the DC motor from the driving mode to the power generation mode when the transporter is in the downhill section and meets the power generation conditions, and causes the power generation to occur. Electrical energy is recovered into the lithium battery.
- control subsystem also includes: a power generation mode speed control module;
- the power generation mode speed control module is used to use an energy consumption resistor to consume part of the electric energy that has not been recovered by the lithium battery when the DC motor is in the power generation mode and the speed exceeds the safe speed, so that the speed is maintained around the safe speed. within the preset range.
- the control subsystem also includes: an automatic parking detection component;
- the automatic parking detection component includes: a second Hall sensor and a second magnet;
- the second Hall sensor is installed on the underside of the transport machine head; there are two second magnets, which are respectively adsorbed on the sides of the beginning and end of the transport track; the second Hall sensor and the The second magnets are located on the same side of the transport track;
- the main controller is used to determine whether the magnetic field signal of the second magnet detected by the second Hall sensor reaches a threshold value, and when reaching the threshold value, control the power-off brake through the actuator to perform braking. .
- control subsystem also includes: multiple sets of control buttons; the control buttons are connected to the main controller and are used to control the advancement of the transporter. , Back and Stop.
- control subsystem also includes: a signal receiver and a remote controller; the signal receiver is connected in parallel with multiple groups of the control buttons respectively; the remote controller The remote control is wirelessly connected to the signal receiver.
- control subsystem also includes: a weighing sensor; the weighing sensor is connected to the main controller and is used to measure the actual load of the conveyor. Loading weight; the main controller determines whether there is a risk of rollover based on the driving attitude of the transporter and the actual loading mass, and when there is a risk of rollover, controls the power-off brake through the actuator.
- control subsystem also includes: a sound and light alarm; the sound and light alarm is connected to the main controller; the main controller is used to When there is overloading or abnormal driving posture, the audible and visual alarm is controlled to issue an audible and visual alarm.
- the invention also provides a control method for an intelligent control system of a mountainous orchard monorail transporter, which is suitable for an intelligent control system of a mountainous orchard monorail transporter, including: a segmented braking control method, including the following steps:
- the main controller determines whether the transporter is in an uphill or downhill section based on the driving attitude of the transporter collected by the attitude sensor. If so, execute S2; otherwise, execute S5;
- the main controller starts the 500ms timer and detects the motor speed through the first Hall sensor to determine whether the timer has completed the 500ms timer. Or the first Hall sensor detects that the motor speed drops to zero, if so, execute S7;
- the main controller If the transporter is on an uphill section but the main controller does not detect the triggering braking signal, it will determine whether the transporter is rolling based on the actual rotation direction of the motor detected by the first Hall sensor and the driving direction of the operation command. If the first If the motor rotation direction detected by the Hall sensor is inconsistent with the driving direction of the operation command, the vehicle will roll away and S7 will be executed;
- the main controller Based on the driving attitude of the transporter collected by the attitude sensor, determine whether the transporter is braking on a flat road section. If so, the main controller starts a 1000ms timer and detects the motor speed through the first Hall sensor;
- control method of an intelligent control system for a mountain orchard monorail transporter it also includes: performing energy recovery when the transporter is in the downhill section, including the following steps:
- the main controller controls the motor controller through the actuator to switch the working mode of the DC motor from the driving mode to the power generation mode for energy recovery;
- S6' Determine whether the actual speed of the DC motor exceeds the set safe speed N2 in the power generation mode. If so, execute S7', otherwise, execute S8';
- S7' connect the energy consumption resistor, calculate the required output PWM wave duty cycle of the main controller, and control the actual speed of the DC motor within the upper and lower preset range of the safe speed N2 in the power generation mode;
- S8' Determine whether the actual speed of the DC motor in the power generation mode is lower than the DC motor speed N0 in the set downhill drive mode. If so, the main controller controls the motor controller through the actuator to change the working mode of the DC motor to the power generation mode. The mode switches to drive mode to provide power to the transport aircraft.
- the present invention provides an intelligent control system and a control method for a mountain orchard monorail transporter, which has the following beneficial effects:
- the present invention detects the attitude information of the transport aircraft on the transport track through the attitude sensor, determines the slope information, and divides the road section into uphill sections, downhill sections and flat sections.
- the main controller controls the power-off brake segmentation according to different road sections. brake. When the transporter is braking on an uphill section, in order to prevent the vehicle from rolling, the uphill braking power-off brake immediately applies the brake; when the transporter is braking on a downhill section, immediate braking will have a greater impact on the transporter.
- the downhill braking power-off brake delayed braking can effectively reduce the impact of downhill braking; when the transport aircraft is braking on a flat road section, in order to make the transport aircraft stop smoothly and reduce impact damage to fruits, etc., the power-off brake is delayed braking. Achieve slow parking on flat roads.
- the present invention installs a bidirectional Hall sensor on the rotating shaft of the motor.
- the bidirectional Hall sensor collects the driving speed and driving direction of the transporter in real time, realizes energy recovery during the downhill process of the transporter, and can accurately determine whether the transporter is rolling, so that The transport aircraft has the functions of energy recovery and rolling prevention, which improves the cruising range and safety of the transport aircraft.
- the present invention uses the non-contact induction mode of Hall sensor instead of the mechanical triggering travel switch installed at the front and rear to achieve automatic parking, which greatly reduces the risk of the transporter accidentally triggering the travel switch due to weeds and debris in mountain orchards during travel. This leads to parking situations and improves the user experience.
- Figure 1 is a structural block diagram of the mountain orchard monorail transport intelligent control system provided by the present invention
- Figure 2 is a schematic structural diagram of the transport aircraft provided by the present invention.
- Figure 3 is a partial schematic diagram of the nose of the transport aircraft provided by the present invention.
- Figure 4 is a schematic structural diagram of the anti-rolling detection component provided by the present invention.
- Figure 5 is a schematic phase diagram of the pulse signal of the first Hall sensor provided by the present invention.
- Figure 6 is a schematic structural diagram of the automatic parking detection component provided by the present invention.
- Figure 7 is a Hall signal processing circuit diagram provided by the present invention.
- Figure 8 is a signal input and output isolation circuit diagram provided by the present invention.
- Figure 9 is a block diagram of switching between DC motor drive mode and power generation mode provided by the present invention.
- Figure 10 is a schematic diagram of speed control in power generation mode provided by the present invention.
- Figure 11 is a flow chart of the segmented braking control method provided by the present invention.
- Figure 12 is a flow chart of the energy recovery steps provided by the present invention.
- Figure 13 is a general control flow chart of the operation process of the transport aircraft provided by the present invention.
- the embodiment of the present invention discloses an intelligent control system for a mountain orchard monorail transporter, which includes: a transporter 1, a transport track 2 and a control subsystem 3;
- Control subsystem 3 includes: main controller 301, anti-rolling detection component, attitude sensor 302, DC motor 303, actuator 304 and power-off brake 305;
- the anti-rolling detection component includes a first Hall sensor 306 and a first magnet 307; the first magnet 307 is evenly installed on the outer periphery of the rotating shaft of the DC motor 303. Specifically, it can be composed of an array structure of 8 round cake magnets.
- the rotating shaft is evenly installed and rotates synchronously with the motor rotating shaft; the first Hall sensor 306 is installed directly above the rotating shaft of the DC motor 303 for sensing the magnetic field signal of the first magnet 307 and detecting the actual magnetic field signal of the DC motor 303 based on the magnetic field signal.
- the main controller 301 determines whether there is a rolling situation based on whether the actual rotation direction of the DC motor 303 is consistent with the driving direction of the operation instruction, and when there is a rolling situation, controls the power-off brake through the actuator 304 305 for braking;
- the attitude sensor 302 is used to detect the driving attitude of the transport aircraft 1 on the transport track;
- the main controller 301 determines that the transporter 1 is in an uphill section, a downhill section or a flat road section based on the driving attitude of the transporter 1, and controls the braking situation of the power-off brake 305 through the actuator 304 in different braking modes according to different road sections.
- the main controller 301 uses an ATMEGA328 microcontroller, and the first Hall sensor 306 uses a bidirectional Hall sensor; the main controller 301 is connected to the first Hall sensor 306, the attitude sensor 302 and the actuator 304 respectively; the actuator 304 is connected to the power-off The brake 305 is connected; the actuator 304 is a relay actuator; the power-off brake 305 is installed on the tail of a DC motor and powered by a DC48V power supply.
- the main controller 301 controls the on and off of the power-off brake 305 through the relay actuator 304, which is the transport machine 1 Provides braking torque.
- the first Hall sensor 306 outputs two signals, namely A phase and B phase.
- a phase of the output pulse signal leads the B phase; when the DC motor 303 rotates reversely, the B phase of the output pulse signal leads the A phase.
- the main controller 301 calculates the running speed and direction of the transporter by reading the phase information of the bidirectional Hall sensor, and determines whether the transporter is slipping by comparing it with the execution signal input by the operation command.
- the attitude sensor 302 is fixedly installed at the middle position inside the nose of the transport aircraft 1, and can detect the angle information and acceleration information in the X-axis, Y-axis and Z-axis directions of the transport aircraft to determine the driving attitude of the transport aircraft 1, and communicate to the transport aircraft through serial communication.
- the attitude information is sent to the main controller 301 in a way.
- the main controller 301 performs segmented braking according to the collected X-axis angle information, and performs anti-rollover control of the transport aircraft through the collected angle information of the Y-axis.
- the road sections are divided according to the detected slope information into uphill sections, downhill sections and flat sections.
- the main controller performs segmented braking of the transporter according to different road sections: 1 When the transporter is braking in the uphill section , in order to prevent the vehicle from rolling, the power-loss brake will apply the brake immediately; 2 When the transporter is braking on the downhill section, since the transporter has a certain kinetic energy and gravity, immediate braking will have a greater impact on the transporter. At this time, the transporter will lose power. Delayed braking of the electric brake can effectively reduce the impact of downhill braking; 3 When the transporter is braking on a flat road section, in order to make the transporter stop smoothly and reduce impact damage to fruits and other products, the electric brake is used to delay braking and realize flat road Slow parking function.
- the transporter 1 includes: a nose 101, a trailer connector 102, a transport trailer 103 and a battery box 104.
- the transporter 1 rides on the transport track 2, and the transport trailer 103 is connected through the trailer.
- the piece 102 is connected to the machine head 101 and is dragged or pushed by the machine head 101.
- control subsystem also includes: a motor controller 308 and a lithium battery 309; the lithium battery is installed in the battery box 104;
- the motor controller 308 is used to switch the DC motor 303 in the driving mode or the power generation mode;
- the main controller 301 is used to control the motor controller 308 through the actuator 304 to switch the working mode of the DC motor 303 from the driving mode to the power generation mode when the transport machine 1 is in the downhill section and meets the power generation conditions, and recover the generated electric energy into lithium.
- Battery 309 is used to control the motor controller 308 through the actuator 304 to switch the working mode of the DC motor 303 from the driving mode to the power generation mode when the transport machine 1 is in the downhill section and meets the power generation conditions, and recover the generated electric energy into lithium.
- Battery 309 is used to control the motor controller 308 through the actuator 304 to switch the working mode of the DC motor 303 from the driving mode to the power generation mode when the transport machine 1 is in the downhill section and meets the power generation conditions, and recover the generated electric energy into lithium.
- Battery 309 is used to control the motor controller 308 through the actuator 304 to switch the working mode of the DC motor 303 from the driving mode to the power generation mode when the transport machine 1 is in the downhill section and meets the power generation conditions
- control subsystem 3 also includes: a power generation mode speed control module 310;
- the power generation mode speed control module 310 is used to use an energy consumption resistor to consume part of the electric energy that has not been recovered by the lithium battery 309 when the DC motor 303 is in the power generation mode and the speed exceeds the safe speed, so that the speed is maintained within a preset range above and below the safe speed.
- the main controller 301 uses the pulse width modulation method to adjust the speed of the DC motor 303 in the driving mode and the power generation mode, and adjusts the size of the PWM wave duty cycle output to realize the DC motor 303 in the driving mode.
- the speed control realizes the functions of stepless speed regulation and stable speed control on downhill slopes in power generation mode.
- the main controller 301 determines whether the transporter 1 is in the downhill section through the data detected by the first Hall sensor 306 and the attitude sensor 307. When it is in the downhill section and the power generation conditions are met, the motor controller 308 completes the DC operation through the switching circuit.
- the motor 303 switches from the driving mode to the motor power generation mode, and the generated energy is recovered through the lithium battery 309 .
- the speed control module 310 uses energy braking to consume the part of the electric energy that cannot be recovered to ensure stable speed control in the downhill DC motor 303 power generation mode, prevent the occurrence of speeding accidents and prevent damage due to excessive reverse charging current.
- the DC motor 303 when the DC motor 303 is in the power generation mode, the DC motor 303 acts as a generator to generate electricity, where M is the DC motor, Ra is the internal resistance of the motor armature winding, La is the armature inductance, and generates electricity.
- the machine reversely charges the lithium battery in constant current mode. Since gravity continues to do work, the gravitational potential energy is continuously converted into kinetic energy. When the energy recovery of the motor power generation reaches the maximum efficiency, and the DC motor speed continues to increase, in order to protect the lithium battery and prevent speeding accidents When the downhill speed occurs, the downhill speed needs to be controlled stably.
- the energy consumption resistor Rz is connected to the power generation circuit through the switch K.
- the main controller adjusts the output size of the PWM wave duty cycle through pulse width modulation to turn on the transistor Q1.
- this circuit design realizes the functions of energy recovery and stable speed control of the transport aircraft during downhill driving, improving the cruising range and safety of transportation.
- control subsystem 3 also includes: an automatic parking detection component;
- the automatic parking detection component includes: a second Hall sensor 311 and a second magnet 312;
- the second Hall sensor 311 is installed On the underside of the head 101 of the transport machine 1; there are two second magnets 312, which are respectively adsorbed on the sides of the beginning and end of the transport track 2; the second Hall sensor 311 and the second magnet 312 are both located on the transport track 2 same side;
- the main controller 301 is used to determine whether the magnetic field signal of the second magnet 312 detected by the second Hall sensor 311 reaches a threshold, and when it reaches the threshold, controls the de-energized brake 305 through the actuator 304 to perform braking.
- the second Hall sensor 311 installed on the transporter detects the magnetic field signal generated by the second magnet 312 and sends a parking signal to the main controller 301.
- the main controller 301 Control the corresponding relay actuator 304 to self-lock, causing the power-off brake 305 to brake and stop.
- the transporter 1 stops traveling and cannot continue to travel in the original direction. It is only allowed to control the transporter to travel in the opposite direction to prevent the transporter from falling on the track. After both ends of the track are broken out of the track, the automatic parking function is realized.
- the non-contact sensing method of the second Hall sensor is used instead of the mechanical trigger travel switch installed at the end and end to achieve automatic parking, which greatly reduces the time the transport aircraft is in motion. Due to the situation where weeds and debris in mountainous orchards mistakenly trigger the travel switch and cause parking, the second magnet 312 can be adsorbed and installed on the side of the transport track in any section according to the user's actual application needs to realize the automatic parking function of the transporter in this section, greatly increasing the number of transporters. Flexibility of use.
- the main controller 301 is connected with signal input and output isolation circuits and Hall signal processing circuits.
- the Hall signal processing circuit is used to amplify and convert the original signal collected by the Hall sensor into a voltage signal that can be read by the microcontroller.
- the magnet triggers the Hall sensor, it generates two pulse signals, A and B.
- the A signal is pulled up to 5V through resistor R1, filtered by capacitor C1, and then connected to the main controller through the output end D2 of the dual inverter U1.
- the B signal is pulled up to 5V through the resistor R4, filtered by the capacitor C3, and then connected to the main controller through the output terminal D3 of the dual inverter U1.
- VF is the reference voltage terminal of the dual inverter U1.
- Resistor R2 and resistor R3 divide the voltage.
- the reference voltage is 2.5V.
- the corresponding output terminal of the dual inverter outputs a high level of 5V, otherwise it outputs a low level of 0V. .
- the signal collected by the Hall sensor is amplified and filtered by the Hall signal processing circuit and becomes a voltage signal that the microcontroller can stably read.
- the signal input and output isolation circuit is used to isolate the signal input to the main controller from the signal output by the main controller, thereby protecting the main controller.
- the isolation circuit mainly includes optocoupler U2, U4, and inverter U3.
- the pins C and E of the optocoupler U2 are turned on, and the input terminal of the main controller inputs a low level synchronously to achieve input signal isolation. function; the signal output by the main controller output terminal is connected to the optocoupler U4 after the inversion effect of the inverter.
- the optocoupler U4 pins C and E are turned on, and the OUT1 output terminal outputs a high level. level.
- control subsystem also includes: multiple sets of control buttons 313; the control buttons 313 are connected to the main controller 301 and are used to control the forward, backward and stop of the transporter 1.
- the conveyor head 101 includes three sets of normally open inching switches, which are fixedly installed on the control panel of the conveyor head 101 and are used to manually control the forward, backward and stop of the conveyor.
- control subsystem 3 also includes: a signal receiver 314 and a remote controller 315; the signal receiver 314 is connected in parallel with multiple groups of control buttons 313 respectively; the remote controller 315 is wirelessly connected to the signal receiver 314.
- the signal receiver 314 is fixedly installed inside the transport aircraft 1, and the user can remotely and wirelessly control the forward, backward and stop of the transport aircraft 1 through the remote control 315.
- control subsystem 3 also includes: a load sensor 316; the load sensor 316 is connected to the main controller 301, which is used to measure the actual loading weight of the transporter 1; the main controller 301 combines the driving attitude of the transporter and The actual loading mass is used to determine whether there is a risk of rollover, and when there is a risk of rollover, the actuator 304 is used to control the power-off brake 305 to brake.
- the load cells 316 are fixedly installed on the load-bearing mechanisms 105 at the front and rear ends of the transport trailer respectively, and are used to measure the actual loading weight of the transporter and prevent potential safety hazards caused by overloaded transport.
- the transport machine and the transport track are locked and fixed on the track through the compression wheel and the load-bearing wheel.
- the driving wheel of the machine head is dragged or pushed forward and backward in a gearing manner.
- the load exceeds the maximum device mass and the goods go to One deviation will cause the mass of the transport vehicle to be asymmetrical along both sides of the track, causing the tilt to occur in severe cases and causing rollover. Therefore, it is necessary to detect the quality of the load through a weighing sensor to prevent overload operation. In addition, mechanical looseness may also occur due to long-term use.
- the transporter rolls over. Under normal driving conditions, the attitude sensor detects that the transporter is within a certain safe range on the horizontal plane. When the attitude sensor detects that the transporter continues to operate beyond this safe range, there will be a risk of rollover. Therefore, power loss must be controlled at this time.
- the brakes stop and alarm the user for inspection and fixation to prevent rollover caused by continued operation.
- control subsystem 3 also includes: a sound and light alarm 317; the sound and light alarm 317 is connected to the main controller 301; the main controller 301 is used to control the sound and light alarm 317 when there is overload or abnormal driving posture. Sound and light alarm.
- the main controller 301 controls the power-off brake 305 by controlling the corresponding relay actuator 304, brakes the transporter 1 and turns on the audible and visual alarm 317.
- the fault light flashes and the alarm Beeps to indicate a problem with the system so that staff can handle it in a timely manner.
- Embodiments of the present invention also provide a control method for an intelligent control system for a mountain orchard monorail transporter, including: a segmented braking control method, including the following steps:
- the main controller determines whether the transporter is in an uphill or downhill section based on the driving attitude of the transporter collected by the attitude sensor. If so, execute S2; otherwise, execute S5;
- the main controller starts the 500ms timer and detects the motor speed through the first Hall sensor to determine whether the timer has completed the 500ms timer. Or the first Hall sensor detects that the motor speed drops to zero. If so, execute S7, otherwise continue timing and detecting the motor speed;
- the main controller If the transporter is on an uphill section but the main controller does not detect the triggering braking signal, it will determine whether the transporter is rolling based on the actual rotation direction of the motor detected by the first Hall sensor and the driving direction of the operation command. If the first If the motor rotation direction detected by the Hall sensor is inconsistent with the driving direction of the operation command, the vehicle will roll away and S7 will be executed;
- the main controller Based on the driving attitude of the transporter collected by the attitude sensor, determine whether the transporter is braking on a flat road section. If so, the main controller starts a 1000ms timer and detects the motor speed through the first Hall sensor;
- it also includes: performing energy recovery when the conveyor is on a downhill section, including the following steps:
- the main controller controls the motor controller through the actuator to switch the working mode of the DC motor from the driving mode to the power generation mode for energy recovery;
- S6' Determine whether the actual speed of the DC motor exceeds the set safe speed N2 in the power generation mode. If so, execute S7', otherwise, execute S8';
- S7' connect the energy consumption resistor, calculate the required output PWM wave duty cycle of the main controller, and control the actual speed of the DC motor within the upper and lower preset range of the safe speed N2 in the power generation mode;
- S8' Determine whether the actual speed of the DC motor in the power generation mode is lower than the DC motor speed N0 in the set downhill drive mode. If so, the main controller controls the motor controller through the actuator to change the working mode of the DC motor to the power generation mode. The mode switches to drive mode to provide power to the transport aircraft.
- the overall control process of the transporter operation process by the main controller of the present invention is:
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Abstract
一种山地果园单轨运输机智能控制系统及其控制方法，包括：运输机（1）、运输轨道（2）和控制子系统（3）；控制子系统（3）包括：主控制器（301）、防溜车检测组件、姿态传感器（302）、直流电机（303）、执行器（304）和失电制动器（305）；防溜车检测组件包括第一霍尔传感器（306）和第一磁钢（307）；第一磁钢（307）均匀安装在直流电机（303）的旋转轴外周；第一霍尔传感器（306）检测直流电机（303）实际的转速和转动方向；主控制器（301）根据直流电机（303）的实际转动方向和操作指令的行驶方向是否一致，确定是否存在溜车情况，并根据运输机（1）的行驶姿态，判断其处于上坡段、下坡段或平路段，按路段不同以不同的制动模式通过执行器（304）控制失电制动器（305）的制动情况。本系统能够实现上坡溜车检测、下坡稳定控速和能量回收功能。
Description
本发明涉及山地运输机控制技术领域，更具体的说是涉及一种山地果园单轨运输机智能控制系统及其控制方法。
目前，山地果园农资运送大多依靠人工作业，生产效率低，劳动强度大，生产安全难以保障。以轨道运输机为代表的无人运送装备能够适应复杂地形环境，具有结构简单、爬坡能力强、安全易用等特点，适合丘陵山地果园的生产作业。
但是传统的齿轮传动系统不具备自锁功能，这使得采用齿轮传动装置的单轨运输机在满载上下坡时容易出现溜车和飞车现象，存在一定的安全隐患。同时，不具备能量回收功能。
因此，如何提供一种兼具下坡稳定控速、上坡溜车检测以及能量回收功能的山地果园单轨运输机智能控制系统及其控制方法，是本技术领域人员亟需解决的问题。
有鉴于此，本发明提供了一种山地果园单轨运输机智能控制系统及其控制方法，能够实现上坡溜车检测、下坡稳定控速和能量回收功能。
为了实现上述目的，本发明采用如下技术方案：
一种山地果园单轨运输机智能控制系统，包括：运输机、运输轨道和控制子系统；
所述控制子系统包括：主控制器、防溜车检测组件、姿态传感器、直流电机、执行器和失电制动器；
所述防溜车检测组件包括第一霍尔传感器和第一磁钢；所述第一磁钢均匀安装在所述直流电机的旋转轴外周；所述第一霍尔传感器安装在所述直流电机旋转轴的正上方，用于感应所述第一磁钢的磁场信号，并根据磁场信号检测所述直流电机实际的转速和转动方向；所述主控制器根据所述直流电机的实际转动方向和操作指令的行驶方向是否一致，确定是否存在溜车情况，并在存在溜车情况时，通过所述执行器控制所述失电制动器进行制动；
所述姿态传感器用于检测所述运输机在所述运输轨道上的行驶姿态；
所述主控制器根据所述运输机的行驶姿态，判断其处于上坡段、下坡段或平路段，按路段不同以不同的制动模式通过所述执行器控制所述失电制动器的制动情况。
进一步的，在上述一种山地果园单轨运输机智能控制系统中，所述控制子系统还包括：电机控制器和锂电池；
所述电机控制器用于切换所述直流电机处于驱动模式或发电模式；
所述主控制器用于在所述运输机处于下坡段且满足发电条件时，通过所述执行器控制所述电机控制器将所述直流电机的工作模式由驱动模式切换为发电模式，且使发电电能回收至所述锂电池。
进一步的，在上述一种山地果园单轨运输机智能控制系统中，所述控制子系统还包括：发电模式控速模块；
所述发电模式控速模块用于在所述直流电机处于发电模式，且转速超出安全转速时，采用能耗电阻将未被所述锂电池回收的部分电能进行消耗，使转速维持在安全转速上下预设范围内。
进一步的，在上述一种山地果园单轨运输机智能控制系统中，所述控制子系统还包括：自动停车检测组件；所述自动停车检测组件包括：第二霍尔传感器和第二磁钢；所述第二霍尔传感器安装在所述运输机机头的下侧；所述第二磁钢设置有两个，分别吸附在所述运输轨道的始末两端的侧面；所述第二霍尔传感器和所述第二磁钢均位于所述运输轨道的同一侧；
所述主控制器用于判断所述第二霍尔传感器检测到的所述第二磁钢的磁场信号是否达到阈值，并在达到阈值时，通过所述执行器控制所述失电制动器进行制动。
进一步的，在上述一种山地果园单轨运输机智能控制系统中，所述控制子系统还包括：多组控制按键；所述控制按键与所述主控制器连接，其用于控制所述运输机的前进、后退和停止。
进一步的，在上述一种山地果园单轨运输机智能控制系统中，所述控制子系统还包括：信号接收器和远程遥控器；所述信号接收器分别与多组所述控制按键并联；所述远程遥控器与所述信号接收器无线连接。
进一步的，在上述一种山地果园单轨运输机智能控制系统中，所述控制子系统还包括：称重传感器；所述称重传感器与所述主控制器连接，其用于测量所述运输机的实际装载重量；所述主控制器结合所述运输机的行驶姿态和实际装载质量，判断是否存在侧翻风险，并在存在侧翻风险时，通过所述执行器控制所述失电制动器制动。
进一步的，在上述一种山地果园单轨运输机智能控制系统中，所述控制子系统还包括：声光报警器；所述声光报警器与所述主控制器连接；所述主控制器用于在存在超载、驾驶姿态异常时，控制所述声光报警器发出声光警报。
本发明还提供一种山地果园单轨运输机智能控制系统的控制方法，其适用于一种山地果园单轨运输机智能控制系统，包括：分段式制动控制方法，包括以下步骤：
S1、主控制器根据姿态传感器采集的运输机的行驶姿态，判断运输机是否处在上坡段或下坡段，若是，执行S2，否则，执行S5；
S2、若运输机处于上坡段，且主控制器检测到存在触发制动信号，则执行S7；
S3、若运输机处于下坡段，且主控制器检测到存在触发制动信号，则主控制器开启500ms的计时器计时，并通过第一霍尔传感器检测电机转速，判断计时器是否完成500ms计时或第一霍尔传感器检测到电机转速降为零，若是，则执行S7；
S4、若运输机处于上坡段，但主控制器未检测到触发制动信号，则根据第一霍尔传感器检测的电机实际转动方向和操作指令的行驶方向判断运输机是否发生溜车，若第一霍尔传感器检测的电机转动方向和操作指令的行驶方向不一致，则发生溜车，执行S7；
S5、根据姿态传感器采集的运输机的行驶姿态，判断运输机是否处于平路段制动，若是，则主控制器开启1000ms计时器计时，并通过第一霍尔传感器检测电机转速；
S6、判断计时器是否完成1000ms计时或第一霍尔传感器检测到电机转速降为零，若是，则执行S7；
S7、失电制动器制动停车。
进一步的，在上述一种山地果园单轨运输机智能控制系统的控制方法中，还包括：运输机处于下坡段时，进行能量回收，包括以下步骤：
S1'、设定直流电机的发电条件：运输机姿态满足：水平面倾斜角α>α0，直流电机的实际转速N满足：N0<N<N1；设定发电模式下直流电机的安全转速N2；
S2'、通过姿态传感器获取运输机所处的姿态信息，通过第一霍尔传感器检测直流电机的实际转速和转动方向；
S3'、判断是否满足发电条件，若是，则执行S4'，否则，保持直流电机驱动模式；
S4'、主控制器通过执行器控制电机控制器将直流电机的工作模式由驱动模式切换为发电模式，进行能量回收；
S5'、通过第一霍尔传感器检测直流电机的转速和转动方向；
S6'、判断在发电模式下直流电机实际转速是否超出设定的安全转速N2，若是，则执行S7'，否则，执行S8'；
S7'、接入能耗电阻，计算主控制器所需输出PWM波占空比的大小，将直流电机的实际转速控制在发电模式下的安全转速N2上下预设范围内；
S8'、判断在发电模式下直流电机的实际转速是否低于设定下坡驱动模式下的直流电机转速N0，若是，则主控制器通过执行器控制电机控制器将直流电机的工作模式由发电模式切换为驱动模式，为运输机提供动力。
经由上述的技术方案可知，与现有技术相比，本发明公开提供了一种一种山地果园单轨运输机智能控制系统及其控制方法，具备以下有益效果：
1、本发明通过姿态传感器检测运输机在运输轨道上的姿态信息，确定坡度信息，并将路段划分为上坡段、下坡段和平路段，主控制器根据不同的路段对失电制动器分段式制动。在当运输机处于上坡段进行制动时，为防止发生溜车，上坡制动失电制动器立即采取制动；当运输机处于下坡段进行制动时，立即制动会对运输机冲击较大，下坡制动失电制动器延迟制动能够有效减少下坡制动冲击；当运输机处于平路段进行制动时，为使得运输机平缓停车，减少对果品等冲击损伤，失电动器延迟制动，实现平路缓停车。
2、本发明在电机旋转轴上安装双向霍尔传感器，通过双向霍尔传感器实时采集运输机的行驶速度和行驶方向，实现运输机下坡过程中能量回收，且能够准确判断运输机是否发生溜车，使得运输机具备能量回收和防止溜车的功能，提升了运输机的续航里程和安全性。
3、本发明采用霍尔传感器非接触式的感应方式替代了采用首尾安装机械触发式行程开关的方式实现自动停车，极大地降低了运输机在行驶过程中由于山地果园荒草杂物误触发导行程开关导致停车的情况，提升了用户使用体验。
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据提供的附图获得其他的附图。
图1为本发明提供的山地果园单轨运输机智能控制系统的结构框图；
图2为本发明提供的运输机的结构示意图；
图3为本发明提供的运输机机头局部示意图；
图4为本发明提供的防溜车检测组件的结构示意图；
图5为本发明提供的第一霍尔传感器脉冲信号相位示意图；
图6为本发明提供的自动停车检测组件的结构示意图；
图7为本发明提供的霍尔信号处理电路图；
图8为本发明提供的信号输入、输出隔离电路图；
图9为本发明提供的直流电机驱动模式与发电模式切换框图；
图10为本发明提供的发电模式下控速原理图；
图11为本发明提供的分段式制动控制方法的流程图；
图12为本发明提供的能量回收步骤的流程图；
图13为本发明提供的运输机运行过程的总控流程图。
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
如图1-4所示，本发明实施例公开了一种山地果园单轨运输机智能控制系统，包括：运输机1、运输轨道2和控制子系统3；
控制子系统3包括：主控制器301、防溜车检测组件、姿态传感器302、直流电机303、执行器304和失电制动器305；
防溜车检测组件包括第一霍尔传感器306和第一磁钢307；第一磁钢307均匀安装在直流电机303的旋转轴外周，具体可由8个圆饼磁钢组成阵列式结构，在电机旋转轴上均匀安装与电机旋转轴同步旋转；第一霍尔传感器306安装在直流电机303旋转轴的正上方，用于感应第一磁钢307的磁场信号，并根据磁场信号检测直流电机303实际的转速和转动方向；主控制器301根据直流电机303的实际转动方向和操作指令的行驶方向是否一致，确定是否存在溜车情况，并在存在溜车情况时，通过执行器304控制失电制动器305进行制动；
姿态传感器302用于检测运输机1在运输轨道上的行驶姿态；
主控制器301根据运输机1的行驶姿态，判断其处于上坡段、下坡段或平路段，按路段不同以不同的制动模式通过执行器304控制失电制动器305的制动情况。
其中，主控制器301采用ATMEGA328单片机，第一霍尔传感器306采用双向霍尔传感器；主控制器301分别与第一霍尔传感器306、姿态传感器302和执行器304连接；执行器304与失电制动器305连接；执行器304为继电器执行器；失电制动器305安装直流电动机尾部，采用DC48V电源供电，主控制器301通过继电器执行器304控制失电制动器305的导通与关断，为运输机1提供制动力矩。
如图5所示，第一霍尔传感器306输出两路信号，即A相、B相。当直流电机303正转时，输出脉冲信号A相超前于B相；当直流电机303反转时，输出脉冲信号B相超前于A相。主控制器301通过读取双向霍尔传感器的相位信息，计算出运输机的运行速度和行驶方向，通过与操作指令输入的执行信号进行比对判断运输机是否出现溜车。
具体而言，姿态传感器302固定安装在运输机1机头内部中间位置，可以检测运输机X轴、Y轴和Z轴方向上的角度信息和加速度信息，以确定运输机1的行驶姿态，通过串口通信向的方式向主控制器301发送姿态信息，主控制器301根据采集到的X轴角度信息进行路况分段制动，通过Y轴采集到的角度信息对运输机进行防侧翻控制。通过检测到的坡度信息进行路段的划分，划分为上坡段、下坡段和平路段，主控制器根据不同的路段对运输机进行分段式制动：①当运输机处于上坡段进行制动时，为防止发生溜车，失电制动器立即采取制动；②当运输机处于下坡段进行制动时，由于运输机具有一定的动能和重力，立即制动会对运输机冲击较大，此时，失电制动器延迟制动，能够有效减少下坡制动冲击；③当运输机处于平路段进行制动时，为使得运输机平缓停车，减少对果品等冲击损伤，制失电动器延迟制动，实现平路缓停车的功能。
在一个具体实施例中，如图2所示，运输机1包括：机头101、拖车连接件102、运输拖车103和电池箱104，运输机1骑跨在运输轨道2上，运输拖车103通过拖车连接件102与机头101，连接并由机头101拖动或推动。
在一个实施例中，控制子系统还包括：电机控制器308和锂电池309；锂电池安装在电池箱104内；
电机控制器308用于切换直流电机303处于驱动模式或发电模式；
主控制器301用于在运输机1处于下坡段且满足发电条件时，通过执行器304控制电机控制器308将直流电机303的工作模式由驱动模式切换为发电模式，且使发电电能回收至锂电池309。
更有利的，控制子系统3还包括：发电模式控速模块310；
发电模式控速模块310用于在直流电机303处于发电模式，且转速超出安全转速时，采用能耗电阻将未被锂电池309回收的部分电能进行消耗，使转速维持在安全转速上下预设范围内。
如图9所示，主控制器301通过脉宽调制的方法进行直流电机303在驱动模式下和发电模式下转速的调节，根据调整PWM波占空比输出的大小来实现直流电机303驱动模式下转速的控制，实现无级调速和发电模式下下坡稳定控速的功能。主控制器301通过第一霍尔传感器306和姿态传感器307检测到的数据，判断运输机1是否处于下坡段，当处于下坡段，且满足发电条件时，电机控制器308通过切换电路完成直流电机303由驱动模式到电机发电模式的切换，发电的能量通过锂电池309进行回收。
当运输机1处于下坡行驶发电模式时，由于齿轮传动装置不具备自锁功能，重力作用在坡面方向上的分力做功会使其加速运行，而锂电池309的充电效率有限，通过发电模式控速模块310对未能回收的部分电能采取能耗制动的方式消耗掉，以保证下坡直流电机303发电模式下的稳定控速，防止飞车事故的发生和防止反向充电电流过大损坏锂电池309。
具体的，如图10所示，当直流电机303处于发电模式下时，直流电机303作为发电机发电，其中M为直流电机，Ra为电机电枢绕组的内阻，La为电枢电感，发电机以恒流模式给锂电池反向充电，由于重力持续做功，重力势能不断转化为动能，电机发电的能量回收达到最大效率时，且直流电机转速仍持续增加，为保护锂电池和防止飞车事故发生需稳定控制下坡速度，通过切换开关K在发电回路中接入能耗电阻Rz，主控制器通过脉宽调制的方法调整PWM波占空比的输出大小来实现对晶体管Q1的导通，以达到发电模式下对运输机下坡稳定控速的目的，该电路设计实现了运输机在下坡行驶过程中具备能量回收和稳定控速的功能，提升了运输的续航里程和安全性。
在一个实施例中，如图6所示，控制子系统3还包括：自动停车检测组件；自动停车检测组件包括：第二霍尔传感器311和第二磁钢312；第二霍尔传感器311安装在运输机1机头101的下侧；第二磁钢312设置有两个，分别吸附在运输轨道2的始末两端的侧面；第二霍尔传感器311和第二磁钢312均位于运输轨道2的同一侧；
主控制器301用于判断第二霍尔传感器311检测到的第二磁钢312的磁场信号是否达到阈值，并在达到阈值时，通过执行器304控制失电制动器305进行制动。
当运输机1行走至运输轨道2始末两端时，安装在运输机上的第二霍尔传感器311检测到第二磁钢312产生的磁场信号，并向主控制器301发送停车信号，主控制器301控制对应的继电器执行器304自锁，使失电制动器305制动停车，此时运输机1停止行驶且不能再次向原来行驶方向继续启动行驶，只允许操纵运输机往反方向行驶，以防止运输机在轨道始末两端冲出轨道，现自动停车的功能，采用第二霍尔传感器非接触式的感应方式替代了采用首尾安装机械触发式行程开关的方式实现自动停车，极大地降低了运输机在行驶过程中由于山地果园荒草杂物误触发导行程开关导致停车的情况，第二磁钢312可以根据用户实际应用需求吸附安装在任意路段的运输轨道侧面，实现运输机在该路段自动停车功能，极大地增加运输机使用的灵活性。
在一个具体实施例中，主控制器301连接有信号输入、输出隔离电路和霍尔信号处理电路。
具体的，如图7所示，为霍尔信号处理电路，以下将第一霍尔传感器和第二霍尔传感器统称为霍尔传感器，将第一磁钢和第二磁钢统称为磁钢。霍尔信号处理电路用于将霍尔传感器采集到的原始信号进行放大和转换为单片机能够读取的电压信号。当磁钢触发霍尔传感器产生A、B两路脉冲信号，A信号经过电阻R1上拉至5V，并通过电容C1进行滤波处理后经双路反相器U1的输出端D2与主控制器连接，B信号经过电阻R4上拉至5V，并通过电容C3进行滤波处理后经双路反相器U1的输出端D3与主控制器连接，VF为双路反相器U1的参考电压端，通过电阻R2和电阻R3分压的作用，该参考电压为2.5V，当霍尔传感器输入的电压高于参考电压，则双路反相器对应输出端输出高电平5V，反之输出低电平0V。霍尔传感器采集到的信号经过霍尔信号处理电路的放大和滤波处理变为单片机能够稳定读取的电压信号。
如图8所示，信号输入、输出隔离电路用于将输入到主控制器的信号和主控制器输出的信号进行隔离，起到保护主控制器的作用。隔离电路主要包含光耦U2、U4，反相器U3，当输入信号IN1输入低电平时，光耦U2引脚C、E导通，主控制器输入端同步输入低电平，实现输入信号隔离的作用；主控制器输出端输出的信号经过反相器的反相作用后连接到光耦U4，当主控制器输出高电平时，光耦U4引脚C、E导通，OUT1输出端输出高电平。
在其他实施例中，控制子系统还包括：多组控制按键313；控制按键313与主控制器301连接，其用于控制运输机1的前进、后退和停止。
具体而言，包括三组常开型点动开关，其固定安装在运输机机头101的控制面板上，用于手动控制运输机的前进、后退和停止。
更有利的，控制子系统3还包括：信号接收器314和远程遥控器315；信号接收器314分别与多组控制按键313并联；远程遥控器315与信号接收器314无线连接。
信号接收器314固定安装在运输机1的内部，用户通过远程遥控器315遥控端可实现远程无线控制运输机1的前进、后退和停止。
在一个实施例中，控制子系统3还包括：称重传感器316；称重传感器316与主控制器301连接，其用于测量运输机1的实际装载重量；主控制器301结合运输机的行驶姿态和实际装载质量，判断是否存在侧翻风险，并在存在侧翻风险时，通过执行器304控制失电制动器305制动。
称重传感器316分别固定安装在运输拖车前、后两端的承重机构105上，用于测量运输机的实际装载重量，防止超载运输带来的安全隐患。
运输机与运输轨道是通过压紧轮和承重轮配合锁紧固定在轨道上，由机头驱动轮采以齿合的方式拖动或推动前后行驶，当载重货物超过最大的装置质量时且货物往一遍偏离会导致运输车沿轨道两边的质量不对称而发生倾斜严重者会导致侧翻，所以需要通过称重传感器检测装载的质量防止超载运行，另外由于使用久了机械松动的问题也有可能或导致运输机侧翻，正常行驶状态下姿态传感器检测到运输机在水平面是在一定安全的范围内，当姿态传感器检测到超出这个安全范围仍继续运行的话就会有侧翻风险，所以此时要控制失电制动器停车并报警给用户进行检查固定，防止继续运行导致侧翻。
更有利的，控制子系统3还包括：声光报警器317；声光报警器317与主控制器301连接；主控制器301用于在存在超载、驾驶姿态异常时，控制声光报警器317发出声光警报。
当运输机1出现超载或姿态传感器检测到姿态异常时，主控制器301通过控制对应的继电器执行器304控制失电制动器305，制动运输机1并开启声光报警器317，故障灯闪烁与报警器蜂鸣，提示系统出现问题，以便工作人员及时处理。
本发明实施例还提供一种山地果园单轨运输机智能控制系统的控制方法，包括：分段式制动控制方法，包括以下步骤：
S1、主控制器根据姿态传感器采集的运输机的行驶姿态，判断运输机是否处在上坡段或下坡段，若是，执行S2，否则，执行S5；
S2、若运输机处于上坡段，且主控制器检测到存在触发制动信号，则执行S7；
S3、若运输机处于下坡段，且主控制器检测到存在触发制动信号，则主控制器开启500ms的计时器计时，并通过第一霍尔传感器检测电机转速，判断计时器是否完成500ms计时或第一霍尔传感器检测到电机转速降为零，若是，则执行S7，否则继续计时和检测电机转速；
S4、若运输机处于上坡段，但主控制器未检测到触发制动信号，则根据第一霍尔传感器检测的电机实际转动方向和操作指令的行驶方向判断运输机是否发生溜车，若第一霍尔传感器检测的电机转动方向和操作指令的行驶方向不一致，则发生溜车，执行S7；
S5、根据姿态传感器采集的运输机的行驶姿态，判断运输机是否处于平路段制动，若是，则主控制器开启1000ms计时器计时，并通过第一霍尔传感器检测电机转速；
S6、判断计时器是否完成1000ms计时或第一霍尔传感器检测到电机转速降为零，若是，则执行S7，否则继续计时和检测电机转速；
S7、失电制动器制动停车。
在另一个实施例中，还包括：运输机处于下坡段时，进行能量回收，包括以下步骤：
S1'、设定直流电机的发电条件：运输机姿态满足：水平面倾斜角α>α0，直流电机的实际转速N满足：N0<N<N1；设定发电模式下直流电机的安全转速N2；
S2'、通过姿态传感器获取运输机所处的姿态信息，通过第一霍尔传感器检测直流电机的实际转速和转动方向；
S3'、判断是否满足发电条件，若是，则执行S4'，否则，保持直流电机驱动模式；
S4'、主控制器通过执行器控制电机控制器将直流电机的工作模式由驱动模式切换为发电模式，进行能量回收；
S5'、通过第一霍尔传感器检测直流电机的转速和转动方向；
S6'、判断在发电模式下直流电机实际转速是否超出设定的安全转速N2，若是，则执行S7'，否则，执行S8'；
S7'、接入能耗电阻，计算主控制器所需输出PWM波占空比的大小，将直流电机的实际转速控制在发电模式下的安全转速N2上下预设范围内；
S8'、判断在发电模式下直流电机的实际转速是否低于设定下坡驱动模式下的直流电机转速N0，若是，则主控制器通过执行器控制电机控制器将直流电机的工作模式由发电模式切换为驱动模式，为运输机提供动力。
如图13所示，本发明主控制器对运输机运行过程的整体控制流程为：
系统初始化，并开启串口通信；
读取输入信号；
判断是否有按键按下信号，若是，则判断依次判断是否为前进信号、后退信号和停止信号，若为前进信号，则松开失电制动器，运输机前进；若为后退信号，则松开失电制动器，运输机后退；若为停止信号，则失电制动器制动，运输机停止运行；否则，返回继续读取输入信号；
判断是否存在异常信号，若是，则声光报警器报警，且失电制动器制动，运输机停止运行，否则继续返回读取输入信号。
本说明书中各个实施例采用递进的方式描述，每个实施例重点说明的都是与其他实施例的不同之处，各个实施例之间相同相似部分互相参见即可。对于实施例公开的装置而言，由于其与实施例公开的方法相对应，所以描述的比较简单，相关之处参见方法部分说明即可。
对所公开的实施例的上述说明，使本领域专业技术人员能够实现或使用本发明。对这些实施例的多种修改对本领域的专业技术人员来说将是显而易见的，本文中所定义的一般原理可以在不脱离本发明的精神或范围的情况下，在其它实施例中实现。因此，本发明将不会被限制于本文所示的这些实施例，而是要符合与本文所公开的原理和新颖特点相一致的最宽的范围。
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- 一种山地果园单轨运输机智能控制系统，其特征在于，包括：运输机、运输轨道和控制子系统；所述控制子系统包括：主控制器、防溜车检测组件、姿态传感器、直流电机、执行器和失电制动器；所述防溜车检测组件包括第一霍尔传感器和第一磁钢；所述第一磁钢均匀安装在所述直流电机的旋转轴外周；所述第一霍尔传感器安装在所述直流电机旋转轴的正上方，用于感应所述第一磁钢的磁场信号，并根据磁场信号检测所述直流电机实际的转速和转动方向；所述主控制器根据所述直流电机的实际转动方向和操作指令的行驶方向是否一致，确定是否存在溜车情况，并在存在溜车情况时，通过所述执行器控制所述失电制动器进行制动；所述姿态传感器用于检测所述运输机在所述运输轨道上的行驶姿态；所述主控制器根据所述运输机的行驶姿态，判断其处于上坡段、下坡段或平路段，按路段不同以不同的制动模式通过所述执行器控制所述失电制动器的制动情况；所述山地果园单轨运输机智能控制系统的控制方法包括：分段式制动控制方法，包括以下步骤：S1、主控制器根据姿态传感器采集的运输机的行驶姿态，判断运输机是否处在上坡段或下坡段，若是，执行S2，否则，执行S5；S2、若运输机处于上坡段，且主控制器检测到存在触发制动信号，则执行S7；S3、若运输机处于下坡段，且主控制器检测到存在触发制动信号，则主控制器开启500ms的计时器计时，并通过第一霍尔传感器检测电机转速，判断计时器是否完成500ms计时或第一霍尔传感器检测到电机转速降为零，若是，则执行S7；S4、若运输机处于上坡段，但主控制器未检测到触发制动信号，则根据第一霍尔传感器检测的电机实际转动方向和操作指令的行驶方向判断运输机是否发生溜车，若第一霍尔传感器检测的电机转动方向和操作指令的行驶方向不一致，则发生溜车，执行S7；S5、根据姿态传感器采集的运输机的行驶姿态，判断运输机是否处于平路段制动，若是，则主控制器开启1000ms计时器计时，并通过第一霍尔传感器检测电机转速；S6、判断计时器是否完成1000ms计时或第一霍尔传感器检测到电机转速降为零，若是，则执行S7；S7、失电制动器制动停车。
- 根据权利要求1所述的一种山地果园单轨运输机智能控制系统，其特征在于，所述控制子系统还包括：电机控制器和锂电池；所述电机控制器用于切换所述直流电机处于驱动模式或发电模式；所述主控制器用于在所述运输机处于下坡段且满足发电条件时，通过所述执行器控制所述电机控制器将所述直流电机的工作模式由驱动模式切换为发电模式，且使发电电能回收至所述锂电池。
- 根据权利要求2所述的一种山地果园单轨运输机智能控制系统，其特征在于，所述控制子系统还包括：发电模式控速模块；所述发电模式控速模块用于在所述直流电机处于发电模式，且转速超出安全转速时，采用能耗电阻将未被所述锂电池回收的部分电能进行消耗，使转速维持在安全转速上下预设范围内。
- 根据权利要求1所述的一种山地果园单轨运输机智能控制系统，其特征在于，所述控制子系统还包括：自动停车检测组件；所述自动停车检测组件包括：第二霍尔传感器和第二磁钢；所述第二霍尔传感器安装在所述运输机机头的下侧；所述第二磁钢设置有两个，分别吸附在所述运输轨道的始末两端的侧面；所述第二霍尔传感器和所述第二磁钢均位于所述运输轨道的同一侧；所述主控制器用于判断所述第二霍尔传感器检测到的所述第二磁钢的磁场信号是否达到阈值，并在达到阈值时，通过所述执行器控制所述失电制动器进行制动。
- 根据权利要求1所述的一种山地果园单轨运输机智能控制系统，其特征在于，所述控制子系统还包括：多组控制按键；所述控制按键与所述主控制器连接，其用于控制所述运输机的前进、后退和停止。
- 根据权利要求5所述的一种山地果园单轨运输机智能控制系统，其特征在于，所述控制子系统还包括：信号接收器和远程遥控器；所述信号接收器分别与多组所述控制按键并联；所述远程遥控器与所述信号接收器无线连接。
- 根据权利要求1所述的一种山地果园单轨运输机智能控制系统，其特征在于，所述控制子系统还包括：称重传感器；所述称重传感器与所述主控制器连接，其用于测量所述运输机的实际装载重量；所述主控制器结合所述运输机的行驶姿态和实际装载质量，判断是否存在侧翻风险，并在存在侧翻风险时，通过所述执行器控制所述失电制动器制动。
- 根据权利要求1所述的一种山地果园单轨运输机智能控制系统，其特征在于，所述控制子系统还包括：声光报警器；所述声光报警器与所述主控制器连接；所述主控制器用于在存在超载、驾驶姿态异常时，控制所述声光报警器发出声光警报。
- 根据权利要求1所述的一种山地果园单轨运输机智能控制系统，其特征在于，其特征在于，所述山地果园单轨运输机智能控制系统的控制方法还包括：运输机处于下坡段时，进行能量回收；包括以下步骤：S1'、设定直流电机的发电条件：运输机姿态满足：水平面倾斜角α>α0，直流电机的实际转速N满足：N0<N<N1；设定发电模式下直流电机的安全转速N2；S2'、通过姿态传感器获取运输机所处的姿态信息，通过第一霍尔传感器检测直流电机的实际转速和转动方向；S3'、判断是否满足发电条件，若是，则执行S4'，否则，保持直流电机驱动模式；S4'、主控制器通过执行器控制电机控制器将直流电机的工作模式由驱动模式切换为发电模式，进行能量回收；S5'、通过第一霍尔传感器检测直流电机的转速和转动方向；S6'、判断在发电模式下直流电机实际转速是否超出设定的安全转速N2，若是，则执行S7'，否则，执行S8'；S7'、接入能耗电阻，计算主控制器所需输出PWM波占空比的大小，将直流电机的实际转速控制在发电模式下的安全转速N2上下预设范围内；S8'、判断在发电模式下直流电机的实际转速是否低于设定下坡驱动模式下的直流电机转速N0，若是，则主控制器通过执行器控制电机控制器将直流电机的工作模式由发电模式切换为驱动模式，为运输机提供动力。
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| CN106364495A (zh) * | 2016-10-14 | 2017-02-01 | 华东交通大学 | 一种带自动停车功能的山地果园单轨运输机 |
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