CN109911816A - A kind of semi-automatic carrier-and-stacker - Google Patents
A kind of semi-automatic carrier-and-stacker Download PDFInfo
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- CN109911816A CN109911816A CN201910330007.2A CN201910330007A CN109911816A CN 109911816 A CN109911816 A CN 109911816A CN 201910330007 A CN201910330007 A CN 201910330007A CN 109911816 A CN109911816 A CN 109911816A
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Abstract
The invention discloses a kind of semi-automatic carrier-and-stackers, the switching device that the accelerator of drive system, the automatic control system for automatically controlling wheel turning angle, the manual steering controller for manually controlling wheel turning angle and signal are connected to automatic control system Yu manual steering controller is connected to including steering system, drive system, signal, switching device is connected to steering system for switching one of both of automatic control system and manual steering controller signal, and disconnects other one and steering system.Since one of both of automatic control system and manual steering controller signal can be connected to steering system by switching device, and another one is disconnected with steering system, therefore, driver can the free switching between semi-automatic driving mode and manual drive mode according to demand, to meet the drive demand of varying environment.
Description
Technical field
The present invention relates to vehicle drive technical fields, more specifically to a kind of semi-automatic carrier-and-stacker.
Background technique
Existing three-dimensional accessory carrier-and-stacker is largely manual operation, when walking in tunnel, needs constantly to correct steering
Wheel, to correct the linearity of car, when tunnel is walked, operative employee needs more energy to be placed on observation directive wheel and guide rail
Distance, for cargo and environment observation with regard to relatively smaller many, there are security risks.
In addition to this, there are also AGV three-dimensional carrier-and-stacker be full-automatic operation, without human intervention, manufacturing cost, maintenance at
This is higher, and the processing to emergency episode, and intrinsic program can only be leaned on to handle, improper story is not answered timely
To scheme.
Therefore, how to solve the problems, such as that manual carrier-and-stacker is inconvenient with full-automatic carrier-and-stacker accident-proneness, be current sheet
Field technical staff's urgent problem to be solved.
Summary of the invention
In view of this, the object of the present invention is to provide a kind of semi-automatic carrier-and-stacker, it can be in manual mode and semi-automatic mould
Free switching between formula, to meet the drive demand of varying environment.
To achieve the goals above, the invention provides the following technical scheme:
A kind of semi-automatic carrier-and-stacker, the acceleration of the drive system is connected to including steering system, drive system, signal
Device, the automatic control system for automatically controlling wheel turning angle, the manual steering for manually controlling the wheel turning angle
Controller and signal are connected to the switching device of the automatic control system Yu the manual steering controller, the switching
Device is connected to described turn for switching one of both of the automatic control system and manual steering controller signal
To system, and disconnect other one and the steering system.
Preferably, the automatic control system includes: control device and the detection dress for detecting car body position information
It sets, the control device signal is connected to the detection device and the switching device, and the control device is used for according to
Location information controls the steering angle of the wheel.
Preferably, the detection device includes set on the preceding magnetic stripe inductor of the car body front end and set on the vehicle
The rear magnetic stripe inductor of body rear end, the preceding magnetic stripe inductor and it is described after magnetic stripe inductor for detect the car body relative to
It is located at the distance of the track in ground, and the distance is sent to the control device, the control device is used for according to institute
Steering system described in distance controlling is stated, so that the car body is travelled along the track.
Preferably, the control device signal is connected to the drive system, and the control device is used to be turned according to described
The maximum travelling speed of the wheel is controlled to angle.
Preferably, the control device is that magnetic guides controller.
Preferably, the steering system includes that the steering motor for being connected to the wheel and signal are connected to described turn
To the steering controller of motor, the steering controller signal is connected to the switching device.
Preferably, the drive system includes that the driving motor for being connected to the wheel and signal are connected to the drive
The drive control device of dynamic motor, the drive control device signal are connected to the accelerator.
Preferably, the switching device is mechanical button, when the mechanical button is in first position, the automatic control
System signal processed is connected to the steering system, when the mechanical button is in the second position, the manual steering controller
Signal is connected to the steering system.
Preferably, the number of the mechanical button is two, when two mechanical buttons are in first position simultaneously,
The automatic control system signal is connected to the steering system, when two mechanical buttons are in the second position simultaneously,
The manual steering controller signals are connected to the steering system.
Preferably, the manual steering controller is steering wheel.
Semi-automatic carrier-and-stacker provided by the present invention is connected to drive system including steering system, drive system, signal
Accelerator, the automatic control system for automatically controlling wheel turning angle, the manual steering for manually controlling wheel turning angle
Controller and signal are connected to the switching device of automatic control system Yu manual steering controller, and switching device is for switching
One of both of automatic control system and manual steering controller signal is connected to steering system, and makes other one and turn to
System disconnects.Turn since one of both of automatic control system and manual steering controller signal can be connected to by switching device
To system, and another one is disconnected with steering system, therefore, driver can be according to demand in semi-automatic driving mode and hand
Free switching between dynamic driving mode can be automatically controled under semi-automatic dynamic model formula and turn to meet the drive demand of varying environment
To and be placed on driver more attentions on cargo, have the characteristics that mobility is high under manual mode, therefore, can
The shortcomings that combining the strong point of automatic Pilot and manual drive, and manual drive and full-automatic driving can be reduced.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 is the traveling schematic diagram of semi-automatic carrier-and-stacker specific embodiment provided by the present invention；
Fig. 2 is the schematic diagram of driver's cabin in semi-automatic carrier-and-stacker provided by the present invention.
Wherein, magnetic stripe inductor before 1-, magnetic stripe inductor after 2-, 3- track, 4- shelf, 5- steering wheel, 6- mechanical button,
7- seat.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Core of the invention is to provide a kind of semi-automatic carrier-and-stacker, can be between manual mode and semiautomatic-mode freely
Switching, to meet the drive demand of varying environment.
Referring to FIG. 1, Fig. 1 is the traveling schematic diagram of semi-automatic carrier-and-stacker specific embodiment provided by the present invention；Fig. 2 is this
Invention provides the schematic diagram of driver's cabin in semi-automatic carrier-and-stacker.
Semi-automatic carrier-and-stacker provided by the present invention is connected to drive system including steering system, drive system, signal
Accelerator, the automatic control system for automatically controlling wheel turning angle, the manual steering for manually controlling wheel turning angle
Controller and signal are connected to the switching device of automatic control system Yu manual steering controller, and switching device is for switching
One of both of automatic control system and manual steering controller signal is connected to steering system, and makes other one and turn to
System disconnects.
Wherein, steering system is used to receive turn signal, and the steering angle of wheel, drive system are controlled according to turn signal
Vehicle wheel rotation traveling is driven for receiving driving signal, and according to driving signal, accelerator can be accelerator pedal etc., accelerator letter
It number is connected to drive system, and for giving drive system to send driving signal, so that drive system driving wheel rotation traveling.
Automatic control system is used to automatically control the steering angle of wheel, so that car body is travelled according to predetermined trajectory, turns manually
It is used to manually control the steering angle of wheel to controller, so that car body is travelled according to the operation of driver, switching device is used for will
One of both of automatic control system and manual steering controller signal is connected to steering system, and makes other one and turn to
System disconnects, thus driver can the free switching between automatic driving mode and manual drive mode as needed, with
Meet the drive demand under varying environment.Since switching device is needed two in automatic control system and manual steering controller
One of person switches to be connect with steering system signal, and therefore, automatic control system and manual steering controller all should signal companies
It is connected to switching device.
It is at this time half when driver's operation switching device, which switches to automatic control system, to be connect with steering system signal
Automatic driving mode, i.e. steering system are automatically controlled by automatic control system, and manual steering controller at this time does not act as then
With, so that car body installation predetermined trajectory traveling, and the travel speed of car body is still manually controlled by driver, is existed with meeting car body
Drive demand under particular surroundings, for example, when carrier-and-stacker in the tunnel of narrower width when driving, manual operation is relatively difficult,
Semi-automatic driving mode can be used, automatic control system is switched to and is connect with steering system signal, so as in narrower width
Tunnel in the steering angle of wheel can be automatically controlled by automatic control system, to improve the safety that car body travels in tunnel
Property, while the energy of driver has been liberated, system can be automatically controlled attention for observing cargo and environment, on the other hand
After system breaks down, manual mode progress can be switched to and operated manually, do not influence to use, do not influence place.
Wherein, semiautomatic-mode is mainly used in tunnel mode, can be by reducing tunnel both racks 4
The distance between improve utilization rate of warehouse, 4 width of the shelf 100mm bigger than vehicle width of general depot or so, and manual mould
Formula is mainly used should be in cargo operation.
Therefore, semi-automatic carrier-and-stacker provided by the present invention, since switching device can turn by automatic control system and manually
Into controller, alternative one signal is connected to steering system, and another one is disconnected with steering system, therefore, driver
Can the free switching between semi-automatic driving mode and manual drive mode according to demand, to meet the driving need of varying environment
It asks.
On the basis of above-described embodiment, automatic control system includes: control device and for detecting car body position
The detection device of information, control device signal are connected to detection device and switching device, and control device is used for according to location information
Control the steering angle of wheel.
Since automatic control system needs to automatically control the steering angle of wheel, so that car body can install default route progress
Traveling, therefore, automatic control system may include that the detection device and signal for detecting car body position information are connected to detection
The control device of device, detection device are used to detect the location information of car body, and the location information of vehicle is sent to control dress
It sets, then control device sends steering order to steering system according to the location information of car body, to realize the automatic control of car body
System.
On the basis of above-described embodiment, detection device includes preceding magnetic stripe inductor 1, the Yi Jishe set on car body front end
In the rear magnetic stripe inductor 2 of body rear end, preceding magnetic stripe inductor 1 and rear magnetic stripe inductor 2 are for detecting car body relative to being located at
The distance of track 3 in ground, and distance is sent to control device, control device is used for according to distance controlling steering system,
So that car body is travelled along track 3.
In view of the specific structure of detection device and control device is arranged, it is preferred that detection device may include being arranged in vehicle
The preceding magnetic stripe inductor 1 of body front end and the rear magnetic stripe inductor 2 that body rear end is arranged in, can set in the earth's surface of the traveling of car body
Track 3 is set, track 3 can be the magnetic stripe being laid in earth's surface, for example, it can be laid with magnetic stripe in the tunnel of narrower width, thus, when
When vehicle is driven into tunnel, preceding magnetic stripe inductor 1 can sense the distance between car body and magnetic stripe with rear magnetic stripe inductor 2,
Then induction information is sent to control device, so that control device sends corresponding steering order to steering system, to realize
The purpose of adjustment wheel turning angle in real time, so that car body be made to travel according to the track for the track 3 being laid in tunnel.
It should be pointed out that car body need to be made to enter in tunnel before hand pattern switching to semiautomatic-mode, guided
It corrects, after pilot steering is located at preceding magnetic stripe inductor 1 above magnetic stripe with rear magnetic stripe inductor 2, operates switching device, switch to
Semiautomatic-mode, automatic control system can control car body and travel along track 3 later.
Car body is driven out to outside tunnel, can be switched to manual mode, completely by pilot steering, is turned to by manual steering controller control
It makes, under such mode, vehicle speed block is high-efficient, while good fluidity, is suitable for each occasion.
On the basis of above-described embodiment, control device signal is connected to drive system, and control device is used for basis and turns
To the maximum travelling speed of angle control wheel.
In view of when using semi-automatic driving mode, preceding magnetic stripe inductor 1 and rear magnetic stripe inductor 2 induction car body with
The distance between track 3, and the range information is sent to control device, then steering order is sent to turns again by control device
To certain processing time is needed during system, therefore, under the mode of semi-automatic driving, the travel speed of car body should not mistake
Fastly, therefore, control device also signal is connected to drive system, so as to using under semi-automatic driving mode, control device energy
Drive system is enough controlled, to control maximum travelling speed of the car body under semi-automatic driving mode, for example, in semi-automatic driving mould
Under formula, the travel speed of car body is no more than 6 kilometer per hours.Wherein, control device can guide controller for magnetic.
In a kind of embodiment about steering system, it is preferred that steering system may include the steering electricity for being connected to wheel
Machine and signal are connected to the steering controller of steering motor, and steering controller signal is connected to switching device.Steering controller
For receiving the steering order of automatic control system or manual steering controller, to control steering motor according to steering order
Movement, it is clear that steering motor should be connected to wheel, to drive wheel to be turned to.
On the basis of above-described embodiment, it is contemplated that the specific structure of drive system is arranged, and drive system includes connection
It is connected to the drive control device of driving motor in the driving motor and signal of wheel, drive control device signal is connected to acceleration
Device.Drive control device is used to receive the acceleration signals of accelerator, and driving motor movement then will be controlled according to acceleration signals, thus
Driving motor is set to drive vehicle wheel rotation.
On the basis of above-mentioned any embodiment, it is contemplated that the specific structure of switching device is arranged, it is preferred that switching dress
Setting to be mechanical button 6, and when mechanical button 6 is in first position, automatic control system signal is connected to steering system, works as machine
When tool button 6 is in the second position, manual steering controller signals are connected to steering system, to can pass through push button
Mode switches automatic control system and manual steering controller.Certainly, switching device is also possible to other structures, for example,
Switching device can be pull rod either electronics touching device.In addition, mechanical button 6 may be provided at the right side of seat 7 in driver's cabin
Side, to facilitate driver to operate.
On the basis of above-described embodiment, for avoid due to accidentally by or other faults lead to the switching of driving mode,
Two can be set by the number of mechanical button 6, only when two mechanical buttons 6 are in first position simultaneously, automatically controlled
System signal is connected to steering system, only when two mechanical buttons 6 are in the second position simultaneously, manual steering controller letter
Number it is connected to steering system, to substantially increase the safety of operation.
In a kind of embodiment about manual steering controller, it is preferred that manual steering controller can be steering wheel
5,5 signal of steering wheel is connected to switching device, so that 5 signal of steering wheel can be connected to by steering system by switching system, it is real
Now wheel turning angle is manually controlled.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.
Semi-automatic carrier-and-stacker provided by the present invention is described in detail above.Specific case pair used herein
The principle of the present invention and embodiment are expounded, method of the invention that the above embodiments are only used to help understand
And its core concept.It should be pointed out that for those skilled in the art, before not departing from the principle of the invention
It puts, can be with several improvements and modifications are made to the present invention, these improvement and modification also fall into the guarantor of the claims in the present invention
It protects in range.
Claims (10)
1. a kind of semi-automatic carrier-and-stacker, which is characterized in that be connected to the driving system including steering system, drive system, signal
The accelerator of system, the automatic control system for automatically controlling wheel turning angle, for manually controlling the wheel turning angle
Manual steering controller and signal are connected to the switching device of the automatic control system Yu the manual steering controller,
The switching device is connected for switching one of both of the automatic control system and manual steering controller signal
In the steering system, and disconnect other one and the steering system.
2. semi-automatic carrier-and-stacker according to claim 1, which is characterized in that the automatic control system include: control device,
And the detection device for detecting car body position information, the control device signal are connected to the detection device and described cut
Changing device, the control device are used to control the steering angle of the wheel according to the positional information.
3. semi-automatic carrier-and-stacker according to claim 2, which is characterized in that the detection device includes being set to the car body
The preceding magnetic stripe inductor (1) of front end and rear magnetic stripe inductor (2) set on the body rear end, the preceding magnetic stripe inductor
(1) with it is described after magnetic stripe inductor (2) for detect the car body relative to the track (3) being located in ground at a distance from, and will
The distance is sent to the control device, and the control device is used for the steering system according to the distance controlling, so that
The car body is travelled along the track (3).
4. semi-automatic carrier-and-stacker according to claim 3, which is characterized in that the control device signal is connected to the drive
Dynamic system, the control device are used to control the maximum travelling speed of the wheel according to the steering angle.
5. semi-automatic carrier-and-stacker according to claim 4, which is characterized in that the control device is that magnetic guides controller.
6. semi-automatic carrier-and-stacker according to claim 1, which is characterized in that the steering system includes being connected to the vehicle
The steering motor and signal of wheel are connected to the steering controller of the steering motor, and the steering controller signal is connected to
The switching device.
7. semi-automatic carrier-and-stacker according to claim 6, which is characterized in that the drive system includes being connected to the vehicle
The driving motor and signal of wheel are connected to the drive control device of the driving motor, and the drive control device signal is connected to
The accelerator.
8. semi-automatic carrier-and-stacker according to any one of claims 1 to 7, which is characterized in that the switching device is machinery
Button (6), when the mechanical button (6) is in first position, the automatic control system signal is connected to the steering system
System, when the mechanical button (6) is in the second position, the manual steering controller signals are connected to the steering system.
9. semi-automatic carrier-and-stacker according to claim 8, which is characterized in that the number of the mechanical button (6) is two,
When two mechanical buttons (6) are in first position simultaneously, the automatic control system signal is connected to the steering system
System, when two mechanical buttons (6) are in the second position simultaneously, the manual steering controller signals are connected to described turn
To system.
10. semi-automatic carrier-and-stacker according to claim 9, which is characterized in that the manual steering controller is steering wheel
(5)。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910330007.2A CN109911816A (en) | 2019-04-23 | 2019-04-23 | A kind of semi-automatic carrier-and-stacker |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910330007.2A CN109911816A (en) | 2019-04-23 | 2019-04-23 | A kind of semi-automatic carrier-and-stacker |
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| CN109911816A true CN109911816A (en) | 2019-06-21 |
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| CN201910330007.2A Pending CN109911816A (en) | 2019-04-23 | 2019-04-23 | A kind of semi-automatic carrier-and-stacker |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114667253A (en) * | 2019-11-20 | 2022-06-24 | 罗伯特·博世有限公司 | Method for operating a vehicle |
| CN114761350A (en) * | 2020-03-18 | 2022-07-15 | 克朗设备公司 | Resetting stored data relating to monitored driving parameters based on a detected initiation of a picking operation |
| US12259724B2 (en) | 2019-08-27 | 2025-03-25 | Crown Equipment Corporation | Adaptive acceleration for materials handling vehicle |
| US12411505B2 (en) | 2020-11-03 | 2025-09-09 | Crown Equipment Corporation | Adaptive acceleration for materials handling vehicle |
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