Lifting assembly, automated guided vehicle and anti-overturning control method

Abstract

This application provides a lifting assembly, an unmanned transport vehicle, and an anti-tipping control method. The lifting assembly includes a pallet, a lifting motor, and a scissor lift mechanism. It also includes multiple triaxial force sensors installed at multiple support points under the linkage mechanism, a ball screw at one end of the lifting motor, etc. By using the aforementioned multiple triaxial force sensors, the lifting assembly provided in this application can detect the tension and pressure of each support point among the aforementioned components in real time during the movement process. Unlike the prior art, which can only calculate the weight distribution of each component, this application detects the dynamic force of each support point. On the one hand, based on the force status of each support point, the overall control of the lifting assembly can be achieved. On the other hand, by adopting a dynamic center of gravity detection method, the control parameters can be adjusted more accurately, improving control precision and efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field, and particularly relates to a lifting assembly, an unmanned carrier and an anti-overturning control method. BACKGROUND

[0002] An unmanned carrier (Automated Guided Vehicle, AGV for short) is an automatic transportation trolley for realizing intelligent transportation, which is provided with a lifting assembly for lifting goods. Since the lifting assembly needs to complete the lifting of goods when the unmanned carrier is running, the unmanned carrier is prone to overturning due to the imbalance of the center of gravity when being lifted to a certain position.

[0003] The prior art is to adjust the center of gravity of the unmanned carrier to avoid overturning by measuring the gravity distribution of each part in the lifting assembly in advance. However, since the center of gravity of the whole unmanned carrier usually changes during running, the above-mentioned method is prone to inaccurate adjustment of the center of gravity. SUMMARY

[0004] The present application provides a lifting assembly, an unmanned carrier and an anti-overturning control method, which are used to solve the problem that the unmanned carrier is prone to overturning during running.

[0005] In a first aspect, the present application provides a lifting assembly, comprising:

[0006] a tray, a lifting motor and a scissor mechanism, wherein the lifting motor is used for power output and detection of the lifting position of the lifting assembly, and the scissor mechanism comprises a light shaft support and a connecting rod mechanism, and the light shaft support is used for fixing and supporting the connecting rod mechanism;

[0007] a plurality of three-way force sensors installed at a plurality of support points under the connecting rod mechanism, which are used for detecting the tension and compression force of each of the plurality of support points;

[0008] a ball screw installed at one end of the lifting motor and an adapter plate installed at one end of the ball screw, which are used for transmitting linear motion to the scissor mechanism;

[0009] an upper slide rail assembly installed under the tray, which is used for sliding the connecting rod mechanism in a first direction parallel to the tray;

[0010] a lower slide rail assembly, which is used for sliding the connecting rod mechanism in a second direction parallel to the tray;

[0011] a limiting piece installed in the lower slide rail assembly and a limiting sensor installed on the lower slide rail assembly, which are used for triggering a limiting signal;

[0012] The motor bracket, lead screw support, and linear guide rail are used to support the lifting motor, the ball screw, and the scissor mechanism, respectively.

[0013] In one possible implementation, the linkage mechanism includes a plurality of outer links, a plurality of inner links, and a plurality of optical axes, wherein each of the outer links is connected to each of the inner links via an optical axis.

[0014] In one possible implementation, the tray is a steel plate with a neoprene rubber coating on its upper surface, and the limiting piece is fixed in a slot of the lower rail assembly by one of the optical axes.

[0015] In one possible implementation, one end of the ball screw is connected to the lifting motor, and the other end of the ball screw is connected to the adapter plate and the linkage mechanism.

[0016] One end of the adapter plate is connected to the ball screw and the linkage mechanism, and the other end of the adapter plate is connected to the linear guide rail.

[0017] In one possible implementation, the upper slide rail assembly includes a support frame, an upper retaining ring, an upper stepped shaft, and an upper bearing, wherein the upper bearing is mounted on the upper stepped shaft and limited by the upper retaining ring.

[0018] In one possible implementation, the lower slide rail assembly includes a slide rail seat, a lower retaining ring, a lower stepped shaft, a lower bearing, and a retainer, wherein the lower bearing is mounted on the lower stepped shaft and is limited by the lower retaining ring.

[0019] Secondly, embodiments of this application provide an unmanned transport vehicle, including a chassis and any of the lifting components as described in the first aspect. The chassis includes a drive motor and a chassis assembly. The drive motor is used for power output and detecting the driving status of the unmanned transport vehicle.

[0020] In one possible implementation, the motor bracket, the lead screw support, the lower slide rail assembly, and the linear guide rail are mounted on the chassis assembly.

[0021] Thirdly, embodiments of this application provide an anti-tipping control method, applied to any of the unmanned transport vehicles described in the second aspect, comprising:

[0022] The lifting position of the lifting assembly is detected by the lifting motor.

[0023] The tensile and compressive forces at the multiple support points in the unmanned transport vehicle are detected by the multiple triaxial force sensors.

[0024] The dynamic center of gravity of the unmanned transport vehicle is calculated based on the lifting position and the tensile and compressive forces of the multiple support points.

[0025] According to the dynamic center of gravity, the anti-rollover control of the unmanned carrier vehicle is performed.

[0026] In a possible implementation, before the lifting speed and the lifting position of the unmanned carrier vehicle are detected by the lifting motor, the method further includes:

[0027] A self-check of the unmanned carrier vehicle is started.

[0028] In response to the end of the self-check of the unmanned carrier vehicle, the unmanned carrier vehicle is triggered to enter normal driving.

[0029] In a possible implementation, the anti-rollover control of the unmanned carrier vehicle according to the dynamic center of gravity includes:

[0030] According to the dynamic center of gravity, a critical inertial force of the unmanned carrier vehicle is used to calculate a whole-vehicle rollover moment of the unmanned carrier vehicle, wherein the critical inertial force is a ground friction force of the unmanned carrier vehicle when starting or emergency braking.

[0031] When the whole-vehicle rollover moment is greater than a preset safety threshold, in response to a driving state of the unmanned carrier vehicle and a lifting state of the lifting assembly, a corresponding anti-rollover strategy is used to control the unmanned carrier vehicle.

[0032] In a possible implementation, in response to the driving state of the unmanned carrier vehicle and the lifting state of the lifting assembly, the corresponding anti-rollover strategy is used to control the unmanned carrier vehicle, including any one of the following:

[0033] In response to accelerated driving of the unmanned carrier vehicle and the lifting assembly being in a lifting phase, the unmanned carrier vehicle is controlled to keep a current driving speed and a lifting height of the lifting assembly.

[0034] In response to accelerated driving of the unmanned carrier vehicle and the lifting assembly being in a lowering phase, the unmanned carrier vehicle is controlled to lower a current driving acceleration and the lifting height of the lifting assembly.

[0035] In response to decelerated driving of the unmanned carrier vehicle and the lifting assembly being in the lifting phase, the unmanned carrier vehicle is controlled to lower a current driving speed and a lifting acceleration of the lifting assembly.

[0036] In response to decelerated driving of the unmanned carrier vehicle and the lifting assembly being in the lowering phase, the unmanned carrier vehicle is controlled to keep a current driving speed and a lifting height of the lifting assembly.

[0037] In a fourth aspect, the embodiments of the present application provide a roll-over prevention control device, which is applied to any one of the unmanned carriers as described in the second aspect, and comprises:

[0038] a first detection module, configured to detect the lifting position of the lifting assembly through the lifting motor;

[0039] a second detection module, configured to detect the tension and pressure of each of the supporting points in the unmanned carrier through the plurality of three-way force sensors;

[0040] a center-of-gravity calculation module, configured to calculate the dynamic center of gravity of the unmanned carrier according to the lifting position and the tension and pressure of each of the supporting points;

[0041] a roll-over prevention control module, configured to perform roll-over prevention control on the unmanned carrier according to the dynamic center of gravity.

[0042] In a possible implementation, before the lifting speed and the lifting position of the unmanned carrier are detected through the lifting motor, the first detection module is further configured to:

[0043] start self-checking of the unmanned carrier;

[0044] in response to the end of the self-checking of the unmanned carrier, trigger the unmanned carrier to enter normal driving.

[0045] In a possible implementation, the roll-over prevention control on the unmanned carrier according to the dynamic center of gravity is performed by the roll-over prevention control module, in particular:

[0046] according to the dynamic center of gravity, calculating the overall roll-over moment of the unmanned carrier by using the critical inertial force of the unmanned carrier, wherein the critical inertial force is the ground friction force of the unmanned carrier when starting or emergency braking;

[0047] when the overall roll-over moment is greater than a preset safety threshold, performing control on the unmanned carrier by using a corresponding roll-over prevention strategy in response to the driving state of the unmanned carrier and the lifting state of the lifting assembly.

[0048] In a possible implementation, the control on the unmanned carrier by using a corresponding roll-over prevention strategy in response to the driving state of the unmanned carrier and the lifting state of the lifting assembly is performed by the roll-over prevention control module, in particular:

[0049] in response to the acceleration driving of the unmanned carrier and the lifting assembly being in the lifting phase, controlling the unmanned carrier to keep the current driving speed and the lifting height of the lifting assembly;

[0050] in response to acceleration driving of the unmanned carrier vehicle and the lifting assembly being in the lowering stage, controlling the unmanned carrier vehicle to lower the current driving acceleration and the lifting height of the lifting assembly;

[0051] in response to deceleration driving of the unmanned carrier vehicle and the lifting assembly being in the lifting stage, controlling the unmanned carrier vehicle to lower the current driving speed and the lifting acceleration of the lifting assembly;

[0052] in response to deceleration driving of the unmanned carrier vehicle and the lifting assembly being in the lowering stage, controlling the unmanned carrier vehicle to keep the current driving speed and the lifting height of the lifting assembly.

[0053] In a fifth aspect, an electronic device is provided, which includes a memory, a processor, and a computer program stored in the memory and executable by the processor, and the processor implements any of the anti-overturning control methods of the third aspect when executing the computer program.

[0054] In a sixth aspect, a computer readable storage medium is provided, which stores a computer program, and the computer program is executable by a processor to implement the steps of any of the methods of the third aspect.

[0055] The technical effects of the embodiments of the present application are as follows:

[0056] The embodiments of the present application provide a lifting assembly, an unmanned carrier vehicle, and an anti-overturning control method. The lifting assembly includes a tray, a lifting motor, and a scissor mechanism. The lifting motor is used for power output and detection of the lifting position of the lifting assembly. The scissor mechanism includes a light shaft support and a connecting rod mechanism. The light shaft support is used for fixing and supporting the connecting rod mechanism. The lifting assembly further includes a plurality of three-way force sensors installed at a plurality of support points under the connecting rod mechanism, a ball screw at one end of the lifting motor, an adapter plate installed at one end of the ball screw, an upper slide rail assembly installed under the tray, a lower slide rail assembly, a limiting piece installed in the lower slide rail assembly, a limiting sensor installed on the lower slide rail assembly, and a motor support, a screw support, and a linear guide rail. The lifting assembly provided by the embodiments of the present application detects the tension and compression forces of each support point between each component in real time during the movement of the lifting assembly by arranging the plurality of three-way force sensors. Thus, the lifting assembly is different from the prior art which can only calculate the gravity distribution of each component. The embodiments of the present application detect the dynamic force of each support point under the driving state. On the one hand, the overall control of the lifting assembly is realized according to the force condition of each support point. On the other hand, the detection method of dynamic gravity center is adopted to more accurately adjust the control parameters, improve the control precision and control efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0057] Figure 1 A structural schematic diagram of a lifting assembly provided for an embodiment of the present application;

[0058] Figure 2 A structural schematic diagram of an upper slide rail assembly and a lower slide rail assembly provided for an embodiment of the present application;

[0059] Figure 3 A motion state schematic diagram of a lifting assembly provided for an embodiment of the present application;

[0060] Figure 4 A structural schematic diagram of an unmanned carrier provided for an embodiment of the present application;

[0061] Figure 5 A flowchart of a roll-over prevention control method provided for an embodiment of the present application;

[0062] Figure 6 A force state schematic diagram of an unmanned carrier provided for an embodiment of the present application;

[0063] Figure 7 A roll-over prevention strategy schematic diagram provided for an embodiment of the present application;

[0064] Figure 8 A schematic diagram of a roll-over prevention control system provided for an embodiment of the present application;

[0065] Figure 9 A schematic diagram of a roll-over prevention control device provided for an embodiment of the present application;

[0066] Figure 10 An electronic device schematic diagram provided for an embodiment of the present application. DETAILED DESCRIPTION

[0067] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all the other embodiments obtained by those of ordinary skill in the art without any creative work fall within the protection scope of the present application.

[0068] It should be noted that in the description of the present application, "multiple" is understood as "at least two". The association relationship of "and / or" describing the associated objects means that there can be three kinds of relationships, for example, A and / or B can represent: A exists alone, A and B exist together, and B exists alone. A and B are connected, which can represent: A and B are directly connected and A and B are connected through C. In addition, in the description of the present application, "first", "second", and the like are used only for the purpose of distinguishing the description, and cannot be understood as indicating or implying relative importance, nor indicating or implying order.

[0069] Referring to Figure 1 As shown in the drawings, the embodiment of the present application provides a lifting assembly 100, comprising: a tray 1, a lifting motor 2 and a scissor mechanism (an optical axis support 3 and a connecting rod mechanism 4), wherein the lifting motor 2 is used for power output and detection of the lifting position of the lifting assembly 100, and the optical axis support 3 is used for fixing and supporting the connecting rod mechanism 4;

[0070] The lifting assembly 100 further comprises a plurality of three-way force sensors 5 installed at a plurality of support points under the connecting rod mechanism 4, for detecting the tension and compression force of each of the plurality of support points;

[0071] The lifting assembly 100 further comprises a ball screw 6 installed at one end of the lifting motor 2 and an adapter plate 7 installed at one end of the ball screw 6, for transmitting linear motion to the scissor mechanism;

[0072] The lifting assembly 100 further comprises an upper slide rail assembly 8 installed under the tray 1, for sliding the connecting rod mechanism 4 in a first direction parallel to the tray 1;

[0073] The lifting assembly 100 further comprises a lower slide rail assembly 9, for sliding the connecting rod mechanism 4 in a second direction parallel to the tray 1;

[0074] The lifting assembly 100 further comprises a limiting piece 10 installed in the lower slide rail assembly 9 and a limiting sensor 11 installed on the lower slide rail assembly 9, for triggering a limiting signal;

[0075] The lifting assembly 100 further comprises a motor support 12, a screw support 13 and a linear guide rail 14, for supporting the lifting motor 2, the ball screw 6 and the scissor mechanism respectively.

[0076] Specifically, the optical axis support 3 can be one or more, such as Figure 1In the lifting assembly 100 shown, the optical axis support 3 can have two, and is installed on the outside of the fixed side of the connecting rod mechanism 4 through a fixed coupling mode, for more stable fixing and supporting the connecting rod mechanism 4, wherein the fixed side of the connecting rod mechanism 4 is the side on which the lifting motor 2 is installed, the moving side of the connecting rod mechanism 32 is the other side of the side on which the lifting motor 2 is installed, and the fixed coupling mode is a clasp coupling.

[0077] The limit sensor 11 can be one or more, such as Figure 1 In the lifting assembly 100 shown, the limit sensor 11 can have two, and is installed on the lower slide rail assembly 9 through a fixed coupling mode, wherein the fixed coupling mode is a screw coupling.

[0078] The plurality of three-way force sensors 5 are at least two, and are respectively installed at a plurality of support points under the connecting rod mechanism 4, such as Figure 1 In the lifting assembly 100 shown, the plurality of support points are four support points located on the fixed side and the moving side of the connecting rod mechanism 4, and the plurality of three-way force sensors 5 are four in total.

[0079] The lifting assembly 100 provided by the embodiment of the present application realizes the scissor-type motion through the tray 1, the lifting motor 2 and other components, and realizes real-time detection of the tension and compression forces of each of the plurality of support points in the lifting assembly 100 through the plurality of three-way force sensors 5 installed at the plurality of support points under the connecting rod mechanism 4 in the lifting assembly 100, so as to detect the dynamic balance of the lifting assembly 100 in the motion state. On the one hand, the overall control of the lifting assembly 100 is realized according to the force conditions of each of the support points, and on the other hand, the detection mode of the dynamic center of gravity is adopted to more accurately adjust the control parameters, thereby improving the control precision and the control efficiency.

[0080] Further, referring to Figure 1 As shown, in a possible implementation, in the lifting assembly 100, the connecting rod mechanism 4 includes a plurality of outer connecting rods 41, a plurality of inner connecting rods 42 and a plurality of optical axes 43, wherein each of the outer connecting rods 41 is coupled with each of the inner connecting rods 42 through one of the optical axes 43.

[0081] In a possible implementation, the tray 1 is a steel plate coated with neoprene on the upper surface, for placing a basket or a lifting shelf, and the limit piece 10 is fixed in the clamping groove of the lower slide rail assembly 9 through one of the optical axes 43.

[0082] In a possible implementation, one end of the ball screw 6 is coupled with the lifting motor 2, and the other end of the ball screw 6 is coupled with the adapter plate 7 and the connecting rod mechanism 4.

[0083] One end of the adapter plate 7 is connected to the ball screw 6 and the linkage mechanism 4, and the other end of the adapter plate 7 is connected to the linear guide rail 14.

[0084] Specifically, the plurality of outer connecting rods 41, the plurality of inner connecting rods 42 and the plurality of optical shafts 43 are at least two, and exemplarily, in the lifting assembly 100, the plurality of outer connecting rods 41 are four in total, the plurality of inner connecting rods 42 are two in total, and the plurality of optical shafts 43 are five in total, wherein each outer connecting rod 41 is connected to one inner connecting rod 42 through one optical shaft 43, such as through a snap spring, and in the lifting assembly 100, the plurality of outer connecting rods 41, the plurality of inner connecting rods 42 and the plurality of optical shafts 43 are used to convert the horizontal movement of themselves into the vertical movement of the scissor mechanism.

[0085] The lifting assembly 100 provided by the embodiment of the present application converts the upward and downward movement of the linkage mechanism 4 through the plurality of outer connecting rods 41, the plurality of inner connecting rods 42 and the plurality of optical shafts 43, and fixes the limiting piece 10 in the clamping groove of the lower slide rail assembly 9 through one optical shaft 43, so that the limiting piece 10 moves forward and backward in the clamping groove along one optical shaft 43, thereby triggering a limiting signal when being at a specific position in the clamping groove, and further, the adapter plate 7 is connected to the linkage mechanism 4 to move one optical shaft 43 and the ball screw 6, so as to transmit the movement of the ball screw 6 to the scissor mechanism.

[0086] Further, referring to Figure 2 In a possible implementation, the upper slide rail assembly 8 includes a support frame 81, an upper snap spring 82, an upper stepped shaft 83 and an upper bearing 84, the upper bearing 84 is installed on the upper stepped shaft 83 and is limited by the upper snap spring 82.

[0087] In a possible implementation, the lower slide rail assembly 9 includes a slide rail seat 91, a lower snap spring 92, a lower stepped shaft 93, a lower bearing 94 and a retainer 95, the lower bearing 94 is installed on the lower stepped shaft 93 and is limited by the lower snap spring 94.

[0088] The lifting assembly 100 provided by the embodiment of the present application, the upper slide rail assembly 8 is composed of the support frame 81, the upper clamping spring 82, the upper stepped shaft 83 and the upper bearing 84, and the upper bearing 84 is installed on the upper stepped shaft 83 and is limited by the upper clamping spring 82, so that the upper bearing 84 can make linear motion in the sliding groove between the support frame 81 and the tray 1 along one of the optical shafts 43 connected, that is, slide in the first direction parallel to the tray 1; further, the lower slide rail assembly 9 is composed of the slide rail seat 91, the lower clamping spring 92, the lower stepped shaft 93, the lower bearing 94 and the retainer 95, and the lower bearing 94 is installed on the lower stepped shaft 93 and is limited by the lower clamping spring 92, so that the lower bearing 94 can make linear motion in the sliding groove between the slide rail seat 91 and the retainer 95 along one of the optical shafts 43 connected, that is, slide in the second direction parallel to the tray 1.

[0089] Referring to Figure 3 It can be seen from the motion state diagram of the lifting assembly 100 that the lifting assembly 100 can slide in the first direction parallel to the tray 1 through the installed upper slide rail assembly 8, that is, slide on the upper moving side of the connecting rod mechanism 4; the lifting assembly 100 can also slide in the second direction parallel to the tray 1 through the installed lower slide rail assembly 9, that is, slide on the lower moving side of the connecting rod mechanism 4; further, the lifting assembly 100 can also move in the vertical direction through the scissor mechanism, that is, slide up and down the connecting rod mechanism 4.

[0090] Further, referring to Figure 4 The application provides an unmanned carrier, which comprises a chassis 200 and any lifting assembly 100 as described above, and the chassis 200 comprises a driving motor 210 and a chassis assembly 220, and the driving motor 210 is used for power output and detecting the driving state of the unmanned carrier.

[0091] In a possible implementation, in any lifting assembly 100 as described above, the motor support 12, the screw rod support 13, the lower slide rail assembly 9 and the linear guide rail 14 are installed on the chassis assembly 220, so as to more stably fix the lifting assembly 100 on the chassis assembly 220.

[0092] Further, referring to Figure 5 The application further provides a control method for preventing overturning of any unmanned carrier as described above, which can be executed by an electronic device (for example, a mainboard) in the unmanned carrier, and specifically comprises the following steps.

[0093] S501: detecting the lifting position of the lifting assembly by the lifting motor.

[0094] S502: Detecting the tension and pressure of each support point in the unmanned carrier through the plurality of three-way force sensors.

[0095] S503: Calculating the dynamic center of gravity of the unmanned carrier according to the lifting position and the tension and pressure of each support point.

[0096] S504: Anti-overturning control of the unmanned carrier according to the dynamic center of gravity.

[0097] Specifically, the lifting position is the current lifting height position and the moving side horizontal position of the lifting assembly, wherein the lifting height position and the moving side position can be obtained by reading the encoder of the lifting motor, as shown in the following formulas (1)-(4):

[0098] H = 2l x (sin θ2-sin θ1) (1)

[0099] Δx = n x P = l x (cos θ1-cos θ2) (2)

[0100]

[0101] x2 = x1 + Δx (4)

[0102] Wherein, H represents the current lifting height position of the lifting assembly; x2 represents the current moving side horizontal position of the lifting assembly; θ1 and θ2 are the initial angle and the lifting angle of the connecting rod mechanism of the lifting assembly with the horizontal plane; l is the connecting rod length of the connecting rod mechanism; Δx is the moving distance of the lifting assembly in the horizontal direction; P is the lead; n is the number of rotations of the lifting motor; n1 is the cumulative value of the encoder of the lifting motor; n0 is the single circle calculation value of the encoder; x1 is the initial position of the moving side of the lifting assembly.

[0103] It can be seen that, by the lifting position calculated above and the tension and pressure of each support point detected by the plurality of three-way force sensors, the motion center of gravity of the unmanned carrier under the current condition is calculated and adjusted, so as to improve the adjustment accuracy and efficiency of the motion state of the unmanned carrier and realize more accurate anti-overturning control.

[0104] In one possible implementation, before detecting the lifting speed and the lifting position of the unmanned carrier by the lifting motor, a self-check is started for the unmanned carrier, and when the self-check is completed, the unmanned carrier is triggered to enter normal driving, so as to ensure that the vehicle is in full speed when the control method is executed, and to avoid inaccurate detection of driving speed and lifting speed due to abnormal starting or driving; at the same time, the unmanned carrier in normal driving can receive task instructions from the platform, the server or other external devices, and execute the received task instructions.

[0105] In a possible implementation, the force condition of the unmanned carrier is as shown in Figure 6 FIG. 1, i.e. when performing a task, the dynamic balance of the unmanned carrier is as shown in the following formulas (5)-(9):

[0106] Ph=G a l (5)

[0107] P=-F f =m a v′ x (6)

[0108] G1+G2+G3+G4+G5=G a (7)

[0109] G1|AO|+G2|BO|+G3|CO|+G4|DO|+G5|EO|=G a |FO| (8)

[0110] l=|FO| (9)

[0111] wherein P is a critical inertial force; h is an inertial force arm; G a is a whole vehicle gravity load; l is a whole vehicle gravity load arm; m a is a whole vehicle weight; v′ x is a driving acceleration; G1, G2, G3, G4 are respectively the tension and compression forces of the multiple support points; G5 is a chassis component mass; |AO|, |BO|, |CO|, |DO|, |EO| are respectively the force arms of G1, G2, G3, G4, G5 to point O; O is the contact point between the front universal wheel of the unmanned carrier chassis and the ground.

[0112] Based on the above dynamic balance, according to the measured dynamic center of gravity, the ground friction force of the unmanned carrier when starting or emergency braking is used as the critical inertial force, the whole vehicle overturning moment of the unmanned carrier is calculated, and when the whole vehicle overturning moment is greater than the preset safety threshold (i.e. the center of gravity is unbalanced), the unmanned carrier is controlled by using the corresponding anti-overturning strategy in response to the driving state of the unmanned carrier and the lifting state of the lifting assembly.

[0113] Optionally, referring to Figure 7 FIG. 2, the above anti-overturning strategy includes:

[0114] (1) in response to the acceleration driving of the unmanned carrier and the lifting assembly being in the lifting stage, the current driving speed of the unmanned carrier and the lifting height of the lifting assembly are controlled.

[0115] Exemplarily, when the unmanned carrier in the task is in acceleration driving and the lifting assembly is in the lifting stage, the current driving speed of the unmanned carrier and the lifting height of the lifting assembly are maintained until the task point.

[0116] (2) In response to acceleration driving of the unmanned carrier and the lifting assembly being in the lowering stage, the current driving acceleration of the unmanned carrier and the lifting height of the lifting assembly are controlled to be reduced.

[0117] Exemplarily, when the unmanned carrier in the task is in acceleration driving and the lifting assembly is in the lowering stage, the current driving acceleration of the unmanned carrier and the lifting speed of the lifting assembly are reduced to reduce the overturning moment of the whole vehicle, so as to ensure that it is not greater than the preset safety threshold.

[0118] (3) In response to deceleration driving of the unmanned carrier and the lifting assembly being in the lifting stage, the current driving speed of the unmanned carrier and the lifting acceleration of the lifting assembly are controlled to be reduced.

[0119] Exemplarily, when the unmanned carrier in the task is in deceleration driving and the lifting assembly is in the lifting stage, the current driving speed of the unmanned carrier and the lifting acceleration of the lifting assembly are reduced to reduce the overturning moment of the whole vehicle, so as to ensure that it is not greater than the preset safety threshold.

[0120] (4) In response to deceleration driving of the unmanned carrier and the lifting assembly being in the lowering stage, the current driving speed of the unmanned carrier and the lifting height of the lifting assembly are controlled to be maintained.

[0121] Exemplarily, when the unmanned carrier in the task is in acceleration driving and the lifting assembly is in the lifting stage, the current driving speed of the unmanned carrier and the lifting height of the lifting assembly are maintained until the task point.

[0122] It can be seen that the anti-overturning control method provided by the embodiment of the application detects the lifting position of the lifting assembly through the lifting motor, detects the tension and pressure of each support point in the unmanned carrier through the plurality of three-way force sensors, further calculates the dynamic center of gravity of the unmanned carrier according to the lifting position and the tension and pressure of each support point, and thus, unlike the prior art, the overall dynamic imbalance of the unmanned overturning vehicle is detected. On the one hand, the dynamic control of the unmanned overturning vehicle is realized according to the stress conditions of each support point, and on the other hand, the detection method of the dynamic center of gravity is adopted to more accurately adjust the control parameters, improve the control precision and control efficiency.

[0123] Referring to Figure 8Corresponding to the above anti-overturning control method, the embodiment of the application provides an anti-overturning control system, which is applied to the above unmanned carrier and comprises a mainboard 801, a left side driver 802, a right side driver 803, a lifting driver 804, a running motor 805, a lifting motor 806 and four three-way force sensors 807. The running motor 805 detects the running speed of the unmanned carrier and transmits the running speed to the mainboard 801. The lifting motor 806 detects the lifting position and the lifting speed of the unmanned carrier and transmits the lifting position and the lifting speed to the mainboard 801. The mainboard 801 executes the above anti-overturning strategy according to the tension and pressure detected by the four three-way force sensors respectively and transmits corresponding control parameters to the left side driver 802, the right side driver 803 and the lifting driver 804, so as to realize anti-overturning control of the unmanned carrier.

[0124] Further, referring to Figure 9 The embodiment of the application also provides an anti-overturning control device for executing the above anti-overturning control method, which comprises a first detection module 901, a second detection module 902, a gravity center calculation module 903 and an anti-overturning control module 904.

[0125] The first detection module 901 is used for detecting the lifting position of the lifting assembly through the lifting motor.

[0126] The second detection module 902 is used for detecting the tension and pressure of each support point in the unmanned carrier through the plurality of three-way force sensors.

[0127] The gravity center calculation module 903 is used for calculating the dynamic gravity center of the unmanned carrier according to the lifting position and the tension and pressure of each support point.

[0128] The anti-overturning control module 904 is used for performing anti-overturning control on the unmanned carrier according to the dynamic gravity center.

[0129] In a possible implementation, before detecting the lifting speed and the lifting position of the unmanned carrier through the lifting motor, the first detection module 901 is further used for:

[0130] starting self-checking of the unmanned carrier;

[0131] in response to the end of self-checking of the unmanned carrier, triggering the unmanned carrier to enter normal running.

[0132] In a possible implementation, performing anti-overturning control on the unmanned carrier according to the dynamic gravity center, the anti-overturning control module 904 is specifically used for:

[0133] According to the dynamic center of gravity, a critical inertial force of the unmanned carrier vehicle is adopted to calculate a whole vehicle overturning moment of the unmanned carrier vehicle, wherein the critical inertial force is a ground friction force of the unmanned carrier vehicle when starting or emergency braking;

[0134] When the whole vehicle overturning moment is greater than a preset safety threshold, a corresponding anti-overturning strategy is adopted to control the unmanned carrier vehicle according to a driving state of the unmanned carrier vehicle and a lifting state of the lifting assembly.

[0135] In a possible implementation, the corresponding anti-overturning strategy is adopted to control the unmanned carrier vehicle according to the driving state of the unmanned carrier vehicle and the lifting state of the lifting assembly, and the anti-overturning control module 904 is specifically configured to perform any one of the following:

[0136] According to the acceleration driving of the unmanned carrier vehicle and the lifting assembly being in the lifting stage, the current driving speed of the unmanned carrier vehicle and the lifting height of the lifting assembly are controlled to be maintained;

[0137] According to the acceleration driving of the unmanned carrier vehicle and the lifting assembly being in the lowering stage, the current driving acceleration of the unmanned carrier vehicle and the lifting height of the lifting assembly are controlled to be reduced;

[0138] According to the deceleration driving of the unmanned carrier vehicle and the lifting assembly being in the lifting stage, the current driving speed of the unmanned carrier vehicle and the lifting acceleration of the lifting assembly are controlled to be reduced;

[0139] According to the deceleration driving of the unmanned carrier vehicle and the lifting assembly being in the lowering stage, the current driving speed of the unmanned carrier vehicle and the lifting height of the lifting assembly are controlled to be maintained.

[0140] Based on the same inventive concept as the above application embodiments, the present application embodiment further provides an electronic device, which can be used for anti-overturning control. In an embodiment, the electronic device can be a server, a terminal device or other electronic device. In this embodiment, the structure of the electronic device can be as shown in Figure 10 The electronic device can include a memory 1001, a communication interface 1003 and one or more processors 1002.

[0141] The memory 1001 is used to store computer programs executed by the processor 1002. The memory 1001 can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system and programs required for running instant messaging functions, etc.; and the data storage area can store various instant messaging information and operation instruction sets, etc.

[0142] Memory 1001 may be volatile memory, such as random-access memory (RAM); memory 1001 may also be non-volatile memory, such as read-only memory, flash memory, hard disk drive (HDD), or solid-state drive (SSD); or memory 1001 may be any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but is not limited thereto. Memory 1001 may be a combination of the above-mentioned memories.

[0143] The processor 1002 may include one or more central processing units (CPUs) or digital processing units, etc. The processor 1002 is used to implement the aforementioned anti-tipping control method when it calls the computer program stored in the memory 1001.

[0144] Communication interface 1003 is used to communicate with terminal devices and other servers.

[0145] This application embodiment does not limit the specific connection medium between the memory 1001, the communication interface 1003, and the processor 1002. This application embodiment... Figure 10 The memory 1001 and the processor 1002 are connected via a bus 1004, and the bus 1004 is in Figure 10 The connections between other components are shown in thick lines only and are not intended to be limiting. Bus 1004 can be divided into address bus, data bus, control bus, etc. For ease of illustration, Figure 10 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0146] Based on the same inventive concept, embodiments of this application also provide a storage medium storing computer instructions that, when executed on a computer, cause the computer to perform an anti-tipping control method described above.

[0147] It should be noted that although several units or sub-units of the device have been mentioned in the detailed description above, this division is merely exemplary and not mandatory. In fact, according to embodiments of this application, the features and functions of two or more units described above can be embodied in one unit. Conversely, the features and functions of one unit described above can be further divided and embodied by multiple units.

[0148] Moreover, although the operations of the method(s) herein can be described in a particular, sequential order, this order is not meant to be a limitation and one or more of the operations described can be performed in different orders or omitted. Additionally or alternatively, one or more of the operations described can be performed concurrently or with concurrent execution. Further, although the individual steps of the methods herein can be described as being performed by one or more entities, this need not be the case in all instances. Rather, the steps of the methods can be performed by one or more entities in any suitable order and / or concurrently.

[0149] The embodiment of the present application provides a lifting assembly, a unmanned carrier and an anti-overturning control method, the lifting assembly comprises a tray, a lifting motor and a scissor mechanism, the lifting motor is used for power output and detecting a lifting position of the lifting assembly, the scissor mechanism comprises a light shaft support and a connecting rod mechanism, the light shaft support is used for fixing and supporting the connecting rod mechanism; the lifting assembly further comprises a plurality of three-way force sensors installed at a plurality of supporting points under the connecting rod mechanism, a ball screw at one end of the lifting motor, an adapter plate installed at one end of the ball screw, an upper slide rail assembly installed under the tray, a lower slide rail assembly, a limiting sheet installed in the lower slide rail assembly, a limiting sensor installed on the lower slide rail assembly, and a motor support, a screw support and a linear guide rail, namely, the lifting assembly provided by the embodiment of the present application, through the plurality of three-way force sensors, the pulling and pressing forces of the plurality of supporting points between the components are detected in real time during the movement of the lifting assembly, so that the dynamic force of each supporting point is detected, on the one hand, according to the force conditions of each supporting point, the overall dynamic control of the lifting assembly is realized, on the other hand, the detection mode of the dynamic center of gravity is adopted, the control parameters are more accurately adjusted during the operation, and the control precision and the control efficiency are improved.

[0150] Those skilled in the art will appreciate that embodiments of the present application can be readily used as a method, a system or a computer program product. Accordingly, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application can take the form of a computer program product on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROMs, optical storage devices, etc.) embodying computer-readable program code.

[0151] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flow or blocks Figure 1 means for functionally implementing the steps in the flowchart block or blocks.

[0152] The program code may, through the use of program components, be implemented in a variety of ways, including as a stand-alone software package, as a software package embedded in a larger software package, or as a series of web services APIs. Typically, the program components would be implemented in a high level procedural or object oriented programming language, and would typically be stored in a computer readable storage medium, such as on magnetic disk, magnetic tape, or optical disk, or in a computer memory such as RAM or ROM. The program code may, in a variety of ways, be structured to implement the functions described herein.

[0153] In this regard, the computing devices may, in some embodiments, include one or more processing units and system memory, and a storage device. The processing units can be any central processing unit (CPU), processor, or microprocessor, as such terms are known in the art. Although illustrated as a single processor in FIG. 1, it should be understood that the computing devices may, in some embodiments, include one or more processors in one or more computing devices. Also, the one or more processing units can each include one or more processors.

[0154] These computer program instructions may, in some embodiments, also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instructions which implement the flowchart block or blocks. Figure 1 one or more flow or blocks Figure 1 means for functionally implementing the steps in the flowchart block or blocks.

[0155] The computer program instructions may, in some embodiments, also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flow or blocks Figure 1 means for functionally implementing the steps in the flowchart block or blocks.

[0156] Obviously, many modifications and variations of the present application are possible in light of the above teachings. It is, therefore, to be understood that within the scope of the appended claims and their equivalents, the application can be practiced otherwise than as specifically described.

Claims

1. A lifting assembly, characterized by, The application relates to a lifting mechanism for an unmanned vehicle, comprising: a tray, a lifting motor for power output and detection of a lifting position of the lifting assembly, the lifting position being a current lifting height position and a moving side horizontal position of the lifting assembly, and a scissor mechanism comprising a light shaft support and a connecting rod mechanism, the light shaft support being used for fixing and supporting the connecting rod mechanism; a plurality of three-way force sensors installed at a plurality of supporting points under the connecting rod mechanism, used for detecting tension and pressure of each of the supporting points, so that a mainboard in the unmanned vehicle calculates a dynamic gravity center of the unmanned vehicle according to the lifting position and the tension and pressure of each of the supporting points; according to the dynamic gravity center, critical inertial force of the unmanned vehicle is adopted to calculate a whole vehicle overturning moment of the unmanned vehicle, wherein the critical inertial force is ground friction force of the unmanned vehicle when starting or emergency braking; when the whole vehicle overturning moment is greater than a preset safety threshold, in response to acceleration driving of the unmanned vehicle and the lifting assembly being in a lifting stage, the unmanned vehicle is controlled to keep a current driving speed and a lifting height of the lifting assembly; or, in response to acceleration driving of the unmanned vehicle and the lifting assembly being in a lowering stage, the unmanned vehicle is controlled to reduce a current driving acceleration and the lifting height of the lifting assembly; or, in response to deceleration driving of the unmanned vehicle and the lifting assembly being in the lifting stage, the unmanned vehicle is controlled to reduce the current driving speed and lifting acceleration of the lifting assembly; or, in response to deceleration driving of the unmanned vehicle and the lifting assembly being in the lowering stage, the unmanned vehicle is controlled to keep the current driving speed and the lifting height of the lifting assembly; a ball screw installed at one end of the lifting motor and an adapter plate installed at one end of the ball screw, used for transmitting linear motion to the scissor mechanism; an upper slide rail assembly installed under the tray, used for sliding the connecting rod mechanism in a first direction parallel to the tray; a lower slide rail assembly, used for sliding the connecting rod mechanism in a second direction parallel to the tray; a limiting piece installed in the lower slide rail assembly and a limiting sensor installed on the lower slide rail assembly, used for triggering a limiting signal; a motor support, a screw support and a linear guide rail, used for supporting the lifting motor, the ball screw and the scissor mechanism respectively.

2. The lift assembly of claim 1, wherein, The connecting rod mechanism comprises a plurality of outer connecting rods, a plurality of inner connecting rods and a plurality of light shafts, wherein each outer connecting rod is coupled with each inner connecting rod through one light shaft.

3. The lift assembly of claim 2, wherein, The tray is a steel plate with neoprene on the upper surface, and the limiting piece is fixed in a clamping groove of the lower slide rail assembly through one light shaft.

4. The lift assembly of claim 1, wherein, One end of the ball screw is coupled with the lifting motor, and the other end of the ball screw is coupled with the adapter plate and the connecting rod mechanism; One end of the adapter plate is coupled with the ball screw and the connecting rod mechanism, and the other end of the adapter plate is coupled with the linear guide rail.

5. The lift assembly of claim 1, wherein, The upper slide rail assembly comprises a support frame, an upper clamping spring, an upper stepped shaft and an upper bearing, wherein the upper bearing is installed on the upper stepped shaft and is limited by the upper clamping spring.

6. The lift assembly of claim 1, wherein, The lower slide rail assembly comprises a slide rail seat, a lower clamping spring, a lower stepped shaft, a lower bearing and a retainer, wherein the lower bearing is installed on the lower stepped shaft and is limited by the lower clamping spring.

7. An unmanned transport vehicle, characterized in that, The lifting assembly comprises a chassis and a lifting assembly as claimed in any one of claims 1-6, wherein the chassis comprises a traveling motor and a chassis assembly, and the traveling motor is used for power output and detecting the traveling state of the unmanned carrier.

8. The truck of claim 7, wherein, The motor support, the screw rod support, the lower slide rail assembly and the linear guide rail are installed on the chassis assembly.

9. A roll-over prevention control method characterized by comprising: The unmanned carrier as claimed in claim 7 or 8 comprises: The lifting position of the lifting assembly is detected by the lifting motor, wherein the lifting position is the current lifting height position and the moving side horizontal position of the lifting assembly; The pulling and pressing forces of the plurality of support points in the unmanned carrier are detected by the plurality of three-way force sensors; The dynamic center of gravity of the unmanned carrier is calculated according to the lifting position and the pulling and pressing forces of the plurality of support points; The overall overturning moment of the unmanned carrier is calculated according to the dynamic center of gravity and the critical inertial force of the unmanned carrier, wherein the critical inertial force is the ground friction force of the unmanned carrier when starting or emergency braking; When the overall overturning moment is greater than a preset safety threshold, the current traveling speed of the unmanned carrier and the lifting height of the lifting assembly are controlled in response to the accelerating travel of the unmanned carrier and the lifting stage of the lifting assembly, or the current traveling acceleration of the unmanned carrier and the lifting height of the lifting assembly are controlled in response to the accelerating travel of the unmanned carrier and the lowering stage of the lifting assembly, or the current traveling speed of the unmanned carrier and the lifting acceleration of the lifting assembly are controlled in response to the decelerating travel of the unmanned carrier and the lifting stage of the lifting assembly, or the current traveling speed of the unmanned carrier and the lifting height of the lifting assembly are controlled in response to the decelerating travel of the unmanned carrier and the lowering stage of the lifting assembly.

10. The method of claim 9, wherein, Before the lifting speed and the lifting position of the unmanned carrier are detected by the lifting motor, the following steps are further included: Self-checking of the unmanned carrier is performed; The unmanned carrier is triggered to enter normal travel in response to the end of the self-checking of the unmanned carrier.

11. A roll-over prevention control device characterized by comprising: The unmanned carrier as claimed in claim 7 or 8 comprises: A first detection module is configured to detect the lifting position of the lifting assembly by the lifting motor, wherein the lifting position is the current lifting height position and the moving side horizontal position of the lifting assembly; A second detection module is configured to detect the pulling and pressing forces of the plurality of support points in the unmanned carrier by the plurality of three-way force sensors; A center of gravity calculation module is configured to calculate the dynamic center of gravity of the unmanned carrier according to the lifting position and the pulling and pressing forces of the plurality of support points; and A center of gravity calculation module is configured to calculate the dynamic center of gravity of the unmanned carrier according to the lifting position and the pulling and pressing forces of the plurality of support points. The overturning prevention control module is configured to calculate a whole vehicle overturning moment of the unmanned carrier based on the dynamic center of gravity and a critical inertial force of the unmanned carrier, wherein the critical inertial force is a ground friction force of the unmanned carrier when starting or emergency braking. When the whole vehicle overturning moment is greater than a preset safety threshold, in response to acceleration driving of the unmanned carrier and the lifting assembly being in a lifting stage, the unmanned carrier is controlled to keep a current driving speed and a lifting height of the lifting assembly; or, in response to acceleration driving of the unmanned carrier and the lifting assembly being in a lowering stage, the unmanned carrier is controlled to lower a current driving acceleration and the lifting height of the lifting assembly; or, in response to deceleration driving of the unmanned carrier and the lifting assembly being in the lifting stage, the unmanned carrier is controlled to lower the current driving speed and a lifting acceleration of the lifting assembly; or, in response to deceleration driving of the unmanned carrier and the lifting assembly being in the lowering stage, the unmanned carrier is controlled to keep the current driving speed and the lifting height of the lifting assembly.

12. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor implements the method of claim 9 or 10 when executing the computer program.

13. A computer readable storage medium having stored thereon a computer program, characterized in that, The computer program, when executed by the processor, implements the steps of the method of claim 9 or 10.

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