WO2021119872A1 - Automated vehicle having active damping system and active damping method - Google Patents
Automated vehicle having active damping system and active damping method Download PDFInfo
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- WO2021119872A1 WO2021119872A1 PCT/CN2019/000264 CN2019000264W WO2021119872A1 WO 2021119872 A1 WO2021119872 A1 WO 2021119872A1 CN 2019000264 W CN2019000264 W CN 2019000264W WO 2021119872 A1 WO2021119872 A1 WO 2021119872A1
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- mobile vehicle
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- active damping
- damping system
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
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- the invention relates to an automatic mobile vehicle with an active damping system and an active damping method, in particular to an active damping system and an active damping method that can detect road conditions in advance and start to reduce the vibration of the mobile vehicle in advance.
- the intelligent handling mode will greatly increase the acceptance and market potential of the manufacturing and warehousing industries, making the manufacturing and delivery processes highly integrated and efficient, and in the industry 4.0 era, to respond quickly to the trend of mass customization, and automated production lines must be more flexible , Flexibility, rapid deployment, and improve safety and productivity.
- the main purpose of the present invention is to use the active damping system and the active damping method to enable the mobile vehicle to pre-activate the damping mode before the vibration occurs, so as to reduce the amount of vibration that should be generated and protect the items carried by the mobile vehicle.
- the present invention has an automatic mobile vehicle with an active damping system, which has an active damping system, a mobile vehicle, and a host.
- the active damping system is installed on the mobile vehicle and has a microprocessor and a microprocessor. Connect the ground contour drawing device, analysis module and communication module.
- the microprocessor connects to the host terminal through the communication module, and downloads the moving route through the host terminal, and then controls the mobile vehicle to follow the moving route, and the microprocessor is set to vibrate.
- the ground contour drawing device depicts the ground contour in front of the mobile vehicle and transmits it to the analysis module for analysis; the analysis module is used to analyze the ground contour transmitted by the ground contour drawing device to make the mobile vehicle pass by The generated vibration value, and the analysis vibration value is transmitted to the microprocessor; after the microprocessor receives the analysis vibration value sent by the analysis module, the analysis vibration value will be combined with the vibration upper limit set by the microprocessor For comparison, when the analyzed vibration value is greater than the vibration upper limit, the microprocessor will start the vibration reduction mode.
- the aforementioned automatic mobile vehicle with an active damping system wherein the microprocessor of the active damping system is further connected with a damping device installed on the mobile vehicle, and the microprocessor controls the operation of the damping device when the damping mode is activated To reduce the amount of vibration of the mobile vehicle.
- the microprocessor of the active damping system reduces the traveling speed of the mobile vehicle or stops the mobile vehicle when the damping mode is activated.
- the microprocessor of the active damping system when the microprocessor of the active damping system starts the damping mode, it plans a new travel route according to the ground contour drawn by the ground contour drawing device to make the mobile carrier The tool follows the new travel route.
- the aforementioned automatic mobile vehicle with an active damping system wherein the microprocessor of the active damping system is further connected with a damping device installed on the mobile vehicle, and the microprocessor controls the operation of the damping device when the damping mode is activated To reduce the amount of vibration of the mobile vehicle.
- the microprocessor of the active damping system reduces the traveling speed of the mobile vehicle when the damping mode is activated.
- the automatic mobile vehicle with active damping method of the present invention includes a host terminal, a mobile vehicle, and an active damping system installed on the mobile vehicle.
- the mobile vehicle When the mobile vehicle is operating, it includes the following modes:
- the active vibration reduction system When the mobile vehicle moves according to the moving route, the active vibration reduction system will draw the contour of the ground in front of the mobile vehicle in real time, and analyze the ground contour to make the vibration value of the mobile vehicle when it is passing. If the vibration value is analyzed If it is greater than the upper limit of vibration set by the active damping system, the active damping system activates the damping mode.
- FIG. 1 is a block diagram of the present invention.
- the present invention is provided with an active damping system 10, a mobile vehicle 20, and a host terminal 30.
- the active damping system 10 is installed on the mobile vehicle 20 and has a microprocessor. 11 and the ground contour drawing device 12, the analysis module 13, the communication module 14, the vibration detector 15, and the shock absorption device 16 connected to the microprocessor 11, of which:
- the microprocessor 11 is set with a vibration upper limit value 111 and a vibration reduction mode 112.
- the ground contour drawing device 12 is used to describe the ground contour in front of the mobile carrier 20.
- the analysis module 13 is used to receive the ground contour drawn by the ground contour drawing device 12 and analyze the vibration value generated by the ground contour when the mobile vehicle 20 passes by, and transmit the analyzed vibration value to the microprocessor 11.
- the communication module 14 connects the active damping system 10 and the host terminal 30.
- the vibration detector 15 is used to detect the traveling vibration value of the mobile vehicle 20 when it is traveling.
- the damping device 16 is used to reduce the amount of vibration of the mobile vehicle 20, and the damping device 16 can be an active hydraulic shock absorbing stabilizer, an active pneumatic hydraulic shock absorbing stabilizer, or a solenoid valve type adjustable damping shock absorber Or magnetorheological shock absorber...etc.
- (C) Passive vibration reduction The vibration detector 15 of the active vibration reduction system 10 detects the traveling vibration value of the mobile vehicle 20 when it is traveling, and transmits the traveling vibration value to the microprocessor 11 for micro-processing After receiving the traveling vibration value sent by the vibration detector 15, the traveling vibration value will be compared with the vibration upper limit value 111 set by the microprocessor 11. When the traveling vibration value is greater than the vibration upper limit value 111 At this time, the microprocessor 11 will activate the shock absorption mode 112 to reduce the amount of vibration of the mobile vehicle 20.
- the aforementioned shock absorption mode 112 has means to activate the shock absorption device 14, reduce the traveling speed of the mobile vehicle 20, plan a new travel route, and stop the mobile vehicle 20 from traveling.
- the microprocessor 11 determines that Activate the shock absorber 14 or reduce the traveling speed of the mobile vehicle 20, so that the vibration value generated when the mobile vehicle 20 passes through the route is lower than the vibration upper limit value 111, then the traveling speed of the mobile vehicle 20 can be reduced or Activating the damping device 14 allows the mobile vehicle 20 to move along the original moving route; if the microprocessor 11 determines that the damping device 14 is activated or the traveling speed of the mobile vehicle 20 is reduced, the mobile vehicle 20 cannot pass the route. If the vibration value of is lower than the vibration upper limit value 111, the mobile vehicle 20 is stopped, or a new travel route is planned according to the ground contour for the mobile vehicle 20 to travel according to the new travel route.
- the microprocessor 11 will reduce the traveling speed of the mobile vehicle 20 or start The shock absorber 14 allows the mobile carrier 20 to move through the original moving route.
- the analysis module 13 analyzes that the ground contour will cause the analysis vibration value generated by the mobile vehicle 20 when passing by, so that the microprocessor 11 can compare it Analyze the vibration value and the vibration upper limit value 111, and activate the damping mode 112 in advance to prevent the mobile vehicle 20 from generating vibrations sufficient to harm the carried goods, so as to protect the goods carried by the mobile vehicle 20.
- the vibration detector 15 is used to detect the traveling vibration value of the mobile vehicle 20 when it is traveling in real time, so that the microprocessor 11 can compare the traveling vibration value with the vibration upper limit value 111, so that the mobile vehicle 20 is sufficiently harmful
- the shock absorption mode 112 is activated in real time to reduce the action vibration value, so as to protect the goods carried by the mobile vehicle 20.
- the active damping system 10 transmits the vibration value of the movement generated by the mobile vehicle 20 to the host terminal 30, allowing the host terminal 30 to use the vibration value to adjust the travel speed of the mobile vehicle 20 on the travel route, or to plan out New travel routes, for example: areas with a lower vibration value will increase the travel speed of the mobile vehicle by 20, and areas with a higher vibration value will reduce its travel speed. In this way, in addition to protecting the safety of the transported items, it can also increase the overall speed. Delivery efficiency.
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Abstract
An automated vehicle (20) having an active damping system (10) and an automated vehicle (20) having an active damping method. The automated vehicle (20) comprises the active damping system (10), a vehicle (20), and a main machine end (30). The active damping system (10) is mounted on the vehicle (20). When the vehicle (20) operates, the active damping system (10) is activated, the active damping system (10) is connected to the main machine end (30), and the main machine end (30) downloads a movement route and a traveling speed. When the vehicle (20) travels, the active damping system (10) maps a contour of the ground in front of the vehicle (20), and performs analysis. If the active damping system (10) determines, by means of analysis, that the vehicle (20) is likely to encounter a vibration value that is excessively large, the active damping system (10) activates a damping mode so as to reduce vibrations encountered by the vehicle (20) when passing over the contour, thereby protecting articles carried by the vehicle (20).
Description
本发明涉及一种具主动减震***及主动减震方法的自动移动载具，尤指能够预先侦知路面状况并提前启动降低移动载具震动量的主动减震***及主动减震方法。The invention relates to an automatic mobile vehicle with an active damping system and an active damping method, in particular to an active damping system and an active damping method that can detect road conditions in advance and start to reduce the vibration of the mobile vehicle in advance.
智能化的搬运模式，将大幅提升制造业、仓储业的接受度与市场潜力，使得制造和交付流程得到高度整合和效率，且工业4.0时代快速响应大批量客制化趋势，自动化生产线必须更灵活、弹性，快速调配，并提升安全性及生产力。The intelligent handling mode will greatly increase the acceptance and market potential of the manufacturing and warehousing industries, making the manufacturing and delivery processes highly integrated and efficient, and in the industry 4.0 era, to respond quickly to the trend of mass customization, and automated production lines must be more flexible , Flexibility, rapid deployment, and improve safety and productivity.
然而，在自动化的搬运过程中，移动载具往往会受到地形以及地形上的异物所影响而产生震动，而运送精密产品、零件等物品时，震动会使该些物品受到危害，但移动载具大多仅设置有避震器来吸收部份的震动量，而在震动量较大时，无法有效进行减震。However, in the process of automated transportation, mobile vehicles are often affected by terrain and foreign objects on the terrain to produce vibrations. When transporting precision products, parts and other items, vibration will cause these items to be harmed, but mobile vehicles Most of them only have a shock absorber to absorb part of the amount of vibration, and when the amount of vibration is large, it cannot effectively reduce the shock.
因此，要如何能够避免移动载具发生足够危害物品的震动量，即为相关业者所亟欲改善的课题所在。Therefore, how to avoid the vibration of the mobile vehicle from causing sufficient damage to the object is a topic that the relevant industry urgently wants to improve.
发明内容Summary of the invention
本发明的主要目的在于，利用主动减震***以及主动减震方法让移动载具在发生震动前预先启动减震模式，以减少原先应该产生的震动量，以保护移动载具所运送的物品。The main purpose of the present invention is to use the active damping system and the active damping method to enable the mobile vehicle to pre-activate the damping mode before the vibration occurs, so as to reduce the amount of vibration that should be generated and protect the items carried by the mobile vehicle.
为达上述目的，本发明具主动减震***的自动移动载具，具有主动减震***、移动载具以及主机端，主动减震***安装于移动载具，具有微处理器以及微处理器所连接的地面轮廓描绘装置、分析模块以及通讯模块，微处理器通过通讯模块连接主机端，并通过主机端下载移动路线，进而控制移动载具依照移动路线行进，且微处理器设定有震动上限值以及减震模式；地面轮廓描绘装置描绘出移动载具前方的地面轮廓并传送至分析模块进行分析；分析模块用以分析地面轮廓描绘装置所传送的地面轮廓会使移动载具于行经时所生震动值，并将此分析震动值传送至微处理器；微处理器于接收到分析模块所传送的分析震动值后，会将此分析震动值与微处理器设定的震动上限值进行比对，当分析震动值大于震动上限值时，微处理器即会 启动减震模式。To achieve the above objectives, the present invention has an automatic mobile vehicle with an active damping system, which has an active damping system, a mobile vehicle, and a host. The active damping system is installed on the mobile vehicle and has a microprocessor and a microprocessor. Connect the ground contour drawing device, analysis module and communication module. The microprocessor connects to the host terminal through the communication module, and downloads the moving route through the host terminal, and then controls the mobile vehicle to follow the moving route, and the microprocessor is set to vibrate. Limits and damping modes; the ground contour drawing device depicts the ground contour in front of the mobile vehicle and transmits it to the analysis module for analysis; the analysis module is used to analyze the ground contour transmitted by the ground contour drawing device to make the mobile vehicle pass by The generated vibration value, and the analysis vibration value is transmitted to the microprocessor; after the microprocessor receives the analysis vibration value sent by the analysis module, the analysis vibration value will be combined with the vibration upper limit set by the microprocessor For comparison, when the analyzed vibration value is greater than the vibration upper limit, the microprocessor will start the vibration reduction mode.
前述具主动减震***的自动移动载具，其中该主动减震***的微处理器进一步连接有安装于移动载具的减震装置，微处理器于启动减震模式时，控制减震装置运作来降低移动载具的震动发生量。The aforementioned automatic mobile vehicle with an active damping system, wherein the microprocessor of the active damping system is further connected with a damping device installed on the mobile vehicle, and the microprocessor controls the operation of the damping device when the damping mode is activated To reduce the amount of vibration of the mobile vehicle.
前述具主动减震***的自动移动载具，其中该主动减震***的微处理器于启动减震模式时，降低移动载具的行进速度或使移动载具停止行进。In the aforementioned automatic mobile vehicle with an active damping system, the microprocessor of the active damping system reduces the traveling speed of the mobile vehicle or stops the mobile vehicle when the damping mode is activated.
前述具主动减震***的自动移动载具，其中该主动减震***的微处理器于启动减震模式时，依据地面轮廓描绘装置所描绘的地面轮廓，规划出新的行进路线，使移动载具依据新的行进路线行进。In the aforementioned automatic mobile vehicle with an active damping system, when the microprocessor of the active damping system starts the damping mode, it plans a new travel route according to the ground contour drawn by the ground contour drawing device to make the mobile carrier The tool follows the new travel route.
前述具主动减震***的自动移动载具，其中该主动减震***的微处理器进一步连接有震动侦测器，震动侦测器用以侦测移动载具于行进时发生震动的行进震动数值，且震动侦测器会将此行进震动数值传送至微处理器，当微处理器接收到震动侦测器所传送的行进震动数值后，会将此行进震动数值与微处理器设定的震动上限值进行比对，以及将此行进震动数值通过通讯模块传送至主机端，当行进震动数值大于震动上限值时，微处理器即会启动减震模式降低移动载具的震动发生量。The aforementioned automatic mobile vehicle with an active damping system, wherein the microprocessor of the active damping system is further connected with a vibration detector, and the vibration detector is used to detect the traveling vibration value of the mobile vehicle when it is traveling. And the vibration detector will send this traveling vibration value to the microprocessor. When the microprocessor receives the traveling vibration value sent by the vibration detector, it will add the traveling vibration value to the vibration set by the microprocessor. The limit value is compared, and the traveling vibration value is transmitted to the host through the communication module. When the traveling vibration value is greater than the upper limit of the vibration, the microprocessor will activate the shock absorption mode to reduce the amount of vibration of the mobile vehicle.
前述具主动减震***的自动移动载具，其中该主动减震***的微处理器进一步连接有安装于移动载具的减震装置，微处理器于启动减震模式时，控制减震装置运作来降低移动载具的震动发生量。The aforementioned automatic mobile vehicle with an active damping system, wherein the microprocessor of the active damping system is further connected with a damping device installed on the mobile vehicle, and the microprocessor controls the operation of the damping device when the damping mode is activated To reduce the amount of vibration of the mobile vehicle.
前述具主动减震***的自动移动载具，其中该主动减震***的微处理器于启动减震模式时，降低移动载具的行进速度。In the aforementioned automatic mobile vehicle with an active damping system, the microprocessor of the active damping system reduces the traveling speed of the mobile vehicle when the damping mode is activated.
再者，本发明具主动减震方法的自动移动载具，包含有主机端、移动载具以及安装于移动载具的主动减震***，当移动载具运作时，包含有下列模式：Furthermore, the automatic mobile vehicle with active damping method of the present invention includes a host terminal, a mobile vehicle, and an active damping system installed on the mobile vehicle. When the mobile vehicle is operating, it includes the following modes:
启动：启动主动减震***，让主动减震***与主机端形成连接，并由主机端下载移动路线以及行进速度，让主动减震***控制移动载具依据移动路线与行进速度行进；Start: activate the active damping system, connect the active damping system with the host side, and download the moving route and travel speed from the host side, and let the active damping system control the mobile vehicle to move according to the moving route and travel speed;
实时分析：移动载具依据移动路线移动时，主动减震***会实时描绘出移动载具前方的地面轮廓，并加以分析地面轮廓会使移动载具于行经时所生震动值，若分析震动值大于主动减震***所设定的震动上限值，则主动减震***启动减震模式。Real-time analysis: When the mobile vehicle moves according to the moving route, the active vibration reduction system will draw the contour of the ground in front of the mobile vehicle in real time, and analyze the ground contour to make the vibration value of the mobile vehicle when it is passing. If the vibration value is analyzed If it is greater than the upper limit of vibration set by the active damping system, the active damping system activates the damping mode.
前述具主动减震方法的自动移动载具，其中该主动减震***于实时分析模式启动减震模式时，控制安装于移动载具的减震装置运作、降低移动载具的行进速度、使移动载具停止行进或依据地面轮廓规划出新的行进路线让使移动载具依据新的 行进路线行进。The aforementioned automatic mobile vehicle with an active damping method, wherein the active damping system controls the operation of the damping device installed on the mobile vehicle when the damping mode is activated in the real-time analysis mode, reduces the traveling speed of the mobile vehicle, and makes it move The vehicle stops moving or plans a new travel route according to the ground contour so that the mobile vehicle travels according to the new travel route.
前述具主动减震方法的自动移动载具，其中该移动载具运作时进一步包含有被动减震模式：主动减震***侦测移动载具于行进时发生震动的行进震动数值，并将此行进震动数值与震动上限值进行比对，当行进震动数值大于震动上限值时，则主动减震***启动减震模式，降低移动载具的行进速度或是控制安装于移动载具的减震装置运作，以降低移动载具行经该地面轮廓时的震动发生量。The aforementioned automatic mobile vehicle with active damping method, wherein the mobile vehicle further includes a passive damping mode during operation: the active damping system detects the traveling vibration value of the mobile vehicle when it is traveling, and then travels. The vibration value is compared with the vibration upper limit value. When the traveling vibration value is greater than the vibration upper limit value, the active damping system activates the damping mode to reduce the traveling speed of the mobile vehicle or control the damping installed on the mobile vehicle The device operates to reduce the amount of vibration generated when the mobile vehicle travels through the ground contour.
前述具主动减震方法的自动移动载具，其中该该移动载具运作时进一步包含有实时传送模式：主动减震***将描绘出的地面轮廓以及主动减震***侦测移动载具于行进时发生震动的行进震动数值传送至主机端。The aforementioned automatic mobile vehicle with an active damping method, wherein the mobile vehicle further includes a real-time transmission mode during operation: the active damping system will draw the contour of the ground and the active damping system detects the moving vehicle while it is moving The traveling vibration value of the vibration is transmitted to the host.
图1为本发明的方块图。Figure 1 is a block diagram of the present invention.
附图标记说明：10-主动减震***；11-微处理器；111-震动上限值；112-减震模式；12-地面轮廓描绘装置；13-分析模块；14-通讯模块；15-震动侦测器；16-减震装置；20-移动载具；30-主机端。Description of reference signs: 10-active damping system; 11-microprocessor; 111-upper limit of vibration; 112- damping mode; 12-ground contour drawing device; 13-analysis module; 14-communication module; 15- Vibration detector; 16- damping device; 20- mobile vehicle; 30- host.
请参阅图1所示，由图中可清楚看出，本发明设置有主动减震***10、移动载具20以及主机端30，主动减震***10安装于移动载具20，具有微处理器11以及微处理器11所连接的地面轮廓描绘装置12、分析模块13、通讯模块14、震动侦测器15以及减震装置16，其中：Please refer to FIG. 1. As can be clearly seen from the figure, the present invention is provided with an active damping system 10, a mobile vehicle 20, and a host terminal 30. The active damping system 10 is installed on the mobile vehicle 20 and has a microprocessor. 11 and the ground contour drawing device 12, the analysis module 13, the communication module 14, the vibration detector 15, and the shock absorption device 16 connected to the microprocessor 11, of which:
该微处理器11设定有震动上限值111以及减震模式112。The microprocessor 11 is set with a vibration upper limit value 111 and a vibration reduction mode 112.
该地面轮廓描绘装置12用以描绘出移动载具20前方的地面轮廓。The ground contour drawing device 12 is used to describe the ground contour in front of the mobile carrier 20.
该分析模块13用以接收地面轮廓描绘装置12所描绘的地面轮廓，并分析地面轮廓会使移动载具20于行经时所生震动值，并将此分析震动值传送至微处理器11。The analysis module 13 is used to receive the ground contour drawn by the ground contour drawing device 12 and analyze the vibration value generated by the ground contour when the mobile vehicle 20 passes by, and transmit the analyzed vibration value to the microprocessor 11.
该通讯模块14使主动减震***10与主机端30形成连接。The communication module 14 connects the active damping system 10 and the host terminal 30.
该震动侦测器15用以侦测移动载具20于行进时发生震动的行进震动数值。The vibration detector 15 is used to detect the traveling vibration value of the mobile vehicle 20 when it is traveling.
该减震装置16用以降低移动载具20的震动发生量，且减震装置16可为主动式液压减震稳定器、主动式气液压减震稳定器、电磁阀式阻尼可调减震器或磁流变减震器...等。The damping device 16 is used to reduce the amount of vibration of the mobile vehicle 20, and the damping device 16 can be an active hydraulic shock absorbing stabilizer, an active pneumatic hydraulic shock absorbing stabilizer, or a solenoid valve type adjustable damping shock absorber Or magnetorheological shock absorber...etc.
当移动载具20运作时，具有下列模式：When the mobile vehicle 20 is operating, it has the following modes:
(A)启动：启动主动减震***10，让微处理器11通过通讯模块14连接主机端30，并通过主机端30下载移动路线，进而控制移动载具20依照移动路线行进，且微处理器11设定有震动上限值111以及减震模式112。(A) Start: start the active damping system 10, let the microprocessor 11 connect to the host terminal 30 through the communication module 14, and download the moving route through the host terminal 30, and then control the mobile vehicle 20 to follow the moving route, and the microprocessor 11 is set with a vibration upper limit value 111 and a vibration reduction mode 112.
(B)实时分析：主动减震***10利用地面轮廓描绘装置12描绘出移动载具20前方的地面轮廓，并传送至分析模块13进行分析，让分析模块13分析出该地面轮廓会使移动载具20于行经时所生震动值，以及分析模块13将此分析震动值传送至微处理器11，让微处理器11于接收到分析模块13所传送的分析震动值后，将此分析震动值与微处理器11设定的震动上限值111进行比对，当分析震动值大于震动上限值111时，微处理器11即会启动减震模式112。(B) Real-time analysis: The active damping system 10 uses the ground contour drawing device 12 to describe the ground contour in front of the mobile vehicle 20, and transmits it to the analysis module 13 for analysis, so that the analysis module 13 analyzes that the ground contour will cause the mobile carrier It has the vibration value generated by 20 when passing through, and the analysis module 13 transmits the analysis vibration value to the microprocessor 11, so that the microprocessor 11 receives the analysis vibration value transmitted by the analysis module 13 and then the analysis vibration value Comparing with the vibration upper limit value 111 set by the microprocessor 11, when the analyzed vibration value is greater than the vibration upper limit value 111, the microprocessor 11 will activate the shock absorption mode 112.
(C)被动减震：主动减震***10的震动侦测器15侦测移动载具20于行进时发生震动的行进震动数值，并将此行进震动数值传送至微处理器11，让微处理器11接收到震动侦测器15所传送的行进震动数值后，会将此行进震动数值与微处理器11设定的震动上限值111进行比对，当行进震动数值大于震动上限值111时，微处理器11即会启动减震模式112降低移动载具20的震动发生量。(C) Passive vibration reduction: The vibration detector 15 of the active vibration reduction system 10 detects the traveling vibration value of the mobile vehicle 20 when it is traveling, and transmits the traveling vibration value to the microprocessor 11 for micro-processing After receiving the traveling vibration value sent by the vibration detector 15, the traveling vibration value will be compared with the vibration upper limit value 111 set by the microprocessor 11. When the traveling vibration value is greater than the vibration upper limit value 111 At this time, the microprocessor 11 will activate the shock absorption mode 112 to reduce the amount of vibration of the mobile vehicle 20.
(D)实时传送：主动减震***10将描绘出的地面轮廓以及主动减震***10侦测移动载具20于行进时发生震动的行进震动数值传送至主机端30。(D) Real-time transmission: The active damping system 10 transmits the delineated ground contour and the traveling vibration value of the active damping system 10 detecting that the mobile vehicle 20 vibrates while traveling to the host terminal 30.
前述减震模式112具有启动减震装置14、降低移动载具20的行进速度、规划新的行进路线以及使移动载具20停止行进等手段，在实时分析模式下，若微处理器11判断以启动减震装置14或是降低移动载具20的行进速度，能使移动载具20通过该路线时发生的震动数值低于震动上限值111，则以降低移动载具20的行进速度或是启动减震装置14让移动载具20依原先移动路线移动；若微处理器11判断以启动减震装置14或是降低移动载具20的行进速度仍不能使移动载具20通过该路线时发生的震动数值低于震动上限值111，则使移动载具20停止，或是依据地面轮廓规划出新的行进路线让使移动载具20依据新的行进路线行进。The aforementioned shock absorption mode 112 has means to activate the shock absorption device 14, reduce the traveling speed of the mobile vehicle 20, plan a new travel route, and stop the mobile vehicle 20 from traveling. In the real-time analysis mode, if the microprocessor 11 determines that Activate the shock absorber 14 or reduce the traveling speed of the mobile vehicle 20, so that the vibration value generated when the mobile vehicle 20 passes through the route is lower than the vibration upper limit value 111, then the traveling speed of the mobile vehicle 20 can be reduced or Activating the damping device 14 allows the mobile vehicle 20 to move along the original moving route; if the microprocessor 11 determines that the damping device 14 is activated or the traveling speed of the mobile vehicle 20 is reduced, the mobile vehicle 20 cannot pass the route. If the vibration value of is lower than the vibration upper limit value 111, the mobile vehicle 20 is stopped, or a new travel route is planned according to the ground contour for the mobile vehicle 20 to travel according to the new travel route.
再者，当减震模式112于被动减震模式下启动，因移动载具20已经发生大于震动上限值111的震动数值，微处理器11会以降低移动载具20的行进速度或是启动减震装置14让移动载具20依原先移动路线移动通过。Furthermore, when the vibration reduction mode 112 is activated in the passive vibration reduction mode, because the mobile vehicle 20 has a vibration value greater than the vibration upper limit 111, the microprocessor 11 will reduce the traveling speed of the mobile vehicle 20 or start The shock absorber 14 allows the mobile carrier 20 to move through the original moving route.
本发明为可解决现有技术的不足与缺失，并可增进功效，其关键技术在于：The present invention can solve the shortcomings and deficiencies of the prior art and can improve the efficacy. Its key technology is:
一、利用地面轮廓描绘装置12描绘出移动载具20前方的地面轮廓，以及分析模块13分析出该地面轮廓会使移动载具20于行经时所生分析震动值，让微处理器11可比对分析震动值与震动上限值111，预先启动减震模式112，防止移动载具20 产生足以危害载运物品的震动，以保护移动载具20所载运的物品。1. Using the ground contour drawing device 12 to describe the ground contour in front of the mobile vehicle 20, and the analysis module 13 analyzes that the ground contour will cause the analysis vibration value generated by the mobile vehicle 20 when passing by, so that the microprocessor 11 can compare it Analyze the vibration value and the vibration upper limit value 111, and activate the damping mode 112 in advance to prevent the mobile vehicle 20 from generating vibrations sufficient to harm the carried goods, so as to protect the goods carried by the mobile vehicle 20.
二、利用震动侦测器15实时侦测移动载具20于行进时发生震动的行进震动数值，让微处理器11可比对行进震动数值与震动上限值111，使移动载具20产生足以危害载运物品的震动时，实时启动减震模式112降低行动震动值，以保护移动载具20所载运的物品。2. The vibration detector 15 is used to detect the traveling vibration value of the mobile vehicle 20 when it is traveling in real time, so that the microprocessor 11 can compare the traveling vibration value with the vibration upper limit value 111, so that the mobile vehicle 20 is sufficiently harmful When the carried goods vibrate, the shock absorption mode 112 is activated in real time to reduce the action vibration value, so as to protect the goods carried by the mobile vehicle 20.
三、主动减震***10将移动载具20行进时所发生的行动震动数值传送至主机端30，让主机端30利用震动数值调整移动载具20于该行进路线的行进速率，或是规划出新的行进路线，例如：行动震动数值较小的区域提高移动载具20行进速率，行动震动数值较大的区域则降低其行进速率，如此，除了可以保护运送物品的安全以外，更可提高整体运送效率。3. The active damping system 10 transmits the vibration value of the movement generated by the mobile vehicle 20 to the host terminal 30, allowing the host terminal 30 to use the vibration value to adjust the travel speed of the mobile vehicle 20 on the travel route, or to plan out New travel routes, for example: areas with a lower vibration value will increase the travel speed of the mobile vehicle by 20, and areas with a higher vibration value will reduce its travel speed. In this way, in addition to protecting the safety of the transported items, it can also increase the overall speed. Delivery efficiency.
Claims (11)
- 一种具主动减震***的自动移动载具，该主动减震***安装于移动载具，具有微处理器以及微处理器所连接的地面轮廓描绘装置、分析模块以及通讯模块，其特征在于：An automatic mobile vehicle with an active damping system. The active damping system is installed on the mobile vehicle and has a microprocessor and a ground contour drawing device connected to the microprocessor, an analysis module and a communication module, and is characterized in that:该微处理器通过通讯模块连接主机端，并通过主机端下载移动路线，进而控制移动载具依照移动路线行进，且微处理器设定有震动上限值以及减震模式；The microprocessor is connected to the host terminal through the communication module, and downloads the moving route through the host terminal, and then controls the mobile vehicle to follow the moving route, and the microprocessor sets the upper limit of vibration and the shock absorption mode;该地面轮廓描绘装置描绘出移动载具前方的地面轮廓并传送至分析模块进行分析；The ground contour drawing device depicts the ground contour in front of the mobile vehicle and transmits it to the analysis module for analysis;该分析模块用以分析地面轮廓描绘装置所传送的地面轮廓使移动载具于行经时所生震动值，并将此分析震动值传送至微处理器；The analysis module is used to analyze the vibration value of the ground profile transmitted by the ground profile drawing device to cause the mobile vehicle to pass by, and transmit the analyzed vibration value to the microprocessor;前述的微处理器于接收到分析模块所传送的分析震动值后，将此分析震动值与微处理器设定的震动上限值进行比对，当分析震动值大于震动上限值时，微处理器即启动减震模式。After the foregoing microprocessor receives the analysis vibration value transmitted by the analysis module, it compares the analysis vibration value with the vibration upper limit set by the microprocessor. When the analysis vibration value is greater than the vibration upper limit, the micro The processor activates the shock absorption mode.
- 如权利要求1所述的具主动减震***的自动移动载具，其特征在于，该主动减震***的微处理器进一步连接有安装于移动载具的减震装置，微处理器于启动减震模式时，控制减震装置运作来降低移动载具的震动发生量。The automatic mobile vehicle with an active damping system according to claim 1, wherein the microprocessor of the active damping system is further connected with a damping device installed on the mobile vehicle, and the microprocessor is activated when the damping device is activated. In the vibration mode, control the operation of the damping device to reduce the amount of vibration of the mobile vehicle.
- 如权利要求1所述的具主动减震***的自动移动载具，其特征在于，该主动减震***的微处理器于启动减震模式时，降低移动载具的行进速度或使移动载具停止行进。The automatic mobile vehicle with an active damping system according to claim 1, wherein the microprocessor of the active damping system reduces the traveling speed of the mobile vehicle or causes the mobile vehicle to move when the damping mode is activated. Stop marching.
- 如权利要求1所述的具主动减震***的自动移动载具，其特征在于，该主动减震***的微处理器于启动减震模式时，依据地面轮廓描绘装置所描绘的地面轮廓，规划出新的行进路线，使移动载具依据新的行进路线行进。The automatic mobile vehicle with an active damping system according to claim 1, wherein the microprocessor of the active damping system, when the damping mode is activated, plans according to the ground contour drawn by the ground contour drawing device Create a new travel route so that the mobile vehicle can travel according to the new travel route.
- 如权利要求1所述的具主动减震***的自动移动载具，其特征在于，该主动减震***的微处理器进一步连接有震动侦测器，震动侦测器用以侦测移动载具于行进时发生震动的行进震动数值，且震动侦测器将此行进震动数值传送至微处理器，当微处理器接收到震动侦测器所传送的行进震动数值后，将此行进震动数值与微处理器设定的震动上限值进行比对，以及将此行进震动数值通过通讯模块传送至主机端，当行进震动数值大于震动上限值时，微处理器即启动减震模式降低移动载具的震动发生量。The automatic mobile vehicle with an active damping system as claimed in claim 1, wherein the microprocessor of the active damping system is further connected with a vibration detector, and the vibration detector is used to detect when the mobile vehicle is The traveling vibration value of the vibration occurred during traveling, and the vibration detector transmits the traveling vibration value to the microprocessor. When the microprocessor receives the traveling vibration value transmitted by the vibration detector, the traveling vibration value is combined with the microcomputer. The vibration upper limit set by the processor is compared, and the traveling vibration value is transmitted to the host through the communication module. When the traveling vibration value is greater than the vibration upper limit, the microprocessor will activate the shock absorption mode to lower the mobile vehicle The amount of vibration.
- 如权利要求5所述的具主动减震***的自动移动载具，其特征在于，该主 动减震***的微处理器进一步连接有安装于移动载具的减震装置，微处理器于启动减震模式时，控制减震装置运作来降低移动载具的震动发生量。The automatic mobile vehicle with an active damping system according to claim 5, wherein the microprocessor of the active damping system is further connected with a damping device installed on the mobile vehicle, and the microprocessor is used to start the damping device. In the vibration mode, control the operation of the damping device to reduce the amount of vibration of the mobile vehicle.
- 如权利要求5所述的具主动减震***的自动移动载具，其特征在于，该主动减震***的微处理器于启动减震模式时，降低移动载具的行进速度。5. The automatic mobile vehicle with an active damping system as claimed in claim 5, wherein the microprocessor of the active damping system reduces the traveling speed of the mobile vehicle when the damping mode is activated.
- 一种具主动减震方法的自动移动载具，其特征在于，包含有主机端、移动载具以及安装于移动载具的主动减震***，当移动载具运作时，包含有下列模式：An automatic mobile vehicle with an active damping method, which is characterized by comprising a host terminal, a mobile vehicle, and an active damping system installed on the mobile vehicle. When the mobile vehicle is operating, the following modes are included:(A)启动：启动主动减震***，让主动减震***与主机端形成连接，并由主机端下载移动路线以及行进速度，让主动减震***控制移动载具依据移动路线与行进速度行进；(A) Start: Start the active damping system, connect the active damping system with the host side, and download the moving route and travel speed from the host side, and let the active damping system control the mobile vehicle to move according to the moving route and travel speed;(B)实时分析：移动载具依据移动路线移动时，主动减震***实时描绘出移动载具前方的地面轮廓，并加以分析地面轮廓使移动载具于行经时所生震动值，若分析震动值大于主动减震***所设定的震动上限值，则主动减震***启动减震模式。(B) Real-time analysis: When the mobile vehicle moves according to the moving route, the active shock absorption system draws the contour of the ground in front of the mobile vehicle in real time, and analyzes the ground contour to make the vibration value of the mobile vehicle when passing by. If the vibration is analyzed If the value is greater than the upper limit of vibration set by the active damping system, the active damping system will activate the damping mode.
- 如权利要求8所述的具主动减震方法的自动移动载具，其特征在于，该主动减震***于实时分析模式启动减震模式时，控制安装于移动载具的减震装置运作、降低移动载具的行进速度、使移动载具停止行进或依据地面轮廓规划出新的行进路线让使移动载具依据新的行进路线行进。The automatic mobile vehicle with active damping method according to claim 8, wherein the active damping system controls the operation of the damping device installed on the mobile vehicle when the damping mode is activated in the real-time analysis mode, and reduces The travel speed of the mobile vehicle, stop the mobile vehicle or plan a new travel route according to the ground contour so that the mobile vehicle travels according to the new travel route.
- 如权利要求8所述的具主动减震方法的自动移动载具，其特征在于，该移动载具运作时进一步包含有模式(C)被动减震：主动减震***侦测移动载具于行进时发生震动的行进震动数值，并将此行进震动数值与震动上限值进行比对，当行进震动数值大于震动上限值时，则主动减震***启动减震模式，降低移动载具的行进速度或是控制安装于移动载具的减震装置运作，以降低移动载具行经该地面轮廓时的震动发生量。The automatic mobile vehicle with an active damping method as claimed in claim 8, wherein the mobile vehicle further comprises a mode (C) passive damping when operating: the active damping system detects that the mobile vehicle is moving When the vibration occurs, the traveling vibration value is compared with the vibration upper limit value. When the traveling vibration value is greater than the vibration upper limit value, the active damping system starts the damping mode to reduce the traveling of the mobile vehicle Speed or control the operation of the damping device installed on the mobile vehicle to reduce the amount of vibration when the mobile vehicle travels through the contour of the ground.
- 如权利要求8所述的具主动减震方法的自动移动载具，其特征在于，该该移动载具运作时进一步包含有模式(D)实时传送：主动减震***将描绘出的地面轮廓以及主动减震***侦测移动载具于行进时发生震动的行进震动数值传送至主机端。The automatic mobile vehicle with active damping method according to claim 8, wherein the mobile vehicle further comprises a mode (D) real-time transmission during operation: the ground contour drawn by the active damping system and The active vibration damping system detects that the moving vehicle vibrates during travel and transmits the traveling vibration value to the host.
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