CN109625123B - Spliced type carrying vehicle, carrying system and carrying method - Google Patents
Spliced type carrying vehicle, carrying system and carrying method Download PDFInfo
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- CN109625123B CN109625123B CN201811594708.9A CN201811594708A CN109625123B CN 109625123 B CN109625123 B CN 109625123B CN 201811594708 A CN201811594708 A CN 201811594708A CN 109625123 B CN109625123 B CN 109625123B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2220/00—Electrical machine types; Structures or applications thereof
- B60L2220/40—Electrical machine applications
- B60L2220/44—Wheel Hub motors, i.e. integrated in the wheel hub
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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Abstract
本发明适用于AGV技术领域，公开了一种拼接式搬运车辆、搬运系统和搬运方法。拼接式搬运车辆包括车辆本体，车辆本体可独立工作且可与另一车辆本体拼接后协同工作，车辆本体包括车架总成和驱动轮、支撑轮、导航装置、对接装置、电池和整车控制器；至少两个所述驱动轮或/和支撑轮分别连接有电动转向部件。拼接式搬运系统包括调度系统和至少两辆上述的一种拼接式搬运车辆。搬运方法采用上述的拼接式搬运系统。本发明实施例所提供的一种拼接式搬运车辆、搬运系统和搬运方法，拼接式搬运车辆可作为重型的搬运拼接车，可以实现拼接和分离，可提高搬运效率及降低搬运成本。
The invention is applicable to the technical field of AGV, and discloses a spliced handling vehicle, a handling system and a handling method. The spliced handling vehicle includes a vehicle body, which can work independently and can work together after being spliced with another vehicle body. The vehicle body includes a frame assembly and driving wheels, support wheels, navigation devices, docking devices, batteries and vehicle control. At least two of the driving wheels or/and the supporting wheels are respectively connected with electric steering components. The spliced handling system includes a dispatching system and at least two of the above spliced handling vehicles. The conveying method adopts the above-mentioned spliced conveying system. Embodiments of the present invention provide a spliced transport vehicle, a transport system and a transport method. The spliced transport vehicle can be used as a heavy-duty transport and spliced vehicle, which can realize splicing and separation, improve transport efficiency and reduce transport costs.
Description
Technical Field
The invention belongs to the technical field of AGV, and particularly relates to a spliced type carrying vehicle, a carrying system and a carrying method.
Background
With the proposal of 'Chinese manufacturing 2025', the demand of China on heavy-load super-large modular carrying equipment in the fields of ocean engineering, chemical engineering, electric power, military industry, shipbuilding, bridges, high-speed rails, logistics and the like is increased sharply, but the research and development and manufacturing technology of the equipment is monopolized by developed countries all the time, the development of related industries in China is severely restricted, and the development of special transportation industries in China is late, and only a few enterprises appear in China, so that the splicing vehicle technology research has a great development space.
At present, a splicing vehicle group on the domestic market mainly adopts a hydraulic transmission type carrying system, and is generally connected by adopting parallel oil pipes. The working principle is as follows: oil is used as a working medium, motion is transmitted through the change of the sealing volume, and force is transmitted through the pressure in the oil. A power part: converting the mechanical energy of the prime mover into hydraulic energy of the oil, such as: a hydraulic pump. Transformation part: the pressure energy of the oil liquid input by the hydraulic pump is converted into mechanical energy for driving a working mechanism, for example: hydraulic cylinder, hydraulic motor. The existing splicing vehicle mostly adopts a hydraulic mode, the mode has certain limitation on steering, the steering is inflexible, the oil pressure is converted into transmission power, an oil pipe is needed, so that the oil pipe needs to be maintained, the maintenance environment is severe and needs to be maintained continuously, the maintenance interval is short, the carrying efficiency is relatively low, and the carrying cost is relatively high.
Disclosure of Invention
The present invention is directed to at least solve one of the above problems, and provides a splicing type transportation vehicle, a transportation system, and a transportation method, which have high transportation efficiency and good transportation effect.
The technical scheme of the invention is as follows: a spliced carrying vehicle comprises a vehicle body, wherein the vehicle body can work independently and can be spliced with another vehicle body to form a vehicle group to work cooperatively, the vehicle body comprises a vehicle frame assembly and at least two driving wheels arranged at the bottom of the vehicle frame assembly, the driving wheels are connected with an electric device for driving the driving wheels, and at least two supporting wheels are further arranged at the bottom of the vehicle frame assembly; at least two driving wheels are respectively connected with or/and at least two supporting wheels are respectively connected with an electric steering component;
the frame assembly is provided with a navigation device;
the frame assembly is also provided with a butt joint device for butt joint and separation with the frame assembly of another carrying vehicle;
the frame assembly is also provided with a battery and a vehicle control unit, and the electric device, the electric steering component, the navigation device and the docking device are electrically connected with the vehicle control unit and the battery.
Optionally, the driving wheel is provided with two, two the coaxial setting of driving wheel and be close to in the middle part of frame assembly sets up, the supporting wheel is provided with four and sets up respectively in two the both sides of driving wheel.
Optionally, the support wheels are universal wheels.
Optionally, the electric device is an in-wheel motor connected to the driving wheel; or the electric device is a driving motor connected to the frame assembly and a transmission system connected to the driving motor.
Optionally, the navigation device comprises
A magnetic strip sensor for identifying the ground magnetic strip track,
A color sensor for identifying the ground color line track,
A positioning chip for acquiring self coordinate information,
Laser sensor for recognizing peripheral obstacle information and method for recognizing peripheral obstacle information
One or at least two cameras for identifying the surrounding environment.
Optionally, the docking device includes a first electromagnet and a corresponding iron piece or a second electromagnet;
or, the docking device comprises an electric latch hook and a corresponding latch;
or, the docking device comprises an electric bolt and a corresponding jack.
Optionally, the frame assembly is provided with a docking inductive switch, and the docking inductive switch is electrically connected to the vehicle control unit of the frame assembly.
Optionally, the electric power steering component comprises a steering motor; and/or the electric device is provided with an electromagnetic brake device electrically connected with the vehicle control unit.
The invention also provides a spliced handling system which comprises at least two spliced handling vehicles and a dispatching system used for respectively controlling or dispatching the spliced handling vehicles to splice into a vehicle group and controlling or dispatching the vehicle group.
Optionally, the consist has at least four independently steerable drive wheels each fitted with a hub motor.
The invention also provides a carrying method of the splicing type carrying system, and the splicing type carrying system comprises the following steps:
the dispatching system simultaneously or step-by-step sends a first regulation and control instruction for driving to a set position, splicing the set of cars and driving to another set position to the first splicing type carrying vehicle or/and the second splicing type carrying vehicle;
the first splicing type carrying vehicle or/and the second splicing type carrying vehicle runs to a set position through the autonomous navigation device;
the first splicing type carrying vehicle and the second splicing type carrying vehicle are spliced into a vehicle group at a set position through a butt joint device;
the consist is driven to another set position.
According to the spliced transport vehicle, the transport system and the transport method provided by the embodiment of the invention, the spliced transport vehicle can be used as a heavy transport spliced vehicle, splicing and separation can be realized, the cargo carrying capacity is large, the frame assembly is provided with the electric drive system based on the hub motor, clean energy is used, the vehicle can work for a long time, the work is stable, the time is saved, the efficiency is improved, and the transport cost is reduced, the steering of the spliced transport vehicle is a full-steering (the steering drive wheels can steer by 360 degrees) universal chassis, various modes such as straight running, side running, two-wheel steering (a vehicle set can realize four-wheel steering), zero-radius in-situ 360-degree steering and the like can be realized, the movement is very flexible in a narrow space, and the transport effect is good.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described 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 these drawings without creative efforts.
FIG. 1 is a schematic perspective view of a spliced handling vehicle according to an embodiment of the present invention;
FIG. 2 is a schematic perspective view of a longitudinally spliced consist of two spliced handling vehicles according to an embodiment of the present invention;
fig. 3 is a schematic plan view of two spliced handling vehicles in the splicing method of the spliced handling system according to the embodiment of the present invention before splicing;
fig. 4 is a schematic plan view of two spliced conveying vehicles in the splicing method of the spliced conveying system according to the embodiment of the present invention after splicing.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It should be noted that the terms "disposed" and "connected" should be interpreted broadly, and may be, for example, directly disposed or connected, or indirectly disposed or connected through intervening elements or intervening structures.
In addition, in the embodiments of the present invention, if there are terms of orientation or positional relationship indicated by "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., it is only for convenience of describing the present invention and simplifying the description, but not for indicating or implying that the structure, feature, device or element referred to must have a specific orientation or positional relationship, nor must be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
The various features and embodiments described in the embodiments may be combined in any suitable manner, for example, different embodiments may be formed by combining different features/embodiments, and in order to avoid unnecessary repetition, various possible combinations of features/embodiments in the present invention will not be described in detail.
As shown in fig. 1 to 4, a spliced type transportation vehicle according to an embodiment of the present invention includes a vehicle body 10, where the vehicle body 10 can work independently and can cooperate with another vehicle body 10 after being spliced, that is, two or more spliced type transportation vehicles (vehicle bodies 10) are spliced (combined) to form a train set 100, and each spliced type transportation vehicle (vehicle body 10) in the train set 100 can cooperate to transport more, larger, and longer cargoes at a time, and a single spliced type transportation vehicle (vehicle body 10) can also transport cargoes independently, so as to be suitable for transporting small cargoes and being applied to narrow passages, places, and the like.
Specifically, the vehicle body 10 includes a frame assembly 11 and a driving wheel 12 disposed at the bottom of the frame assembly 11, the entire top of the frame assembly 11 may be a bearing platform 101 for bearing the cargo, the frame assembly 11 may be rectangular, and the bearing platform of the spliced vehicle group is an integral bearing platform for facilitating loading of the cargo of various specifications. At least two driving wheels 12 are arranged, the driving wheels 12 are connected with an electric device for driving the driving wheels 12, and at least two supporting wheels 13 are further arranged at the bottom of the frame assembly 11; at least two driving wheels 12 are respectively connected with or/and at least two supporting wheels 13 are respectively connected with an electric steering component; the forward and backward movement, steering, etc. of the frame assembly 11 can be controlled by the driving wheels 12 and the electric power steering unit.
The frame assembly 11 can be provided with a navigation device, and the vehicle body 10 or the vehicle group can be navigated to a set position by the navigation device;
the frame assembly 11 is further provided with a docking device 14 for docking and undocking with the frame assembly 11 of another handling vehicle, and the frame assemblies 11 of two or more spliced handling vehicles can be spliced to form a vehicle group, and in a specific application, the frame assemblies 11 of two or more spliced carrying vehicles can be connected end to form a tandem train set, or the frame assemblies 11 of two or more spliced carrying vehicles can be connected left and right to form a parallel train set, of course, at least two tandem vehicle groups can be spliced in parallel, for example, the frame assemblies 11 of four spliced type carrying vehicles are spliced in two rows and two columns, the frame assemblies 11 of six spliced type carrying vehicles are spliced in three rows and two columns or two rows and three columns, the frame assemblies 11 of eight spliced type carrying vehicles are spliced in four rows and two columns, the frame assemblies 11 of nine spliced type carrying vehicles are spliced in three rows and three columns, and the like.
The frame assembly 11 is further provided with a battery 15 and a vehicle control unit, the electric device, the electric steering component, the navigation device and the docking device 14 are electrically connected to the vehicle control unit and the battery, and the battery can be a rechargeable battery, such as a lithium battery, a graphene battery and the like, so that the vehicle control unit is clean, environment-friendly, long in maintenance period, and beneficial to improving the carrying efficiency and reducing the carrying cost.
In this embodiment, the driving wheel 12 is provided with two, and two coaxial settings of driving wheel 12 and close to in the middle part setting of frame assembly 11, and supporting wheel 13 is provided with four and sets up respectively in two driving wheel 12's both sides, and four can be close to four angles settings of frame assembly 11 respectively.
Particularly, the supporting wheels 13 can be universal wheels, have simple and reliable structure and are beneficial to bearing heavier goods.
Specifically, the electric device is an in-wheel motor 16 connected to the driving wheel 12; or, the electric device is a driving motor connected to the frame assembly 11 and a transmission system connected to the driving motor, and the power source may also be a common driving motor connected to the driving wheel 12 through a transmission shaft, a reduction box, etc. In this embodiment, the two driving wheels 12 are respectively connected with the independently controllable in-wheel motor 16, and when the single spliced type carrying vehicle works, the two driving wheels 12 can turn or turn around in a differential manner. When two spliced haulage vehicles are spliced to form a vehicle group to work, the four driving wheels 12 and the corresponding electric steering components can work in a coordinated mode, so that the vehicle group can flexibly steer and turn around.
Of course, alternatively, the support wheel 13 may also have the same structure as the drive wheel 12, i.e., the support wheel 13 is also provided with the in-wheel motor 16 and the electric power steering. In this embodiment, the support wheels 13 are follow-up universal wheels. It will be appreciated that other arrangements of the drive wheel 12 and support wheel 13 may be used.
Specifically, the electric power steering unit includes the steering motor 17, and can realize omnidirectional steering, and can be better applied to the transport in a narrow and small space.
Specifically, the electric device is provided with an electromagnetic brake device 18 electrically connected to the vehicle control unit.
Specifically, the navigation device may include one or at least two of a magnetic stripe 2 sensor for recognizing a ground magnetic stripe 2 track, a color sensor for recognizing a ground color line track, a positioning chip for acquiring self coordinate information, a laser sensor for recognizing surrounding obstacle information, and a camera for recognizing a surrounding environment. In other words, the automatic navigation aspect of the spliced transport vehicle adopts magnetic induction navigation, laser + visual navigation and multi-sensor fusion navigation. In a specific application, the navigation device may also select other suitable navigation systems according to the actual situation, such as a navigation system in an autonomous vehicle.
In the embodiment, taking the magnetic stripe 2 sensor as an example, the automatic navigation system CAN refer to the following steps that a planned magnetic stripe 2 is laid in a working area, when a vehicle group (or a splicing type carrying vehicle) moves into the working area, the magnetic stripe 2 sensor on the vehicle group (or the splicing type carrying vehicle) CAN detect the relative deviation of the magnetic stripe 2 laid on the ground and the central axis of the magnetic stripe 2 sensor, the deviation is used as a physical deviation signal input by the magnetic stripe 2 sensor, an A/D converter in the magnetic stripe 2 sensor converts a deviation analog signal into a 16-system digital signal, the 16-system digital signal is input to a main control unit through CAN bus connection for processing, then a steering digital signal is output, the steering digital signal is converted and transmitted to a steering controller through the A/D converter, and the steering controller drives a steering motor 17 to start steering, so that the deviation. Signals are continuously transmitted in the feedback system, so that the train set (or the splicing type carrying vehicle) always works in the area where the magnetic strip 2 is laid, and the magnetic strip 2 navigation train set (or the splicing type carrying vehicle) is operated.
Specifically, the docking device 14 includes a first electromagnet disposed at the front end of the frame assembly 11 and an iron member or a second electromagnet disposed at the rear end of the frame assembly 11; or, the docking device 14 includes an electric lock hook and a corresponding lock catch respectively disposed at the front end and the rear end of the frame assembly 11; alternatively, the docking device 14 includes electric bolts and corresponding sockets respectively disposed at the front and rear ends of the frame assembly 11. In this embodiment, the docking device 14 adopts an electromagnet scheme, electromagnets and corresponding iron members can be respectively disposed at the front end and the rear end of the frame assembly 11, and the docking process is fast and reliable.
Specifically, the frame assembly 11 is provided with a docking induction switch 19, and the docking induction switch 19 is electrically connected to the vehicle control unit of the frame assembly 11. The butt joint inductive switch 19 can be arranged at one side of the electromagnet, the butt joint inductive switch 19 can be in a pressing type, when the two spliced carrying vehicles are spliced in place, the butt joint inductive switch 19 is triggered, and the vehicle controllers of the two spliced carrying vehicles can work cooperatively. In specific application, the frame assembly 11 may be provided with a communication interface, or each vehicle control unit may cooperate with each other through a wireless module, and in specific application, each vehicle control unit in a train set may be wirelessly connected directly or wirelessly controlled through a scheduling system.
Specifically, the frame assembly 11 may be provided with a landmark sensor electrically connected to the vehicle control unit of the frame assembly 11. So that the spliced hauler vehicle can be parked at fixed points to facilitate splicing into a consist.
The invention also provides a spliced handling system which comprises at least two spliced handling vehicles and a dispatching system used for respectively controlling or dispatching the spliced handling vehicles to form a vehicle group and controlling or dispatching the vehicle group. Of course, the dispatching system can also control the splicing type carrying vehicle to be spliced or separated with the vehicle group, and can also control the vehicle group to be spliced or separated with the vehicle group.
The dispatching system can be provided with a processing module, a storage module, a wireless communication module and the like. The dispatching system can send instructions to the vehicle control unit of each spliced handling vehicle, and the instructions can comprise coordinate information of a set position, traveling path information, splicing with another spliced handling vehicle or vehicle group, separation from the vehicle group and the like. The vehicle control unit can receive the coordinate information from the dispatching system and automatically plan a path or automatically retrieve a preset path corresponding to the coordinate information, so that the vehicle control unit can control the spliced carrying vehicle to run to a set position. Or the vehicle control unit can receive the driving path from the dispatching system and control the spliced type carrying vehicle to drive to the set position. When two or more spliced carrying vehicles are spliced into a tandem train group, the dispatching system can designate the whole vehicle controller of the first spliced carrying vehicle as the main controller, for example, the whole vehicle controller of the first spliced carrying vehicle along the driving direction as the main controller, that is, in the same train group, different whole vehicle controllers can be switched to be used as the main controller according to different driving directions. In the same tandem train, according to the different weight of the loaded goods, the hub motor 16 of one or at least two vehicles can be selected to work, which is beneficial to saving energy. Of course, when the weight of the loaded cargo is heavy, the dispatching system can also control the corresponding hub motor 16 to work through each corresponding vehicle control unit in the train set, that is, the driving wheels 12 of all the train sets provide power, so as to ensure the carrying capacity. As can be appreciated, the dispatch system may provide independent or coordinated control of the vehicle control units in the consist. When the vehicle controller of a certain vehicle is used as the main controller, the other vehicle controllers can also control the corresponding in-wheel motor 16 (rotating speed, torque and rotating direction), the steering motor 17 (rotating speed, torque, rotating direction and angle), the electromagnetic brake device 18, the docking device 14, the navigation device and the like according to the requirements (through the instructions of the dispatching system). Of course, according to specific situations, the main controller may not be selected, and the dispatching system may directly control each corresponding vehicle control unit in the train unit.
Specifically, the set of vehicles has at least four drive wheels 12 that can independently turn and all install in-wheel motor 16, that is, when two spliced haulage vehicles are spliced to form the set of vehicles and each spliced haulage vehicle has two drive wheels 12 that are installed in-wheel motor 16, this set of vehicles can have four drive wheels 12 that can independently turn and all install in-wheel motor 16 at this moment. Of course, in specific application, a plurality of trolleys with more than two trolleys can be spliced, the combination of the plurality of trolleys can be combined transversely and longitudinally or combined into a square matrix, and the like, and particularly, flexible combination can be performed according to the number, size and shape of goods, for example, combination into a T-shaped, L-shaped, cross-shaped and other shaped trolley group, and the combination can be determined according to actual conditions.
The scheduling process of the scheduling system can refer to the following: the main control unit of the dispatching system sends out a splicing instruction, after receiving the instruction, the A vehicle 110 (a first splicing type carrying vehicle) and the B vehicle 120 (a second splicing type carrying vehicle) start to gather to a C area 119 (a set position), if the A vehicle 110 arrives at the C area 119 first, the A vehicle 110 stops moving during splicing, the B vehicle 120 gradually approaches the A vehicle 110 to realize splicing into a vehicle group 100, and after splicing, a main controller (a whole vehicle controller) of the two vehicles uniformly controls the two vehicles to move to a target area together to start to execute tasks. After the task is completed, the vehicle a 110 and the vehicle B120 are separated, and the tasks are executed in respective areas independently or continuously to target areas without separation. Respectively reaches the A vehicle 110 and the B vehicle 120 of the original areas, and if the splicing instruction is received again, the vehicles continue to the C area 119 or other designated areas for splicing work. Of course, the vehicle group consisting of the vehicle a 110 and the vehicle B120 may also be driven to another location and spliced with the vehicle C or another vehicle group to form a new vehicle group, and the master controller in the new vehicle group controls the vehicle to go to the target area together to start executing tasks.
The car group splicing system comprises: taking two trolleys (A trolley 110 and B trolley 120) as an example, the splicing CAN be longitudinal splicing, when a main control unit of a dispatching system sends a splicing instruction which is transmitted to a magnetic strip 2 sensor through a CAN bus, the magnetic strip 2 sensor on a single trolley respectively detects the relative deviation between the central axis of the magnetic strip 2 sensor and the magnetic strip 2 and feeds the relative deviation back to a whole vehicle controller, the controller processes the two-wheeled differential tracking magnetic strip 2 to move towards a C area 119 by outputting the torque deviation of left and right wheels, if a landmark sensor of the A trolley 110 detects a landmark 121 firstly, a stop signal is sent to the A trolley 110 controller, the A trolley 110 stops moving and waits to be spliced with the B trolley 120, after the B trolley 120 reaches the C area 119, the B trolley 120 is spliced with the A trolley 110 through an electromagnet, a limit switch (triggered by a butt joint induction switch 19) is connected, a brake signal is sent to the whole vehicle controller of the B trolley 120, the cart B120 stops moving, and the cart B120 and the cart A110 are stably spliced. After splicing, the two vehicles are static, and when receiving a motion command of the dispatching system, the two vehicle controllers uniformly instruct to move together.
The embodiment of the invention also provides a carrying method of the splicing type carrying system, and the splicing type carrying system comprises the following steps:
the dispatching system sends a first regulating and controlling instruction for driving to a set position to the first splicing type carrying vehicle or/and the second splicing type carrying vehicle (if one splicing type carrying vehicle is already at the set position, only the other splicing type carrying vehicle needs to be dispatched to the set position);
the dispatching system sends a second regulating and controlling instruction for splicing the vehicle group to the first splicing type carrying vehicle and the second splicing type carrying vehicle;
the first splicing type carrying vehicle or/and the second splicing type carrying vehicle runs to a set position through the autonomous navigation device;
the first splicing type carrying vehicle and the second splicing type carrying vehicle are spliced into a vehicle group at a set position through the butting device 14;
and the dispatching system sends a third regulating and controlling instruction for driving to another set position to the train set.
The instructions sent by the dispatching system to the vehicle control unit of the corresponding spliced handling vehicle can be sent at one time or sent step by step, for example, the dispatching system can send a plurality of instructions (including instructions for splicing the vehicle group) before the first spliced handling vehicle and the first spliced handling vehicle reach the set position, and the dispatching system can send the instructions for splicing the vehicle group after the first spliced handling vehicle and the first spliced handling vehicle reach the set position.
In specific application, each spliced carrying vehicle can feed back coordinate information of the spliced carrying vehicle to the dispatching system in real time or at regular time through a positioning chip of the spliced carrying vehicle, so that the dispatching system can conveniently dispatch the vehicle nearby.
According to the spliced transport vehicle, the transport system and the transport method provided by the embodiment of the invention, the spliced transport vehicle can be used as a heavy transport spliced vehicle, splicing and separation can be realized, the cargo carrying capacity is large, the frame assembly 11 is provided with the electric drive system based on the in-wheel motor 16, clean energy is used, the vehicle can work for a long time, the work is stable, the time is saved, the efficiency is improved, the steering of the spliced transport vehicle is a full-steering (the steering drive wheels 12 can steer for 360 degrees) universal chassis, various modes such as straight running, side running, two-wheel steering (four-wheel steering can be realized by a vehicle group), zero-radius in-situ 360-degree steering and the like can be realized, the movement is very flexible in a narrow space, and the transport effect is good.
The present invention is not limited to the above preferred embodiments, and any modification, equivalent replacement or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. The spliced carrying vehicle is characterized by comprising a vehicle body, wherein the vehicle body can work independently and can be spliced with another vehicle body to work cooperatively, the vehicle body comprises a frame assembly and at least two driving wheels arranged at the bottom of the frame assembly, the driving wheels are connected with an electric device for driving the driving wheels, and at least two supporting wheels are further arranged at the bottom of the frame assembly; at least two driving wheels are respectively connected with or/and at least two supporting wheels are respectively connected with an electric steering component;
the frame assembly is provided with a navigation device;
the frame assembly is also provided with a butt joint device for butt joint and separation with the frame assembly of another carrying vehicle;
the frame assembly is also provided with a battery and a vehicle control unit, and the electric device, the electric steering component, the navigation device and the docking device are electrically connected with the vehicle control unit and the battery;
the butt joint device comprises a first electromagnet arranged at the front end of the frame assembly and an iron piece or a second electromagnet arranged at the rear end of the frame assembly;
or, the docking device comprises an electric latch hook and a corresponding latch;
or, the docking device comprises an electric bolt and a corresponding jack;
the supporting wheels are universal wheels;
the navigation device comprises
A magnetic strip sensor for identifying the ground magnetic strip track,
A color sensor for identifying the ground color line track,
A positioning chip for acquiring self coordinate information,
Laser sensor for recognizing peripheral obstacle information and method for recognizing peripheral obstacle information
All of the cameras used to identify the surrounding environment.
2. The spliced handling vehicle of claim 1, wherein there are two drive wheels, two drive wheels are coaxially disposed and disposed proximate a middle portion of the frame assembly, and four support wheels are disposed and disposed on either side of the two drive wheels.
3. A spliced handling vehicle as claimed in claim 1 or 2, wherein said electric means is an in-wheel motor connected to said drive wheel; or the electric device is a driving motor connected to the frame assembly and a transmission system connected to the driving motor.
4. The spliced handling vehicle of claim 1, wherein the frame assembly is provided with a docking induction switch electrically connected to a vehicle control unit of the frame assembly.
5. The spliced handling vehicle of claim 1, wherein the electric power steering component comprises a steering motor; and/or the electric device is provided with an electromagnetic brake device electrically connected with the vehicle control unit.
6. A spliced handling system comprising at least two spliced handling vehicles as claimed in any one of claims 1 to 5, further comprising a dispatching system for controlling or dispatching the spliced handling vehicles to form a train set and controlling or dispatching the train set, respectively.
7. The system of claim 6, wherein the set of vehicles has at least four independently steerable drive wheels each having a hub motor mounted thereon.
8. A method of handling a spliced handling system according to claim 6 or 7, comprising the steps of:
the dispatching system simultaneously or step-by-step sends a first regulation and control instruction for driving to a set position, splicing the set of cars and driving to another set position to the first splicing type carrying vehicle or/and the second splicing type carrying vehicle;
the first splicing type carrying vehicle or/and the second splicing type carrying vehicle runs to a set position through the autonomous navigation device;
the first splicing type carrying vehicle and the second splicing type carrying vehicle are spliced into a vehicle group at a set position through a butt joint device;
the consist is driven to another set position.
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| CN201811594708.9A CN109625123B (en) | 2018-12-25 | 2018-12-25 | Spliced type carrying vehicle, carrying system and carrying method |
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