CN111474943A - Long-distance workpiece carrier loader line planning vehicle control system - Google Patents
Long-distance workpiece carrier loader line planning vehicle control system Download PDFInfo
- Publication number
- CN111474943A CN111474943A CN202010391054.0A CN202010391054A CN111474943A CN 111474943 A CN111474943 A CN 111474943A CN 202010391054 A CN202010391054 A CN 202010391054A CN 111474943 A CN111474943 A CN 111474943A
- Authority
- CN
- China
- Prior art keywords
- vehicle body
- workpiece
- front vehicle
- rear vehicle
- laser
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 claims abstract description 40
- 238000004891 communication Methods 0.000 claims abstract description 5
- 238000006073 displacement reaction Methods 0.000 claims description 40
- 239000013598 vector Substances 0.000 claims description 37
- 238000012544 monitoring process Methods 0.000 claims description 6
- 238000005259 measurement Methods 0.000 claims description 4
- 230000002159 abnormal effect Effects 0.000 claims description 3
- 230000010354 integration Effects 0.000 claims description 3
- 108091007551 scavenger receptor class L Proteins 0.000 claims description 3
- 230000000694 effects Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000002372 labelling Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/3415—Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a long-distance workpiece carrier loader line planning vehicle control system, which comprises a front vehicle body and a rear vehicle body, wherein the front vehicle body and the rear vehicle body are respectively used for fixing two ends of a workpiece; in the implementation of the invention, the workpiece is protected from being damaged due to overlarge stress, the relative distance between the front vehicle body and the rear vehicle body is monitored and adjusted in real time in the advancing process, the relative distance between the lifting rotary tables at two ends of the workpiece is kept unchanged, and the workpiece cannot be damaged due to overlarge stress applied by the front vehicle and the rear vehicle; the driving routes of the front vehicle and the rear vehicle are coordinated, the communication coordination of the front vehicle and the rear vehicle is kept in the driving process, and the driving difficulty of the carrier vehicle is reduced.
Description
Technical Field
The invention relates to the field of intelligent carrying, in particular to a long-distance workpiece carrying vehicle route planning vehicle control system.
Background
A carrier loader for large-size workpieces is usually transported by an overlong truck, and the carrier loader is high in manufacturing cost and poor in traffic capacity.
And for low-strength workpieces such as fan impellers and airplane wingspans, the adoption of the split type carrier loader easily causes damage to the two ends of the workpiece due to overlarge bearing stress caused by the asynchronous matching of the front and rear vehicles, and moreover, the driving of the front and rear vehicles is difficult to drive due to the lack of cooperation.
Disclosure of Invention
The invention aims to overcome the problems in the prior art and provides a long-distance workpiece carrier loader route planning vehicle control system which can not only protect workpieces from damage caused by overlarge stress, but also coordinate the driving routes of front and rear vehicles.
In order to achieve the technical purpose and achieve the technical effect, the invention is realized by the following technical scheme:
a long-distance workpiece carrier loader line planning vehicle control system comprises a front vehicle body and a rear vehicle body, wherein the front vehicle body and the rear vehicle body are respectively used for fixing two ends of a workpiece;
and the front vehicle body and the rear vehicle body monitor and adjust the relative distance in real time in the advancing process, and the relative distance between the lifting rotating tables at the two ends of the workpiece is kept unchanged.
Further, the carrier vehicle collects the terrain of the surrounding environment in the traveling process, a Traffic Terrain Model (TTM) is constructed, and the traffic terrain model is analyzed and labeled to obtain a road route (AR L) for traveling;
obtaining an actual driving route according to a preset driving target and the road line available for driving;
the front vehicle body keeps real-time communication with the rear vehicle body in the driving process, and the actual driving route is distributed to the front vehicle body and the rear vehicle body to be executed respectively.
Furthermore, the carrier vehicle collects the terrain of the surrounding environment in the process of traveling, constructs a Traffic Terrain Model (TTM), analyzes and marks the traffic terrain model to obtain a road route for traveling, and specifically comprises,
the method comprises the following steps that in the advancing process of a front vehicle body, relative altitude difference information of the surrounding environment is collected, and the altitude difference is constructed to form a Traffic Terrain Model (TTM);
carrying out terrain matching on the Traffic Terrain Model (TTM) and a Standard Map (SM) and marking out a standard road line (SR L) in the traffic terrain model;
according to the passing performance of the front vehicle body and the rear vehicle body, the passing condition areas (ARA) at the two sides of the standard road line and the standard road line are combined into a road line (AR L) for driving.
Furthermore, the front car body and the rear car body monitor and adjust the relative distance in real time in the advancing process, keep the relative distance of the lifting rotary tables at the two ends of the workpiece unchanged, and comprise,
after the front vehicle body and the rear vehicle body finish loading the workpiece, the difference value of the displacement vectors of the front vehicle body and the rear vehicle body in the advancing process is equivalent to the relative distance of the lifting rotating tables at the two ends of the workpiece;
setting the difference value of the displacement vectors as the distance between the lifting rotary tables at two ends of the workpiece when the workpiece starts to move;
monitoring the change condition of the difference value of the displacement vector and the relative offset angle of the front vehicle body and the rear vehicle body in the process of traveling;
if the difference value of the displacement vector is found to change in the process of traveling, actively adjusting the traveling route of the front vehicle body according to the difference value of the displacement vector and the relative offset angle of the front vehicle body and the rear vehicle body, and keeping the difference value of the displacement vector constant and the same as the distance between the lifting rotary tables at the two ends of the workpiece;
if the front vehicle body cannot independently finish the aim of keeping the difference value of the displacement vector constant in the available driving road (AR L), the driving route of the rear vehicle body is adjusted to keep the difference value of the displacement vector constant.
Further, the monitoring of the change condition of the difference value of the displacement vector during the traveling process and the relative offset angle of the front vehicle body and the rear vehicle body specifically includes,
the front vehicle body and the rear vehicle body are respectively provided with an inertial sensor, and the inertial sensors have measurement components in the X-Y-Z direction;
starting the self-starting traveling of the inertial sensors in the front vehicle body and the rear vehicle body, and respectively performing double integration of X-Y-Z directions with respect to time to obtain displacement vectors of the front vehicle body and the rear vehicle body;
and subtracting the displacement vectors of the front vehicle body and the rear vehicle body to obtain a difference value of the displacement vectors and a relative offset angle of the front vehicle body and the rear vehicle body.
Furthermore, the front vehicle body and the rear vehicle body are respectively provided with a wireless positioning device;
the wireless positioning device repeatedly positions the front vehicle body and the rear vehicle body at high frequency in a state that the vehicle stops running;
eliminating abnormal values from the high-frequency word repeated positioning result, and then calculating a mean coordinate to be used as an accurate coordinate of the front vehicle body and the rear vehicle body;
and calibrating the difference value of the displacement vectors measured by the inertial sensor through the accurate coordinates of the front vehicle body and the rear vehicle body.
Furthermore, the front car body and the rear car body monitor and adjust the relative distance in real time in the advancing process, keep the relative distance of the lifting rotary tables at the two ends of the workpiece unchanged, and comprise,
the front vehicle body and the rear vehicle body are respectively provided with a laser transmitter and a laser receiver, and the laser receiver can detect the offset angle under the condition that the emitting angle of the laser transmitter is offset;
when the front vehicle body and the rear vehicle body are in a straight line running state, laser emitted by the front vehicle body or the rear vehicle body is received by the rear vehicle body or the front vehicle body, and the laser carrier has an emission timestamp;
after the laser receiver receives the laser beam, obtaining a relative offset angle between the front vehicle body and the rear vehicle body according to the offset angle of the laser;
demodulating laser to obtain a timestamp, and obtaining the distance between the laser transmitter and the laser receiver according to the time difference between the timestamp and the receiving time;
judging the relative distance between the lifting rotary tables at the two ends of the workpiece according to the distance between the laser transmitter and the laser receiver;
and adjusting the running of the front vehicle body and the rear vehicle body according to the relative distance between the lifting rotary tables at the two ends of the workpiece and the relative offset angle between the front vehicle body and the rear vehicle body.
Furthermore, the front vehicle body and the rear vehicle body are provided with a plurality of groups of laser transmitters and laser receivers which are respectively suitable for various modes including straight line driving, curve driving and ramp driving.
And further, the device also comprises an aircraft positioned in the air, the aircraft detects the relative positions of the lifting rotating table and the workpiece, and when the relative distance between the lifting rotating tables at the two ends of the workpiece changes, a warning instruction is sent out, the adjustment is carried out, and finally the relative distance between the lifting rotating tables at the two ends of the workpiece is kept unchanged.
Furthermore, the aircraft also monitors the deformation degree of the workpiece in the traveling process, and when the deformation degree of the workpiece reaches a designed warning value, the warning instruction is sent out and the deformation degree of the workpiece is adjusted to be within the range value, which is equivalent to the change of the relative distance between the lifting rotating tables at the two ends of the workpiece.
The benefit effects of the invention are:
1. the protection work piece avoids the damage that the stress is too big to lead to, and preceding automobile body and back automobile body are at the in-process of marcing, and real-time supervision and adjustment relative distance keep work piece both ends lift rotating platform's relative distance unchangeable, can not make the work piece can not damage because the stress that the front and back car applyed is too big.
2. The driving routes of the front vehicle and the rear vehicle are coordinated, the communication coordination of the front vehicle and the rear vehicle is kept in the driving process, and the driving difficulty of the carrier vehicle is reduced.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic view of a loading structure of a long-distance workpiece carrier loader and a workpiece according to the present invention;
FIG. 2 is a first schematic view of the long-distance workpiece carrier vehicle of the present invention driving in a curve;
FIG. 3 is a second schematic view of the long-distance workpiece carrier loader of the present invention traveling in a curve;
fig. 4 is a schematic diagram of the configuration of the road route for driving according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example one
As shown in the figures 1-4 of the drawings,
the invention relates to a route planning vehicle control system of a long-distance workpiece carrier loader, which comprises a front vehicle body and a rear vehicle body, wherein the front vehicle body and the rear vehicle body are respectively used for fixing two ends of a workpiece;
and the front vehicle body and the rear vehicle body monitor and adjust the relative distance in real time in the advancing process, and the relative distance between the lifting rotating tables at the two ends of the workpiece is kept unchanged.
The method comprises the following steps that the carrier vehicle collects the terrain of the surrounding environment in the advancing process, a Traffic Terrain Model (TTM) is built, and a road route (AR L) for driving is obtained by analyzing and labeling in the traffic terrain model;
obtaining an actual driving route according to a preset driving target and the road line available for driving;
the front vehicle body keeps real-time communication with the rear vehicle body in the driving process, and the actual driving route is distributed to the front vehicle body and the rear vehicle body to be executed respectively.
Preferably, the carrier vehicle collects the terrain of the surrounding environment in the process of traveling, constructs a Traffic Terrain Model (TTM), analyzes and marks the traffic terrain model to obtain a road route for traveling, and specifically comprises,
the method comprises the following steps that in the advancing process of a front vehicle body, relative altitude difference information of the surrounding environment is collected, and the altitude difference is constructed to form a Traffic Terrain Model (TTM);
carrying out terrain matching on the Traffic Terrain Model (TTM) and a Standard Map (SM) and marking out a standard road line (SR L) in the traffic terrain model;
according to the passing performance of the front vehicle body and the rear vehicle body, the passing condition areas (ARA) at the two sides of the standard road line and the standard road line are combined into a road line (AR L) for driving.
In the operation, compare traditional mode, expand the road in the standard map, improve the actual usable road area of preceding automobile body and back automobile body, strengthen the trafficability ability of preceding automobile body and back automobile body, further improve the current application scope of this carrier loader.
Example two
As shown in the figures 1-3 of the drawings,
a long-distance workpiece carrier loader line planning vehicle control system comprises a front vehicle body and a rear vehicle body, wherein the front vehicle body and the rear vehicle body are respectively used for fixing two ends of a workpiece;
after the front vehicle body and the rear vehicle body finish loading the workpiece, the difference value of the displacement vectors of the front vehicle body and the rear vehicle body in the advancing process is equivalent to the relative distance of the lifting rotating tables at the two ends of the workpiece;
setting the difference value of the displacement vectors as the distance between the lifting rotary tables at two ends of the workpiece when the workpiece starts to move;
the front vehicle body and the rear vehicle body are respectively provided with an inertial sensor, and the inertial sensors have measurement components in the X-Y-Z direction;
starting the self-starting traveling of the inertial sensors in the front vehicle body and the rear vehicle body, and respectively performing double integration of X-Y-Z directions with respect to time to obtain displacement vectors of the front vehicle body and the rear vehicle body;
subtracting the displacement vectors of the front vehicle body and the rear vehicle body to obtain a difference value of the displacement vectors and a relative offset angle of the front vehicle body and the rear vehicle body;
if the difference value of the displacement vector is found to change in the process of traveling, actively adjusting the traveling route of the front vehicle body according to the difference value of the displacement vector and the relative offset angle of the front vehicle body and the rear vehicle body, and keeping the difference value of the displacement vector constant and the same as the distance between the lifting rotary tables at the two ends of the workpiece;
if the front vehicle body cannot independently finish the aim of keeping the difference value of the displacement vector constant in the available driving road (AR L), the driving route of the rear vehicle body is adjusted to keep the difference value of the displacement vector constant.
Preferably, the front vehicle body and the rear vehicle body are respectively provided with a wireless positioning device;
the wireless positioning device repeatedly positions the front vehicle body and the rear vehicle body at high frequency in a state that the vehicle stops running;
eliminating abnormal values from the high-frequency word repeated positioning result, and then calculating a mean coordinate to be used as an accurate coordinate of the front vehicle body and the rear vehicle body;
and calibrating the difference value of the displacement vectors measured by the inertial sensor through the accurate coordinates of the front vehicle body and the rear vehicle body.
Among the above-mentioned operation, through carrying out real-time supervision to the displacement of traveling of preceding automobile body and back automobile body, obtain the displacement difference of preceding automobile body and back automobile body, and then obtain the relative distance of work piece both ends lift rotating platform, compare traditional GPS location or other radio positioning mode, the real-time is stronger, does not receive environmental disturbance moreover, even still can keep the monitoring to preceding back car in being in the tunnel that can't receive the GPS signal.
EXAMPLE III
As shown in the figures 1-3 of the drawings,
a long-distance workpiece carrier loader line planning vehicle control system comprises a front vehicle body and a rear vehicle body, wherein the front vehicle body and the rear vehicle body are respectively used for fixing two ends of a workpiece;
the front vehicle body and the rear vehicle body are respectively provided with a laser transmitter and a laser receiver, and the laser receiver can detect the offset angle under the condition that the emitting angle of the laser transmitter is offset;
the front vehicle body and the rear vehicle body are provided with a plurality of groups of laser transmitters and laser receivers which are respectively suitable for various modes including straight line driving, curve driving and ramp driving;
when the front vehicle body and the rear vehicle body are in a straight line running state, laser emitted by the front vehicle body or the rear vehicle body is received by the rear vehicle body or the front vehicle body, and the laser carrier has an emission timestamp;
after the laser receiver receives the laser beam, obtaining a relative offset angle between the front vehicle body and the rear vehicle body according to the offset angle of the laser;
demodulating laser to obtain a timestamp, and obtaining the distance between the laser transmitter and the laser receiver according to the time difference between the timestamp and the receiving time;
judging the relative distance between the lifting rotary tables at the two ends of the workpiece according to the distance between the laser transmitter and the laser receiver;
and adjusting the running of the front vehicle body and the rear vehicle body according to the relative distance between the lifting rotary tables at the two ends of the workpiece and the relative offset angle between the front vehicle body and the rear vehicle body.
In the above-mentioned operation, compare traditional mode, use the laser that carries the emission time stamp to carry out angle and distance measurement, almost no delay, measuring result is accurate moreover, and the measuring precision can not reduce because of the extension of travel time, compromises the real-time and the accuracy of monitoring.
Example four
As shown in the figures 1-3 of the drawings,
a long-distance workpiece carrier loader line planning vehicle control system comprises a front vehicle body and a rear vehicle body, wherein the front vehicle body and the rear vehicle body are respectively used for fixing two ends of a workpiece;
the front vehicle body and the rear vehicle body monitor and adjust the relative distance in real time in the advancing process, and the relative distance of the lifting rotating tables at the two ends of the workpiece is kept unchanged
The aircraft detects the relative positions of the lifting rotating table and the workpiece, and when the relative distance between the lifting rotating tables at the two ends of the workpiece changes, a warning instruction is sent out, the relative distance between the lifting rotating tables at the two ends of the workpiece is adjusted, and finally the relative distance between the lifting rotating tables at the two ends of the workpiece is kept unchanged;
the aircraft also monitors the deformation degree of the workpiece in the advancing process, when the deformation degree of the workpiece reaches a designed warning value, the relative distance between the lifting rotating tables at the two ends of the workpiece is equivalent to change, and a warning instruction is sent out and the deformation degree of the workpiece is adjusted to be kept within the value of a boundary.
In the above-mentioned operation, traditional mode is compared, and the operation aircraft monitors, and the displacement distance angle that not only can monitor preceding automobile body and back automobile body changes, but also can the change of real-time supervision work piece itself, further improves the protection to the work piece.
In the description herein, references to the terms "one embodiment," "an example," "a specific example," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.
Claims (10)
1. The utility model provides a long-distance work piece carrier loader route planning vehicle control system which characterized in that: the lifting rotary table arranged on the front vehicle body and the rear vehicle body fixes two ends of the workpiece;
and the front vehicle body and the rear vehicle body monitor and adjust the relative distance in real time in the advancing process, and the relative distance between the lifting rotating tables at the two ends of the workpiece is kept unchanged.
2. The vehicle control system of claim 1, wherein the vehicle collects the terrain of the surrounding environment during the traveling process, constructs a Traffic Terrain Model (TTM), and analyzes and marks the traffic terrain model to obtain a road route (AR L) for traveling;
obtaining an actual driving route according to a preset driving target and the road line available for driving;
the front vehicle body keeps real-time communication with the rear vehicle body in the driving process, and the actual driving route is distributed to the front vehicle body and the rear vehicle body to be executed respectively.
3. The vehicle control system according to claim 2, characterized in that: the carrier vehicle collects the terrain of the surrounding environment in the process of traveling, constructs a Traffic Terrain Model (TTM), analyzes and marks the traffic terrain model to obtain a road route for traveling, and concretely comprises,
the method comprises the following steps that in the advancing process of a front vehicle body, relative altitude difference information of the surrounding environment is collected, and the altitude difference is constructed to form a Traffic Terrain Model (TTM);
carrying out terrain matching on the Traffic Terrain Model (TTM) and a Standard Map (SM) and marking out a standard road line (SR L) in the traffic terrain model;
according to the passing performance of the front vehicle body and the rear vehicle body, the passing condition areas (ARA) at the two sides of the standard road line and the standard road line are combined into a road line (AR L) for driving.
4. The vehicle control system according to claim 1, characterized in that: the front car body and the rear car body monitor and adjust the relative distance in real time in the advancing process, keep the relative distance of the lifting rotary tables at the two ends of the workpiece unchanged, and comprise,
after the front vehicle body and the rear vehicle body finish loading the workpiece, the difference value of the displacement vectors of the front vehicle body and the rear vehicle body in the advancing process is equivalent to the relative distance of the lifting rotating tables at the two ends of the workpiece;
setting the difference value of the displacement vectors as the distance between the lifting rotary tables at two ends of the workpiece when the workpiece starts to move;
monitoring the change condition of the difference value of the displacement vector and the relative offset angle of the front vehicle body and the rear vehicle body in the process of traveling;
if the difference value of the displacement vector is found to change in the process of traveling, actively adjusting the traveling route of the front vehicle body according to the difference value of the displacement vector and the relative offset angle of the front vehicle body and the rear vehicle body, and keeping the difference value of the displacement vector constant and the same as the distance between the lifting rotary tables at the two ends of the workpiece;
if the front vehicle body cannot independently finish the aim of keeping the difference value of the displacement vector constant in the available driving road (AR L), the driving route of the rear vehicle body is adjusted to keep the difference value of the displacement vector constant.
5. The vehicle control system according to claim 4, characterized in that: the monitoring of the change condition of the difference value of the displacement vector and the relative offset angle of the front vehicle body and the rear vehicle body during traveling specifically includes,
the front vehicle body and the rear vehicle body are respectively provided with an inertial sensor, and the inertial sensors have measurement components in the X-Y-Z direction;
starting the self-starting traveling of the inertial sensors in the front vehicle body and the rear vehicle body, and respectively performing double integration of X-Y-Z directions with respect to time to obtain displacement vectors of the front vehicle body and the rear vehicle body;
and subtracting the displacement vectors of the front vehicle body and the rear vehicle body to obtain a difference value of the displacement vectors and a relative offset angle of the front vehicle body and the rear vehicle body.
6. The vehicle control system according to claim 5, characterized in that: the front vehicle body and the rear vehicle body are respectively provided with a wireless positioning device;
the wireless positioning device repeatedly positions the front vehicle body and the rear vehicle body at high frequency in a state that the vehicle stops running;
eliminating abnormal values from the high-frequency word repeated positioning result, and then calculating a mean coordinate to be used as an accurate coordinate of the front vehicle body and the rear vehicle body;
and calibrating the difference value of the displacement vectors measured by the inertial sensor through the accurate coordinates of the front vehicle body and the rear vehicle body.
7. The vehicle control system according to claim 1, characterized in that: the front car body and the rear car body monitor and adjust the relative distance in real time in the advancing process, keep the relative distance of the lifting rotary tables at the two ends of the workpiece unchanged, and comprise,
the front vehicle body and the rear vehicle body are respectively provided with a laser transmitter and a laser receiver, and the laser receiver can detect the offset angle under the condition that the emitting angle of the laser transmitter is offset;
when the front vehicle body and the rear vehicle body are in a straight line running state, laser emitted by the front vehicle body or the rear vehicle body is received by the rear vehicle body or the front vehicle body, and the laser carrier has an emission timestamp;
after the laser receiver receives the laser beam, obtaining a relative offset angle between the front vehicle body and the rear vehicle body according to the offset angle of the laser;
demodulating laser to obtain a timestamp, and obtaining the distance between the laser transmitter and the laser receiver according to the time difference between the timestamp and the receiving time;
judging the relative distance between the lifting rotary tables at the two ends of the workpiece according to the distance between the laser transmitter and the laser receiver;
and adjusting the running of the front vehicle body and the rear vehicle body according to the relative distance between the lifting rotary tables at the two ends of the workpiece and the relative offset angle between the front vehicle body and the rear vehicle body.
8. The vehicle control system according to claim 7, characterized in that: the front vehicle body and the rear vehicle body are provided with a plurality of groups of laser transmitters and laser receivers which are respectively suitable for various modes including straight line driving, curve driving and ramp driving.
9. The vehicle control system according to claim 1, characterized in that: the aircraft detects the relative positions of the lifting rotating table and the workpiece, and when the relative distance between the lifting rotating tables at the two ends of the workpiece changes, a warning instruction is sent out, the relative distance between the lifting rotating tables at the two ends of the workpiece is adjusted, and finally the relative distance between the lifting rotating tables at the two ends of the workpiece is kept unchanged.
10. The vehicle control system according to claim 9, characterized in that: the aircraft also monitors the deformation degree of the workpiece in the advancing process, when the deformation degree of the workpiece reaches a designed warning value, the relative distance between the lifting rotating tables at the two ends of the workpiece is equivalent to change, and a warning instruction is sent out and the deformation degree of the workpiece is adjusted to be kept within the value of a boundary.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010391054.0A CN111474943A (en) | 2020-05-11 | 2020-05-11 | Long-distance workpiece carrier loader line planning vehicle control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010391054.0A CN111474943A (en) | 2020-05-11 | 2020-05-11 | Long-distance workpiece carrier loader line planning vehicle control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111474943A true CN111474943A (en) | 2020-07-31 |
Family
ID=71763157
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010391054.0A Pending CN111474943A (en) | 2020-05-11 | 2020-05-11 | Long-distance workpiece carrier loader line planning vehicle control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111474943A (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105006184A (en) * | 2015-06-03 | 2015-10-28 | 燕山大学 | Turning control strategy for trackless split type hydraulic motor car unit experiment platform |
| CN105116901A (en) * | 2015-09-04 | 2015-12-02 | 中国石油大学(华东) | Image-processing-based dual-vehicle intelligent correction system |
| CN209167539U (en) * | 2018-10-31 | 2019-07-26 | 航天智造（上海）科技有限责任公司 | A kind of relative attitude measuring system based on laser range sensor group |
| CN110162103A (en) * | 2019-06-13 | 2019-08-23 | 河南宙合网络科技有限公司 | A kind of unmanned plane independently cooperates with transportation system and method with intelligent vehicle group |
-
2020
- 2020-05-11 CN CN202010391054.0A patent/CN111474943A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105006184A (en) * | 2015-06-03 | 2015-10-28 | 燕山大学 | Turning control strategy for trackless split type hydraulic motor car unit experiment platform |
| CN105116901A (en) * | 2015-09-04 | 2015-12-02 | 中国石油大学(华东) | Image-processing-based dual-vehicle intelligent correction system |
| CN209167539U (en) * | 2018-10-31 | 2019-07-26 | 航天智造（上海）科技有限责任公司 | A kind of relative attitude measuring system based on laser range sensor group |
| CN110162103A (en) * | 2019-06-13 | 2019-08-23 | 河南宙合网络科技有限公司 | A kind of unmanned plane independently cooperates with transportation system and method with intelligent vehicle group |
Non-Patent Citations (1)
| Title |
|---|
| 徐瑞;朱筱虹;赵金贤;: "匹配导航标准现状与标准体系分析" * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106483499B (en) | Unmanned aerial vehicle positioning system and unmanned aerial vehicle take-off and landing method | |
| CN106950549B (en) | A kind of Radar Calibration method and system based on less radio-frequency relay transmission technology | |
| FI3729227T3 (en) | Image based localization for unmanned aerial vehicles, and associated systems and methods | |
| CN112817307B (en) | Vehicle auxiliary driving system and method based on unmanned aerial vehicle road perception | |
| CN109613584B (en) | UWB-based positioning and orientation method for unmanned card concentrator | |
| CN106710281A (en) | Vehicle positioning data acquisition method and device | |
| CN207649604U (en) | A kind of intelligent landform survey system based on unmanned plane | |
| CN108931794A (en) | Blind area vehicle positioning system and control method thereof | |
| CN103090874A (en) | Vehicle localization | |
| CN205769347U (en) | A kind of train Precise Position System based on comprehensive location | |
| WO2020209144A1 (en) | Position estimating device, estimating device, control method, program, and storage medium | |
| CN111474943A (en) | Long-distance workpiece carrier loader line planning vehicle control system | |
| JP2023530651A (en) | Information transmission method, apparatus, device and computer storage medium | |
| CN117193377A (en) | Unmanned aerial vehicle flight time optimal real-time track optimization method capable of ensuring convergence | |
| CN208521001U (en) | Blind area vehicle positioning system | |
| CN115811354A (en) | Air flight equipment positioning system based on satellite time service | |
| US11454514B2 (en) | Distance estimation device, distance estimation method and program | |
| EP4043836A1 (en) | A method for calibrating at least one sensor by use of at least one calibration sensor | |
| CN107195228A (en) | A kind of examination of vehicle driver is set foot-point method with examining vehicle model | |
| KR20050011419A (en) | A Method and System for caculating average speed of vehicle using DSRC and DGPS techniques in Traveler Information System | |
| CN111220135A (en) | Automatic total station accurate positioning method and drawing vehicle | |
| CN112505738A (en) | Scenic spot off-line positioning system | |
| CN115140127B (en) | Control method for accurate braking and stopping process of train | |
| CN214895859U (en) | Cable path pipeline instrument | |
| CN115339488B (en) | Train positioning terminal based on LDV, UWB, MEMS combination |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20200731 |