An adjustable electromagnetic suspension trolley

Abstract

The present invention relates to the technical field of auxiliary suspension equipment, and specifically discloses an adjustable electromagnetic suspension trolley, including a suspension, wherein the suspension includes a wheel frame, an electromagnetic hydraulic rod, an elastic member, a connecting rod, a vehicle-mounted device and a driving controller, and a lifting platform is also provided above the suspension, wherein the lifting platform and the suspension are hinged, the driving controller presets a pressure threshold, the pressure sensor is used to measure the pressure of the wheel on one side of the trolley on the driving road surface, and the vehicle-mounted device is used to identify whether there is an obstacle on the road when the electromagnetic suspension trolley is driving. The present invention can be used to issue a reminder to the trolley when encountering an obstacle while the trolley is driving according to the road conditions, prompting the trolley to adjust the driving direction, and ensuring the driving stability of the trolley to the greatest extent. At the same time, the lifting platform is slowly raised in advance, so that when the trolley passes an obstacle, it automatically assists in offsetting the tilt of items on the trolley caused by the road conditions, and prevents the items from sliding due to excessive tilt angles.

Description

Technical Field

[0001] The present invention belongs to the technical field of auxiliary suspension equipment, and specifically relates to an adjustable electromagnetic suspension trolley. Background Art

[0002] AGV refers to a transport vehicle equipped with electromagnetic or optical automatic navigation devices, which can travel along a specified navigation path and has safety protection and various transfer functions. It is a transport vehicle that does not require a driver in industrial applications and uses rechargeable batteries as its power source. AGVs can generally control their travel paths and behaviors through computers, or use electromagnetic tracks to set up their travel paths. The electromagnetic tracks are attached to the floor, and the unmanned transport vehicle relies on the information brought by the electromagnetic tracks to move and act.

[0003] A Chinese invention patent discloses (publication number: CN 103697104B) an adjustable electromagnetic suspension system, including a stabilizer bar, a shock absorber, a coil spring, a lower arm assembly, a torsion bar and a suspension, wherein the lower arm assembly and the shock absorber are mounted on the suspension, the torsion bar is connected to the suspension by a half-axle, a mounting frame is provided on the shock absorber, an electromagnetic piston is arranged in the shock absorber, the coil spring is located in the mounting frame, the stabilizer bar is connected to the mounting frame by a connecting rod, a first electromagnetic coil and a displacement sensor are arranged on the stabilizer bar, and magnetorheological fluid is also arranged in the shock absorber and the stabilizer bar.

[0004] The solution uses shock absorbers and stabilizer bars that adjust their damping through the strength of electromagnetics, thereby accurately controlling the damping of the suspension system, adapting the suspension system to the current road conditions and driving needs, and making the car both comfortable and sporty. However, the suspension system cannot give timely warnings based on road conditions, that is, when encountering obstacles (such as potholes, bumps, etc.), thereby minimizing the shaking of items on the car body. At the same time, since the suspension always has a certain inclination angle with the road surface, it is impossible to keep the items on the car body balanced to the greatest extent, and there is still a risk of slipping. Summary of the invention

[0005] The present invention provides an adjustable electromagnetic suspension trolley, which is used to solve the problem that when the trolley passes an obstacle, there is a large inclination angle between the trolley body and the ground, causing the items on the trolley to slide off.

[0006] In order to achieve the above-mentioned purpose, the present invention provides an adjustable electromagnetic suspension trolley, including a wheel frame, a magnetic hydraulic rod, an elastic member, a connecting rod, a vehicle-mounted device, a driving controller and a pressure sensor, wherein a shock absorber is also fixed on the wheel frame, an electromagnetic piston is provided in the shock absorber, a second coil is provided in the electromagnetic piston, a fixing frame is also provided above the shock absorber, the shock absorber is fixedly connected to the fixing frame, the elastic member is located in the fixing frame, the elastic member is hinged to the fixing frame, the electromagnetic hydraulic rod is fixedly connected to the fixing frame through a connecting rod, a first electromagnetic coil and a displacement sensor are also provided on the electromagnetic hydraulic rod, a magnetorheological fluid is provided in the electromagnetic hydraulic rod, and the displacement sensor is used to detect whether the road surface is smooth;

[0007] A lifting platform is also provided above the suspension, the lifting platform and the suspension are hinged, the driving controller presets a pressure threshold, the pressure sensor is used to measure the pressure of the wheels on one side of the trolley on the driving road surface, and transmits the pressure signal to the driving controller, and the driving controller performs identification and judgment after receiving the pressure signal. When the driving controller identifies that the pressure decreases and is lower than the pressure threshold, it controls the part of the lifting platform in the opposite direction of the wheel to slowly rise to be parallel to the road surface; when the driving controller identifies that the pressure increases and returns to the pressure threshold, it controls part of the lifting platform to descend;

[0008] The on-board device and the driving controller are located on the suspension, the on-board device is fixedly connected to the suspension, the on-board device is used to identify whether there are obstacles on the road when the electromagnetic suspension trolley is driving, and the on-board device includes an image acquisition module, a road information analysis module, an obstacle recognition module and an early warning module;

[0009] The image acquisition module is used to collect video images of the road on which the trolley is traveling and send them to the road information analysis module in real time;

[0010] The road information analysis module is used to receive the video image sent by the image acquisition module, obtain the morphological information of the object on the road through the video image, and display the relative position of the object and the trolley;

[0011] The obstacle recognition module is used to determine whether the object is an obstacle. When the object is determined to be an obstacle, the driving controller controls the warning module to issue a warning and adjust the driving direction of the trolley.

[0012] The basic principle of this scheme: When the adjustable electromagnetic suspension trolley is driving on the road, the image acquisition module will first collect the video image on the road where the trolley is driving and send it to the road information analysis module in real time. After receiving the video image, the road information analysis module can obtain the morphological information of the object in the image information based on the video image, and display the relative position between the object and the trolley. The obstacle recognition module will obtain the morphological information of the object based on the road information analysis module, and identify and judge the obstacle. When the obstacle is identified as an obstacle that hinders the trolley's driving (large protrusions, such as stones, and sunken ground, i.e. mud pits, etc.), the driving controller will issue an early warning, indicating that there is an obstacle ahead, and adjust the driving direction and speed of the trolley in time according to the distance between the obstacle and the trolley itself. At the same time, the driving controller will also control the part of the lifting platform in the opposite direction of the wheel to start to rise slowly to deal with the excessive tilt angle between the body and the frame of the trolley when passing through the obstacle.

[0013] When the obstacle is an obstacle without a large degree of concavity and convexity, such as plastic products, etc., it can be flattened by the wheels, that is, parallel to the ground. The elastic member length recognition module can identify the change in the length of the elastic member when the trolley is passing the obstacle and send the changed elastic member length information to the driving controller. After receiving the elastic member length information, the driving controller determines whether it exceeds the preset length threshold. When the elastic member length is lower than the preset length threshold, the driving controller controls part of the lifting platform to descend, so that when the lifting platform is about to pass the obstacle, the slowly rising lifting platform returns to its original state.

[0014] When the obstacle is an obstacle with a large degree of unevenness, that is, the trolley is passing through an uneven road surface, the displacement sensor on the trolley suspension will automatically detect whether the road surface on which the trolley is traveling is in a flat state. When the displacement sensor detects that the road surface is flat, there is no current in the first electromagnetic coil on the electromagnetic hydraulic rod, the magnetorheological fluid has a small viscosity and good fluidity, and the electromagnetic hydraulic rod has a small damping, so that the vehicle can maintain good comfort on a flat road surface; when the displacement sensor detects that the road surface is relatively uneven, a current will be generated in the first electromagnetic coil, and the magnetorheological fluid will have a higher viscosity and lower fluidity under the action of the magnetic field, which is manifested externally as an increase in the damping of the electromagnetic hydraulic rod, ensuring that the trolley has good mobility on a rugged road surface.

[0015] At this time, the pressure sensor on the trolley will automatically measure the pressure of the wheels on one side of the trolley on the road surface, and transmit the pressure signal to the driving controller. After receiving the pressure signal, the driving controller will identify and judge it. When the driving controller identifies that the pressure increases and reaches the pressure threshold, it controls the already raised lifting platform to descend.

[0016] The beneficial effects of this program:

[0017] (1) The trolley uses the strength of the electromagnetic to adjust its own damping shock absorber and electromagnetic hydraulic rod, thereby accurately controlling the damping of the suspension system, making the suspension system adapt to the current road conditions and driving requirements, and ensuring the safety and stability of the trolley's carrying items. That is, when the uneven road surface causes the wheels to bounce, the displacement sensor quickly transmits the signal to the driving controller, and the driving controller issues a command to send an electrical signal to the electromagnetic hydraulic rod with a first electromagnetic coil and a second electromagnetic coil installed in the electromagnetic piston in the shock absorber. The movement of the current generates a magnetic field. Under the action of the magnetic field, the liquid form of the magnetorheological fluid in the shock absorber and the electromagnetic hydraulic rod changes, increasing the damping of the shock absorber and the electromagnetic hydraulic rod, and the suspension becomes "hard". When the current becomes weak, the opposite is true, achieving the purpose of vibration reduction.

[0018] (2) The on-board equipment installed on the trolley can observe the surrounding environment of the trolley in real time, and issue an early warning when encountering obstacles. At the same time, since the frame of the trolley is separated from the platform, the lifting platform will slowly rise in advance when an obstacle is identified, so that when the trolley passes the obstacle, it automatically assists in offsetting the tilt of the items on the trolley caused by the road conditions, preventing the items from sliding off due to excessive tilt angles.

[0019] (3) By presetting the pressure threshold and the elastic member length threshold on the driving controller, and setting the pressure sensor and the elastic member length identification module, the electromagnetic suspension system of the trolley can be assisted in adjusting. When the trolley passes through an obstacle with a large degree of unevenness, the pressure sensor detects that the pressure of the wheels on one side of the trolley on the road surface gradually increases and reaches the preset pressure threshold. The driving controller will slowly lower the already raised lifting platform until it is parallel to the road surface, thereby offsetting the inclination angle between the items on the trolley lifting platform and the road surface, preventing the items from tilting with the horizontal plane and vibrating or sliding off the trolley under the action of gravity, affecting the transportation of the items. When the trolley passes through a smaller obstacle, the elastic member length identification module can identify the change in the length of the elastic member when the trolley is passing the obstacle. When the length of the elastic member after the change is lower than the preset length threshold, the driving controller controls part of the lifting platform to descend, so that the lifting platform that has been slowly rising returns to its original state before preparing to pass the obstacle. Since this type of obstacle will not cause a large degree of inclination between the vehicle body and the ground, when the obstacle recognition module recognizes the obstacle and raises the lifting platform in advance, it will affect the transportation of items when passing the obstacle (that is, the pressure sensor cannot detect the change in wheel pressure caused by the tilt of the vehicle body). Therefore, it is necessary to determine the degree of concavity of the obstacle by identifying the length of the elastic part, so that the lifting platform can rise more intelligently when the trolley passes the obstacle, ensuring the smooth transportation of items on the trolley.

[0020] Furthermore, it also includes a cylinder, which is arranged on both sides of the suspension, the free end of the cylinder is hinged to the lifting platform, and the cylinder is fixedly connected to the suspension away from the free end. The cylinder can be used to separate the lifting platform of the trolley from the suspension and push the lifting platform up or down, thereby offsetting the tilt of the items on the trolley caused by the road conditions and preventing the items from sliding down due to excessive tilt angles.

[0021] Furthermore, a temperature and humidity sensor is included. The temperature and humidity sensor is located on the suspension of the trolley. The temperature and humidity sensor is used to measure the temperature and humidity of the road environment on which the trolley is traveling, and send the temperature and humidity signal to the driving controller. After receiving the temperature and humidity signal, the temperature sensor adjusts the driving speed of the trolley. The temperature and humidity sensor can help the trolley detect the temperature and humidity of the surrounding environment during driving, thereby adjusting the driving speed of the trolley and further improving the stability of the transportation of goods.

[0022] Furthermore, the obstacle recognition module is used to recognize obstacles as protrusions and depressions based on the morphological information of the object. When the obstacle recognition module recognizes that the obstacle is a protrusion, and the height of the protrusion is higher than the height of the trolley itself, a first data signal is generated and transmitted to the driving controller. After receiving the first data signal, the driving controller controls the trolley to avoid the obstacle; when the obstacle recognition module recognizes that the obstacle is a depression, a second data signal is generated and transmitted to the driving controller. After receiving the second data signal, the driving controller controls the trolley to slow down. The obstacle recognition module recognizes the obstacle as a protrusion or a depression, which allows the trolley to adjust according to different obstacles (i.e., avoid large obstacles and slow down the speed of small obstacles), improving the stability of the trolley in transporting items.

[0023] Furthermore, the object's morphological information includes the object's size, shape, and height difference relative to the road surface. By specifying the object's morphological information, it can assist in distinguishing whether the object on the road is an obstacle or a non-obstacle, and whether the obstacle is a protrusion or a depression.

[0024] Furthermore, a protective sleeve is provided on the outer side of the electromagnetic hydraulic rod, which can provide a certain degree of protection for the electromagnetic hydraulic rod and reduce the impact force experienced when passing through uneven roads.

[0025] Furthermore, a level gauge for measuring the inclination angle of the lifting platform relative to the ground is fixed on the lifting platform. The level gauge can assist in adjusting the lifting height of the lifting platform so that the lifting platform can always remain parallel to the road surface. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1It is a schematic diagram of the three-dimensional structure of an embodiment of an adjustable electromagnetic suspension trolley of the present invention;

[0027] Figure 2 A front view of a suspension of an adjustable electromagnetic suspension trolley embodiment of the present invention;

[0028] Figure 3 The present invention is a flowchart of an adjustable electromagnetic suspension trolley embodiment. DETAILED DESCRIPTION

[0029] The following is a further detailed description through specific implementation methods:

[0030] The figure marks in the drawings of the specification include: vehicle-mounted equipment 1, lifting platform 2, cylinder 3, suspension 4, wheel frame 41, shock absorber 42, elastic member 43, electromagnetic hydraulic rod 44, magnetorheological fluid 441, displacement sensor 442, connecting rod 45, fixing frame 5, pressure sensor 6.

[0031] The embodiment is basically as shown in the attached Figure 1 , Attachment Figure 2 and attached Figure 3 As shown:

[0032] An adjustable electromagnetic suspension trolley includes a suspension 4, which is made of steel, which has low cost and can meet the use requirements of the trolley suspension. The suspension 4 includes a wheel frame 41, an electromagnetic hydraulic rod 44, an elastic member 43, a connecting rod 45, a vehicle-mounted device 1 and a driving controller. A shock absorber 42 is also fixed on the wheel frame 41. The shock absorber 42 uses a rubber shock absorber 42. An electromagnetic piston is arranged in the shock absorber 42. A second coil is arranged in the electromagnetic piston. A filter membrane is also arranged below the second coil. The pore size of the filter membrane is 3 to 10 μm. A fixing frame 5 is also arranged above the shock absorber 42. The fixing frame 5 is in a rectangular shape. A cavity is left in the fixing frame 5. The shock absorber 42 is welded to the fixing frame 5. Welding is cheaper and more stable than threaded connection. The elastic member 43 is located in the cavity of the fixing frame 5. The elastic member 43 may be a coil spring. Compared with other springs (such as leaf springs), the coil spring does not require lubrication and is not afraid of mud and dirt. The required longitudinal installation space is not large. At the same time, the mass of the spring itself is small, which can reduce the weight of the trolley itself and facilitate manufacturing. The coil spring is hinged to the fixing frame 5, and the electromagnetic hydraulic rod 44 is threadedly connected to the fixing frame 5 through a connecting rod 45. The electromagnetic hydraulic rod 44 is also provided with a first electromagnetic coil and a displacement sensor 442. The displacement sensor 442 may be a LVD high-precision displacement sensor 442 (in other embodiments, a displacement sensor 442 that can measure whether the trolley is traveling on a stable road surface may also be used).

[0033] The electromagnetic hydraulic rod 44 is provided with a magnetorheological fluid 441, which contains ferrous compound particles, which are ferrites. The mass fraction of ferrous compound particles in the magnetorheological fluid 441 is 30-40%, and the particle size of ferrous compound particles is 15-20um. The magnetorheological fluid 441 containing ferrous compound particles can show low-viscosity Newtonian fluid characteristics under zero magnetic field conditions, and show high-viscosity, low-fluidity Bingham body characteristics under strong magnetic fields. The filter membrane port allows the magnetorheological fluid 441 to pass freely, but does not allow ferrous compound particles to pass through. Ferrous compound particles can keep the magnetorheological fluid 441 with good magnetic properties. The trolley uses the strength of the electromagnetic to adjust the self-damping shock absorber 42 and the electromagnetic hydraulic rod 44, so as to accurately control the damping of the suspension system, so that the suspension system adapts to the current road conditions and driving requirements, and ensures the safety and stability of the trolley carrying goods. That is, when the uneven road surface causes the wheels to bounce, the displacement sensor 442 quickly transmits the signal to the driving controller, and the driving controller issues a command to send an electrical signal to the electromagnetic hydraulic rod 44, which is provided with a first electromagnetic coil and a second electromagnetic coil installed in the electromagnetic piston in the shock absorber. The movement of the current generates a magnetic field. Under the action of the magnetic field, the liquid form of the magnetorheological fluid in the shock absorber and the electromagnetic hydraulic rod 44 changes, which increases the damping of the shock absorber 42 and the electromagnetic hydraulic rod 44, and the suspension becomes "hard". When the current becomes weak, the opposite happens, thereby achieving the purpose of vibration reduction.

[0034] A lifting platform 2 is also provided above the suspension 4. The surface shape of the lifting platform 2 is rectangular, and its width is slightly larger than the distance between the wheels of the trolley. The lifting platform 2 can cover the entire suspension 4 of the trolley. A cylinder 3 is also provided between the lifting platform 2 and the suspension 4. The cylinder 3 is located on both sides of the suspension 4. The free end of the cylinder 3 is hinged to the lifting platform 2, and the cylinder 3 is welded to the suspension 4 away from the free end. The cylinder 3 can be used to separate the lifting platform 2 of the trolley from the suspension 4, and push the lifting platform 2 up or down, thereby offsetting the tilt of the items on the trolley caused by the road conditions, and preventing the items from sliding due to excessive tilt angles.

[0035] The driving controller also presets a threshold value for the length of the elastic part. The elastic part length identification module is used to identify the change in the length of the elastic part when the trolley passes through an obstacle and send the information of the changed elastic part length to the driving controller. After receiving the elastic part length information, the driving controller determines whether it exceeds the preset length threshold. When the length of the elastic part is lower than the preset length threshold, the driving controller controls the already raised lifting platform to descend.

[0036] The driving controller presets the pressure threshold, and the pressure sensor 6 is used to measure the pressure of the wheels on one side of the trolley on the driving road surface and transmit the pressure signal to the driving controller. After receiving the pressure signal, the driving controller identifies and judges it. When the driving controller identifies that the pressure increases and reaches the pressure threshold, it controls the partial lifting platform 2 to descend.

[0037] By presetting the pressure threshold and the elastic member length threshold on the driving controller, setting the pressure sensor 6 and the elastic member length identification module, it can be used to assist in adjusting the electromagnetic suspension system of the trolley. When the trolley passes through an obstacle with a large degree of unevenness, the pressure sensor 6 detects that the pressure of the wheels on one side of the trolley on the road surface gradually increases and reaches the preset pressure threshold. The driving controller will slowly lower the already raised lifting platform until it is parallel to the road surface, thereby offsetting the inclination angle between the items on the trolley lifting platform and the road surface, preventing the items from tilting with the horizontal plane and vibrating or sliding off the trolley under the action of gravity, affecting the transportation of items. When the trolley passes through a smaller obstacle, the elastic member length identification module can identify the change in the length of the elastic member when the trolley is passing the obstacle. When the length of the elastic member after the change is lower than the preset length threshold, the driving controller controls part of the lifting platform to descend, so that the lifting platform that has been slowly rising returns to its original state before preparing to pass the obstacle. Since this type of obstacle will not cause a large degree of inclination between the vehicle body and the ground, when the obstacle recognition module recognizes the obstacle and raises the lifting platform in advance, it will affect the transportation of items when passing the obstacle (that is, the pressure sensor cannot detect the change in wheel pressure caused by the tilt of the vehicle body). Therefore, it is necessary to determine the degree of concavity of the obstacle by identifying the length of the elastic part, so that the lifting platform can rise more intelligently when the trolley passes the obstacle, ensuring the smooth transportation of items on the trolley.

[0038] A temperature and humidity sensor is also provided on the suspension 4. The temperature and humidity sensor is used to measure the temperature and humidity of the road environment on which the trolley is traveling, and send the temperature and humidity signal to the driving controller. After receiving the temperature and humidity signal, the temperature sensor adjusts the driving speed of the trolley. The temperature and humidity sensor can help the trolley detect the temperature and humidity of the surrounding environment during driving, thereby adjusting the driving speed of the trolley and further improving the stability of the transportation of goods.

[0039] The vehicle-mounted device 1 and the driving controller are located on the suspension 4. The vehicle-mounted device 1 is threadedly connected to the suspension 4, which is convenient for replacing the vehicle-mounted device 1 at any time. The vehicle-mounted device 1 is used to identify whether there are obstacles on the road when the electromagnetic suspension trolley is driving. The vehicle-mounted device 1 includes an image acquisition module, a road information analysis module, an obstacle recognition module and an early warning module;

[0040] The image acquisition module can use a vehicle-mounted camera, which is used to capture video images on the road where the trolley is traveling and send them to the road information analysis module in real time. After the road information analysis module receives the video images sent by the image acquisition module, it will obtain the morphological information of the objects on the road through the video images. The morphological information of the objects includes the size, shape and height difference of the objects relative to the road surface. By concretizing the morphological information of the objects, it can assist in distinguishing whether the objects on the road are obstacles and non-obstacles, and whether the obstacles are protrusions or depressions. At the same time, the road information analysis module will also display the relative position of the object and the trolley, so that the trolley can make corresponding driving adjustments within a limited distance, thereby improving the driving stability of the trolley. The obstacle recognition module is used to determine whether the object is an obstacle. When the object is determined to be an obstacle, the driving controller controls the early warning module to issue an early warning and adjust the direction and speed of the trolley. The early warning module can use the sound and light alarm LTE-110J rotating alarm. The color display of the alarm is obvious, which is not only conducive to the obstacle warning of the trolley itself, but also can remind other transport vehicles that there are obstacles ahead.

[0041] The obstacle recognition module identifies obstacles as protrusions and depressions based on the morphological information of the object. When the obstacle recognition module identifies the obstacle as a protrusion, and the height of the protrusion is higher than the height of the trolley itself, a first data signal is generated and transmitted to the driving controller. After receiving the first data signal, the driving controller controls the trolley to avoid the obstacle; when the obstacle recognition module identifies the obstacle as a depression, a second data signal is generated and transmitted to the driving controller. After receiving the second data signal, the driving controller controls the trolley to slow down. The vehicle-mounted device 1 is set on the trolley, which can observe the surrounding environment of the trolley in real time. When encountering an obstacle, an early warning can be issued in advance, so that the trolley can reasonably change its driving direction and speed, which can further improve the safety and stability of the trolley carrying goods.

[0042] Specific use process: When the adjustable electromagnetic suspension trolley is driving on the road, the image acquisition module will first collect the video image on the road where the trolley is driving and send it to the road information analysis module in real time. After receiving the video image, the road information analysis module can obtain the morphological information of the object in the image information based on the video image, and display the relative position between the object and the trolley. The obstacle recognition module will obtain the morphological information of the object based on the road information analysis module, and identify and judge the obstacle. When the obstacle is identified as an obstacle that hinders the trolley from driving (large protrusions, such as stones, and sunken ground, i.e. mud pits, etc.), the driving controller will issue an early warning, indicating that there is an obstacle in front, and adjust the driving direction and speed of the trolley in time according to the distance between the obstacle and the trolley itself. At the same time, the driving controller will also control the part of the lifting platform in the opposite direction of the wheel to start to rise slowly to deal with the excessive tilt angle between the body and the frame of the trolley when passing through the obstacle.

[0043] When the obstacle is an obstacle without a large degree of concavity and convexity, such as plastic products, etc., it can be flattened by the wheels, that is, parallel to the ground. The elastic member length recognition module can identify the change in the length of the elastic member when the trolley is passing the obstacle and send the changed elastic member length information to the driving controller. After receiving the elastic member length information, the driving controller determines whether it exceeds the preset length threshold. When the elastic member length is lower than the preset length threshold, the driving controller controls part of the lifting platform to descend, so that when the lifting platform is about to pass the obstacle, the slowly rising lifting platform returns to its original state.

[0044] When the trolley passes through an uneven road surface (i.e., the road surface is uneven or there are obstacles), the displacement sensor 442 on the trolley suspension 4 will automatically detect whether the road surface on which the trolley is traveling is in a flat state. When the displacement sensor 442 detects that the road surface is flat, there is no current in the first electromagnetic coil on the electromagnetic hydraulic rod 44, and the magnetorheological fluid 441 has a small viscosity and good fluidity. The electromagnetic hydraulic rod 44 has a small damping, so that the vehicle can maintain good comfort on a flat road surface; when the displacement sensor 442 detects that the road surface is relatively uneven, a current will be generated in the first electromagnetic coil, and the magnetorheological fluid 441 will have a higher viscosity and lower fluidity under the action of the magnetic field, which is externally manifested as the damping of the electromagnetic hydraulic rod 44 becoming larger, ensuring that the trolley has good mobility on a rugged road surface.

[0045] At this time, the pressure sensor on the trolley will automatically measure the pressure of the wheels on one side of the trolley on the road surface, and transmit the pressure signal to the driving controller. After receiving the pressure signal, the driving controller will identify and judge it. When the driving controller identifies that the pressure increases and reaches the pressure threshold, it controls the already raised lifting platform to descend.

[0046] The above are only embodiments of the present invention. The invention is not limited to the fields involved in this implementation case. The common sense such as the known specific structures and characteristics in the scheme is not described in detail here. The ordinary technicians in the relevant field know all the common technical knowledge in the technical field to which the invention belongs before the application date or the priority date, can obtain all the existing technologies in the field, and have the ability to apply the conventional experimental means before that date. The ordinary technicians in the relevant field can improve and implement this scheme in combination with their own abilities under the enlightenment given by this application. Some typical known structures or known methods should not become obstacles for ordinary technicians in the relevant field to implement this application. It should be pointed out that for those skilled in the art, without departing from the structure of the present invention, several deformations and improvements can be made, which should also be regarded as the protection scope of the present invention, which will not affect the effect of the implementation of the present invention and the practicality of the patent. The protection scope required by this application shall be based on the content of its claims, and the specific implementation methods and other records in the specification can be used to explain the content of the claims.

Claims

1. An adjustable electromagnetic suspension trolley, comprising a suspension, characterized in that: The suspension includes a wheel frame, an electromagnetic hydraulic rod, an elastic member, a connecting rod, an on-board device, a driving controller and a pressure sensor. A shock absorber is also fixed on the wheel frame. An electromagnetic piston is provided in the shock absorber. A second coil is provided in the electromagnetic piston. A fixing frame is also provided above the shock absorber. The shock absorber is fixedly connected to the fixing frame. The elastic member is located in the fixing frame. The elastic member is hinged to the fixing frame. The electromagnetic hydraulic rod is fixedly connected to the fixing frame through a connecting rod. A first electromagnetic coil and a displacement sensor are also provided on the electromagnetic hydraulic rod. A magnetorheological fluid is provided in the electromagnetic hydraulic rod. The displacement sensor is used to detect whether the road surface is stable. A lifting platform is also provided above the suspension, the lifting platform is hinged to the suspension, the vehicle-mounted equipment and the driving controller are also located on the suspension, the vehicle-mounted equipment is fixedly connected to the suspension, and the vehicle-mounted equipment is used to identify whether there are obstacles on the road when the electromagnetic suspension trolley is driving, and the vehicle-mounted equipment includes an image acquisition module, a road information analysis module, an obstacle recognition module, a warning module and an elastic member length recognition module; The image acquisition module is used to collect video images of the road on which the trolley is traveling and send them to the road information analysis module in real time; The road information analysis module is used to receive the video image sent by the image acquisition module, obtain the morphological information of the object on the road through the video image, and display the relative position of the object and the trolley; The obstacle recognition module is used to determine whether the object is an obstacle. When the object is determined to be an obstacle, the driving controller controls the warning module to issue a warning, and at the same time controls the part of the lifting platform in the opposite direction of the wheel to start to rise slowly, and adjusts the driving direction and speed of the trolley; The driving controller presets a pressure threshold, and the pressure sensor is used to measure the pressure of the wheels on one side of the trolley on the driving road surface, and transmits the pressure signal to the driving controller. After receiving the pressure signal, the driving controller performs identification and judgment. When the driving controller identifies that the pressure increases and reaches the pressure threshold, it controls the already raised lifting platform to descend; The driving controller also presets a threshold value of the length of the elastic member. The elastic member length identification module is used to identify the change in the length of the elastic member when the trolley passes through an obstacle and send the changed length information of the elastic member to the driving controller. After receiving the length information of the elastic member, the driving controller determines whether it exceeds the preset length threshold. When the length of the elastic member is lower than the preset length threshold, the driving controller controls the lifting platform that has been raised to descend. It also includes a cylinder, which is arranged on both sides of the suspension, the free end of the cylinder is hinged to the lifting platform, and the cylinder is fixedly connected to the suspension away from the free end; It also includes a temperature and humidity sensor, which is located on the suspension of the trolley. The temperature and humidity sensor is used to measure the temperature and humidity of the road environment where the trolley is traveling, and send the temperature and humidity signal to the driving controller. After receiving the temperature and humidity signal, the temperature and humidity sensor adjusts the driving speed of the trolley; The obstacle recognition module is used to recognize obstacles as protrusions and depressions based on the morphological information of the object. When the obstacle recognition module recognizes that the obstacle is a protrusion and the height of the protrusion is higher than the height of the trolley itself, a first data signal is generated and transmitted to the driving controller. After receiving the first data signal, the driving controller controls the trolley to avoid the obstacle; when the obstacle recognition module recognizes that the obstacle is a depression, a second data signal is generated and transmitted to the driving controller. After receiving the second data signal, the driving controller controls the trolley to slow down.

2. The adjustable electromagnetic suspension trolley according to claim 1, characterized in that: The morphological information of the object includes the size and shape of the object and the height difference of the object relative to the driving road surface.

3. The adjustable electromagnetic suspension trolley according to claim 1, characterized in that: A protective sleeve is also provided on the outer side of the electromagnetic hydraulic rod.

4. The adjustable electromagnetic suspension trolley according to claim 1, characterized in that: The lifting platform is also fixed with a level meter for measuring the inclination angle of the lifting platform relative to the ground.

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