CN105302145A - Transportation apparatus and realization method thereof - Google Patents
Transportation apparatus and realization method thereof Download PDFInfo
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- CN105302145A CN105302145A CN201510885225.4A CN201510885225A CN105302145A CN 105302145 A CN105302145 A CN 105302145A CN 201510885225 A CN201510885225 A CN 201510885225A CN 105302145 A CN105302145 A CN 105302145A
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- car body
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Abstract
The embodiment of the invention provides a transportation apparatus and a realization method thereof. The transportation apparatus is a material transportation apparatus which is easy to operate, and has a high intelligent level, and comprises a body provided with a container, a discharging device installed on the body, a control system, a monitoring system and a communication system. The control system comprises a controller, a direct current motor and a rudder machine, wherein the direct current motor is used for driving wheels on the back of the body to move; the rudder machine is used for driving wheels on the front of the body to move according to a preset direction; and the controller is used for controlling the discharging device to discharge materials in the container. The monitoring system comprises a processor, a camera and a direction sensor, wherein the processor is used for receiving body running states and discharging device work states monitored by the camera and the direction sensor. The communication system is used for realizing data transmission among the control system, the monitoring system and the host computer. The transportation apparatus has a high intelligent level, and is convenient to operate.
Description
Technical field
The present invention relates to equipment technology field of transport, in particular to a kind of conveying arrangement and its implementation.
Background technology
Material conveyor be the fields such as industrial automation, production of intelligent and high-risk job that requires special skills in the urgent need to a kind of transportation equipment.Material transportation is the indispensable process of industry-by-industry, and its impact can not look down upon.
Transport mainly through manual operation material conveyor now, complicated operation, intelligence degree has much room for improvement.
Summary of the invention
In view of this, the object of the embodiment of the present invention is to provide a kind of conveying arrangement and its implementation, and a kind of implement convenient to improve in prior art to lack, the material conveyor that intelligence degree is higher, cannot the problem of practical requirement.
To achieve these goals, the technical scheme of embodiment of the present invention employing is as follows:
First aspect, embodiments provides a kind of conveying arrangement, comprises the car body being provided with container and the device for discharging be arranged on described car body, also comprises control system, monitoring system and communication system;
Described control system comprises the controller be connected with described device for discharging, the direct current generator be connected with described controller and direction steering wheel, the both sides, front and back of described car body are respectively equipped with wheel, and described direct current generator is connected with the wheel on rear side of described car body, for driving the wheel movement on rear side of described car body under the control of described controller; Described direction steering wheel is connected with the wheel on front side of described car body, for driving the wheel on front side of described car body to move by preset direction under the control of described controller, described controller also unloads for controlling described device for discharging the material be loaded in described container;
Described monitoring system comprises processor, the camera be connected with described processor and direction sensor, and the duty of car body running status and the device for discharging obtained monitored by described processor for receiving described camera and direction sensor;
Described communication system is for realizing described control system and the transmission of the data between monitoring system and host computer.
In conjunction with first aspect, embodiments provide the first possible embodiment of first aspect, wherein, described monitoring system also comprises the human-computer interaction device be connected with described processor, and the modulator-demodular unit to be connected with described processor, described modulator-demodular unit carries out data transmission by described communication system and host computer.
In conjunction with first aspect, embodiments provide the embodiment that the second of first aspect is possible, wherein, described device for discharging comprises the servomotor be connected with described controller, and the wire rope be connected between described servomotor and described container, described servomotor is used under the control of described controller, drive described wire rope to move, and pulls described container to unload the material be loaded in described container.
In conjunction with the embodiment that the second of first aspect is possible, embodiments provide the third possible embodiment of first aspect, wherein, described controller and described direct current generator, between direction steering wheel and servomotor, be connected with driving circuit, described controller be also integrated with and download serial ports and communication interface.
In conjunction with first aspect, embodiments provide the 4th kind of possible embodiment of first aspect, wherein, also comprise rechargeable battery, described controller is connected with infrared obstacle device, lighting fixture, warning device and voice device, and described controller and processor are all connected with described rechargeable battery.
Second aspect, embodiments provide a kind of implementation method of conveying arrangement, be applied to conveying arrangement, described conveying arrangement comprises the car body being provided with container and the device for discharging be arranged on described car body, and control system and monitoring system, described method comprises:
Described monitoring system monitors the running status of described car body and the duty of described device for discharging, be sent to host computer by monitoring the status information that obtains, described status information comprises whether described car body is in running status, whether the traffic direction of described car body when being in running status and described device for discharging be in discharging state;
Described control system receives the steering order that described host computer sends, and described steering order comprises material discharge position;
Described control system controls described car body according to described steering order and moves to described material discharge position, after described car body moves to described material discharge position, controls described device for discharging and unloads the material be loaded in described container.
In conjunction with second aspect, embodiments provide the first possible embodiment of second aspect, wherein, described status information also comprises the current location of described car body, the path profile of described car body region is prestored in described control system, described control system controls described car body according to described steering order and moves to described material discharge position, comprising:
Described control system receives the current location that described monitoring system monitors the described car body obtained;
The route from described current location to described material discharge position is found out from described path profile;
Control described car body and move to described material discharge position by the described route found out.
In conjunction with the first possible embodiment of second aspect, embodiments provide the embodiment that the second of second aspect is possible, wherein, described car body is also provided with lighting fixture, described control system is connected with voice device;
Described control system controls while described car body moves to described material discharge position by the described route found out, and controls described lighting fixture and plays steering indicating light and control described voice device and carry out route or travel by vehicle prompting by voice.
In conjunction with second aspect, or second aspect the first, the possible embodiment of the second, embodiments provide the third possible embodiment of second aspect, wherein, described conveying arrangement also comprises human-computer interaction device, and described method also comprises:
Described control system receives the steering order that user is sent by described human-computer interaction device, control described car body according to described steering order and move to material discharge position, after described car body moves to described material discharge position, control described device for discharging and unload the material be loaded in described container.
In conjunction with the third possible embodiment of second aspect, embodiments provide the 4th kind of possible embodiment of second aspect, wherein, described host computer and carry out data transmission with packet or monocase form between described control system and monitoring system.
The conveying arrangement provided in the embodiment of the present invention and its implementation, control system and monitoring system is integrated with in conveying arrangement, achieve the monitoring to car body state and device for discharging state, according to the steering order of host computer, car body can be controlled and automatically move to required material discharge position and unload material, without the need to manual operation, intelligence degree is higher, can significantly improve conevying efficiency, reduces hand haulage's cost, it is convenient to implement, and is easy to apply.
Further, the conveying arrangement provided in the embodiment of the present invention and its implementation, the path profile of car body region is prestored in control system, control system can automatically find out car body running route according to car body present position and material discharge position in path profile, car body can be advanced by optimal route, further increase conevying efficiency.
For making above-mentioned purpose of the present invention, feature and advantage become apparent, preferred embodiment cited below particularly, and coordinate appended accompanying drawing, be described in detail below.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme of the embodiment of the present invention, be briefly described to the accompanying drawing used required in embodiment below, be to be understood that, the following drawings illustrate only some embodiment of the present invention, therefore the restriction to scope should be counted as, for those of ordinary skill in the art, under the prerequisite not paying creative work, other relevant accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 shows the structural representation of a kind of conveying arrangement that the embodiment of the present invention provides.
The conveying arrangement shown in a kind of Fig. 1 that Fig. 2 shows the embodiment of the present invention to be provided unloads structural representation during goods.
Fig. 3 shows the system chart of a kind of conveying arrangement that the embodiment of the present invention provides.
Fig. 4 shows the circuit diagram of a kind of driving circuit that the embodiment of the present invention provides.
Fig. 5 shows the schematic flow sheet of a kind of conveying arrangement implementation method that the embodiment of the present invention provides.
Fig. 6 shows the schematic flow sheet of a kind of control method that the embodiment of the present invention provides.
The name that Reference numeral is corresponding is called:
Car body 100, container 101, front side wheel 102, rear side wheel 103.
Embodiment
Below in conjunction with accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.The assembly of the embodiment of the present invention describing and illustrate in usual accompanying drawing herein can be arranged with various different configuration and design.Therefore, below to the detailed description of the embodiments of the invention provided in the accompanying drawings and the claimed scope of the present invention of not intended to be limiting, but selected embodiment of the present invention is only represented.Based on embodiments of the invention, the every other embodiment that those skilled in the art obtain under the prerequisite not making creative work, all belongs to the scope of protection of the invention.
Embodiment 1
As shown in Figure 1, embodiments provide a kind of conveying arrangement, comprise the car body 100 being provided with container 101 and the device for discharging 104 be arranged on described car body 100.
The project organization being provided with the car body 100 of container 101 has multiple, can carry out structural design with reference to existing cargo vehicle.Such as: container 101 can be all-sealed structure, Semi-seal structure or Open architecture.
According to the difference of container 101 structure, device for discharging 104 has and multiplely realizes structure, such as: container 101 is all-sealed structure, the casing being mounted with material is positioned at the container 101 of sealing, so, device for discharging 104 can be gear train, when unloading material, only need control container 101 chamber door to open, by gear train, the casing being mounted with material is sent to container 101 from chamber door outside.Again such as: container 101 is Semi-seal structure and Open architecture, consults Fig. 1, so, device for discharging 104 can be the motivation mechanism that container 101 can be made to tilt, and when unloading material, only need control container 101 and tilt, material is dumped from container 101, consults Fig. 2.
On the basis of above-mentioned car body 100 structure, in order to improve the intellectuality of conveying arrangement, as shown in Figure 3, in the present embodiment, conveying arrangement also comprises control system 200, monitoring system 300 and communication system 400.
In order to realize the Based Intelligent Control of control system 200 pairs of devices for discharging 104, preferably, described device for discharging 104 comprises the servomotor be connected with described control system 200, and the wire rope be connected between described servomotor and described container 101, described servomotor is used under the control of described control system 200, drive described wire rope to move, and pulls described container 101 to unload the material be loaded in described container 101.
During enforcement, the implementation of control system 200 and monitoring system 300 has multiple, as long as can realize the control of car body 100 and monitor, provides a kind of preferably implementation in the present embodiment.
Described control system 200 comprises the controller 201 be connected with described device for discharging 104, the direct current generator 202 be connected with described controller 201 and direction steering wheel 203, the both sides, front and back of described car body 100 are respectively equipped with wheel, and described direct current generator 202 is connected with the wheel on rear side of described car body 100, for driving the wheel movement on rear side of described car body 100 under the control of described controller 201; Described direction steering wheel 203 is connected with the wheel on front side of described car body 100, for driving the wheel on front side of described car body 100 to move by preset direction under the control of described controller 201, described controller 201 also unloads for controlling described device for discharging 104 material be loaded in described container 101.
Wherein, can arrange flexibly according to dead weight capacity is different with the wheel count of rear side on front side of car body 100, such as: when dead weight capacity is lighter, on front side of the car body 100 and left and right both sides of rear side can arrange a wheel respectively.When load-carrying is heavier, on front side of the car body 100 and left and right both sides of rear side can arrange two wheels respectively.
The mode that control system 200 controls car body 100 operation has multiple, car body 100 to be equipped with altogether four wheels, preferred control system 200 comprises four direct current generators 202, four direct current generators 202 are in parallel between two, on rear side of forming two drive motor driving car bodies 100, wheel 103 moves, and strengthens carrying capacity and the climbing capacity of conveying arrangement.On front side of car body 100, wheel 102 is connected with direction steering wheel 203, and the feedback signal obtained according to the direction sensor 303 on wheel by control system 200 outputs control signals to direction steering wheel 203, controls wheel steering.
In order to ensure the reliability of controller 201 pairs of direct current generators 202, direction steering wheel 203 and Serve Motor Control, preferred described controller 201 and described direct current generator 202, be connected with driving circuit between direction steering wheel 203 and servomotor, controller 201 is reliably driven each actuating unit by driving circuit.
In the present embodiment, preferred driving circuit adopts the BTS7960 DC brush motor driving chip of company of Infineon, and this chip has big current MOSFET half-bridge structure.Chip has higher integrated level and enough fan-out capabilities, and has advantage in energy consumption.Integrated with in the electric machine control system of miniaturization, be suitable as desirable motor drive ic.
As shown in Figure 4, present embodiments provide a kind of realizing circuit figure of driving circuit, BTS7960 and each electron device form motor-drive circuit jointly.Because adopted driving chip is half-bridge, therefore need to adopt two panels to form the rotating that full-bridge realizes motor.If controller 201 adopts main control chip S3C2440, then main control chip S3C2440 produces the control signal of two-way PWM output as two panels BTS7960, requires that PWM0, PWM1 can not be high level simultaneously simultaneously.Adopting timer to export pwm pulse, making S3C2440 only participate in computing when changing PWM dutycycle, can significantly mitigation system computational burden and PWM to programme cost like this.
On the basis of foregoing circuit, the driving circuit in the present embodiment is also connected with part auxiliary element and line, and for ensureing the normal operation of driving circuit, the use of these auxiliary elements belongs to the circuit application custom of industry universal, does not repeat them here.
Can carry out for the ease of control system 200 that communication and data are downloaded, system update easily, preferred described controller 201 also be integrated with and downloads serial ports and communication interface.Wherein, communication interface can be RS232 interface, RS485 interface etc.
The steering order that control system 200 sends for receiving described host computer 500, control described car body 100 according to described steering order and move to material discharge position, after described car body 100 moves to described material discharge position, control described device for discharging 104 and unload the material be loaded in described container 101, described steering order comprises material discharge position.
Described monitoring system 300 comprises processor 301, the camera 302 be connected with described processor 301 and direction sensor 303, the duty of car body 100 running status and the device for discharging 104 obtained monitored by described processor 301 for receiving described camera 302 and direction sensor 303.
The setting position of camera 302 and direction sensor 303 and magnitude setting have multiple, as long as can realize the monitoring to car body 100 running status and device for discharging 104 duty.Such as: camera 302 can be arranged at car body 100 front, car body 100 front road conditions are monitored.Direction sensor 303 can be arranged on front side of car body 100 on wheel 102, in order to monitor car body 100 traffic direction.On the basis comprising camera 302 and direction sensor 303, monitoring system 300 also can comprise infrared monitor, position transducer etc., to realize the comprehensive monitoring to car body in transportation 100 and device for discharging 104 etc.
In order to ensure monitoring effect, preferred camera 302 is embedded pinhole cameras, embedded pinhole cameras is preferably mounted at the front portion of conveying arrangement, is integrated with camera 302 vision real time job tracker, in order to the running status of real-time judge car body 100 in processor 301.Wherein, camera 302 vision real time job tracker can adopt PropellerP8X32A eight core 32 chips of parallax company to embed Linux system, Linux system is run image procossing storehouse (OpenSourceComputerVisionLibrary, OPENCV) of increasing income drives camera 302 to realize.
The duty of conveying arrangement is understood in real time for the ease of user, preferably, described monitoring system 300 also comprises the human-computer interaction device be connected with described processor 301, and the modulator-demodular unit to be connected with described processor 301, described modulator-demodular unit carries out data transmission by described communication system 400 with host computer 500.
Wherein, the status information of car body 100 can comprise the positional information of car body 100, whether car body 100 is in running status, whether be mounted with the information such as goods in the traffic direction of car body 100, container 101.The status information of device for discharging 104 can comprise device for discharging 104 and whether be in the work state information making container 101 unload material.
Described communication system 400 is for realizing described control system 200 and the data between monitoring system 300 and host computer 500 are transmitted.Monitoring system 300 is for being sent to described host computer 500 by the status information of monitoring the car body 100 and device for discharging 104 obtained.
Realize control system 200, the communication system 400 of data transmission between monitoring system 300 and host computer 500 has multiple, can be the wireless communication system 400 supporting wireless LAN communication, cellular mobile radio, short-range communication etc.In the present embodiment, be preferably the wireless communication system 400 supporting ZigBee protocol ZigBee.
The setting of control system 200 and monitoring system 300, makes the conveying arrangement in the present embodiment can automatically realize material transportation, discharging, without the need to such as prior art, needs manual work.Compared with conveying arrangement of the prior art, intelligence degree is higher, can significantly improve conevying efficiency, and reduce hand haulage's cost, applicable scene is more, such as: operation is carried out in the hazardous location that can enter the personnel of being not suitable for.
In order to improve the applicable scene of conveying arrangement further, preferred conveying arrangement also comprises rechargeable battery, and infrared obstacle device, lighting fixture, warning device and the voice device to be connected with described control system 200, described control system 200 is all connected with described rechargeable battery with monitoring system 300.
The setting of lighting fixture, make conveying arrangement under the environment of dark still can carry out operation, make monitoring device all the vehicle-state monitored, environmental information etc. accurately can be passed to host computer 500 under various circumstances, improve accuracy and the security of host computer 500 operating personnel control.The setting of warning device and voice device, makes this conveying arrangement not only may operate in the region of unmanned operation, also may operate in the region of people's operation.When in the region that conveying arrangement operates in people's operation, remind the operating personnel in region to dodge in time by warning device, voice device, steering indicating light etc., ensure that the security that conveying arrangement uses.
For the ease of rechargeable battery discharge and recharge, preferred rechargeable battery is connected with charge-discharge circuit, controls rechargeable battery discharge and recharge by charge-discharge circuit.In order to ensure rechargeable battery powered continuation, the parallel connection of multiple electric battery can be adopted to form rechargeable battery, for conveying arrangement provides power enduringly.
In order to improve the serviceable life of conveying arrangement, prevent car body 100 oxidation and rusting, preferred car body 100 adopts oxidation-resistant material manufacture to form, and forms through all aluminium alloy panel beating manufacture of anti-oxidant treatment as adopted surface.
In above-mentioned design basis, present embodiments provide wherein a kind of implementation of conveying arrangement:
Host computer 500 is carried out wireless network with the communication system 400 of conveying arrangement be connected, operating personnel send steering order on host computer 500, steering order comprises makes conveying arrangement run to assigned address and the instruction unloading material, communication system 400 passes to control system 200 after receiving steering order, and control system 200 controls conveying arrangement according to this steering order and runs to assigned address and unload material.Meanwhile, the work state information of the supervisory system monitoring positional information of car body 100 on conveying arrangement, running state information, device for discharging 104.The status information monitored is passed to host computer 500, thus realize up-downgoing control and two-way communication, so that operating personnel understand the running status of conveying arrangement in real time, and send the steering order controlling conveying arrangement execution particular task according to the actual requirements, complete automatic transportation.
Carrying out data between host computer 500 and conveying arrangement, to transmit the communication protocol that can adopt more, in the present embodiment, preferred host computer 500 adopts data packet format move instruction, also the form of monocase can be adopted to send, because the interference of monocase communication mode is comparatively large, therefore preferably adopt data packet format move instruction.Such as: packet header OXFF, bag tail OXFF, no parity check position.Host computer 500 utilizes wireless telecommunications to send packet to conveying arrangement by Socket, and conveying arrangement is untied packet by unpacking mechanism, is sent to control system 200 and performs associative operation by serial ports.As shown in the table, present embodiments provide a kind of communications protocol format, it should be noted that, be applicable to the communications protocol format of the present embodiment including but not limited to this.
| Data bit | Function | Data bit | Function |
| 0x00 | Stop | 0x05 | Preference pattern |
| 0x01 | Advance | 0x06 | Menu |
| 0x02 | Retreat | 0x07 | Arrange |
| 0x03 | Motor turns left | 0x08 | Battery information |
| 0x04 | Motor is turned right | Feedback information |
According to the communication protocol of table 1, the mode that host computer 500 is packed with Byte by Socket, to conveying arrangement sending controling instruction, receives video flowing that camera 302 returns simultaneously and shows in real time in video viewing area.The video that camera 302 is taken also can be resolved into a sheet by a sheet independently jpg picture and be sent to host computer 500 by video section, and picture is combined into video by host computer 500 again.Send for Socket data, need create the example of Socket object, after creating Socket example, namely host computer 500 is connected to receiving end by Connect method, and sends data by Send method.Data are sent completely rear Close method and close Socket with releasing resource.
In addition, the mode of preferred employing configuration file accesses the data of last configuration, in order to avoid repeated configuration, and by definition 8 keyboard values, be convenient to the execution of observation event, the comprehensive control of motor and steering engine can be realized with this conveniently by the trigger event of keyboard.
The conveying arrangement provided in the embodiment of the present invention, control system 200 and monitoring system 300 is integrated with in conveying arrangement, achieve the monitoring to car body 100 state and device for discharging 104 state, and according to the steering order of host computer 500, car body 100 can be controlled and automatically move to required material discharge position and unload material, without the need to manual operation, intelligence degree is higher, can significantly improve conevying efficiency, reduces hand haulage's cost, it is convenient to implement, and is easy to apply.
Embodiment 2
As shown in Figure 5, embodiments provide a kind of implementation method of conveying arrangement, be applied to conveying arrangement, described conveying arrangement comprises the car body being provided with container and the device for discharging be arranged on described car body, and control system and monitoring system, said method comprising the steps of.
Step S601: control system receives the steering order that described host computer sends, and described steering order comprises material discharge position.Step S602: described control system controls described car body according to described steering order and moves to described material discharge position, after described car body moves to described material discharge position, controls described device for discharging and unloads the material be loaded in described container.
Wherein, described monitoring system monitors the running status of described car body and the duty of described device for discharging, be sent to host computer by monitoring the status information that obtains, described status information comprises the position of described car body, whether car body is in running status, whether the traffic direction of described car body when being in running status and described device for discharging be in discharging state.
Control system can be monitored according to monitoring system the status information obtained and be judged whether car body moves to described material discharge position.Also can be connected with car body inner position system, obtain the positional information of car body in real time from positioning system, the positional information according to obtaining judges whether car body moves to described material discharge position.
Provide a kind of control system in the present embodiment and control according to steering order the optimal way that car body moves to material discharge position, as shown in Figure 6, the path profile of described car body region is prestored in described control system, described control system controls described car body according to described steering order and moves to described material discharge position, comprising:
Step S701: described control system receives the current location that described monitoring system monitors the described car body obtained;
Wherein, the current location of car body can be monitored by monitoring system and be obtained, and also can pass to control system by the positioning system on car body.
Step S702: find out the route from described current location to described material discharge position from described path profile.Step S703: control described car body and move to described material discharge position by the described route found out.
In order to improve the applicable scene of conveying arrangement further, preferred described car body is also provided with lighting fixture, and described control system is connected with voice device.Described control system controls while described car body moves to described material discharge position by the described route found out, and controls described lighting fixture and plays steering indicating light and control described voice device and carry out route or travel by vehicle prompting by voice.
The setting of lighting fixture, make conveying arrangement under the environment of dark still can carry out operation, make monitoring device all the vehicle-state monitored, environmental information etc. accurately can be passed to host computer under various circumstances, improve accuracy and the security of host computer operating personnel control.The setting of warning device and voice device, makes this conveying arrangement not only may operate in the region of unmanned operation, also may operate in the region of people's operation.When in the region that conveying arrangement operates in people's operation, remind the operating personnel in region to dodge in time by warning device, voice device, steering indicating light etc., ensure that the security that conveying arrangement uses.
In order to improve convenience mutual between conveying arrangement and user, preferred described conveying arrangement also comprises human-computer interaction device, described method also comprises: described control system receives the steering order that user is sent by described human-computer interaction device, control described car body according to described steering order and move to material discharge position, after described car body moves to described material discharge position, control described device for discharging and unload the material be loaded in described container.
Preferably, described host computer and carry out data transmission with packet or monocase form between described control system and monitoring system.
The method that the embodiment of the present invention provides, its technique effect realizing principle and generation is identical with previous embodiment 1, is concise and to the point description, and the not mentioned part of embodiment of the method part can with reference to corresponding contents in previous embodiment 1.
The above; be only the specific embodiment of the present invention, but protection scope of the present invention is not limited thereto, is anyly familiar with those skilled in the art in the technical scope that the present invention discloses; change can be expected easily or replace, all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should described be as the criterion with the protection domain of claim.
Claims (10)
1. a conveying arrangement, comprises the car body being provided with container and the device for discharging be arranged on described car body, it is characterized in that, also comprise control system, monitoring system and communication system;
Described control system comprises the controller be connected with described device for discharging, the direct current generator be connected with described controller and direction steering wheel, the both sides, front and back of described car body are respectively equipped with wheel, and described direct current generator is connected with the wheel on rear side of described car body, for driving the wheel movement on rear side of described car body under the control of described controller; Described direction steering wheel is connected with the wheel on front side of described car body, for driving the wheel on front side of described car body to move by preset direction under the control of described controller, described controller also unloads for controlling described device for discharging the material be loaded in described container;
Described monitoring system comprises processor, the camera be connected with described processor and direction sensor, and the duty of car body running status and the device for discharging obtained monitored by described processor for receiving described camera and direction sensor;
Described communication system is for realizing described control system and the transmission of the data between monitoring system and host computer.
2. conveying arrangement according to claim 1, it is characterized in that, described monitoring system also comprises the human-computer interaction device be connected with described processor, and the modulator-demodular unit be connected with described processor, and described modulator-demodular unit carries out data transmission by described communication system and host computer.
3. conveying arrangement according to claim 1, it is characterized in that, described device for discharging comprises the servomotor be connected with described controller, and the wire rope be connected between described servomotor and described container, described servomotor is used under the control of described controller, drive described wire rope to move, and pulls described container to unload the material be loaded in described container.
4. conveying arrangement according to claim 3, is characterized in that, described controller and described direct current generator, is connected with driving circuit between direction steering wheel and servomotor, described controller is also integrated with and downloads serial ports and communication interface.
5. conveying arrangement according to claim 1, is characterized in that, also comprises rechargeable battery, and described controller is connected with infrared obstacle device, lighting fixture, warning device and voice device, and described controller and processor are all connected with described rechargeable battery.
6. an implementation method for conveying arrangement, is applied to conveying arrangement, it is characterized in that, described conveying arrangement comprises the car body that is provided with container and is arranged on the device for discharging on described car body, and control system and monitoring system, and described method comprises:
Described monitoring system monitors the running status of described car body and the duty of described device for discharging, be sent to host computer by monitoring the status information that obtains, described status information comprises whether described car body is in running status, whether the traffic direction of described car body when being in running status and described device for discharging be in discharging state;
Described control system receives the steering order that described host computer sends, and described steering order comprises material discharge position;
Described control system controls described car body according to described steering order and moves to described material discharge position, after described car body moves to described material discharge position, controls described device for discharging and unloads the material be loaded in described container.
7. method according to claim 6, it is characterized in that, described status information also comprises the current location of described car body, the path profile of described car body region is prestored in described control system, described control system controls described car body according to described steering order and moves to described material discharge position, comprising:
Described control system receives the current location that described monitoring system monitors the described car body obtained;
The route from described current location to described material discharge position is found out from described path profile;
Control described car body and move to described material discharge position by the described route found out.
8. method according to claim 7, is characterized in that, described car body is also provided with lighting fixture, and described control system is connected with voice device;
Described control system controls while described car body moves to described material discharge position by the described route found out, and controls described lighting fixture and plays steering indicating light and control described voice device and carry out route or travel by vehicle prompting by voice.
9. the method according to claim 6-8 any one, is characterized in that, described conveying arrangement also comprises human-computer interaction device, and described method also comprises:
Described control system receives the steering order that user is sent by described human-computer interaction device, control described car body according to described steering order and move to material discharge position, after described car body moves to described material discharge position, control described device for discharging and unload the material be loaded in described container.
10. method according to claim 9, is characterized in that, described host computer and carry out data transmission with packet or monocase form between described control system and monitoring system.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107089483A (en) * | 2017-06-20 | 2017-08-25 | 君联自动化设备(深圳)有限公司 | intelligent feeding system and intelligent charging method |
| CN109501654A (en) * | 2018-12-19 | 2019-03-22 | 河南跃薪智能机械有限公司 | A kind of mine truck based on unmanned two way |
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| CN111562790A (en) * | 2020-07-14 | 2020-08-21 | 广州合创未来科技有限公司 | Control system and control method for automatic replacement of function box of mobile robot |
| CN113510852A (en) * | 2021-04-28 | 2021-10-19 | 三一专用汽车有限责任公司 | Automatic charging method, device and system |
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