A heavy load equipment handling method based on double-differential carrier tank

Abstract

The application discloses a heavy load equipment carrying method based on double-differential carrying tanks, and relates to the technical field of heavy load equipment carrying. The method comprises the following steps: installing two driving tanks and two driven tanks on a heavy load equipment; correcting the rotation angle of the driving tanks and the heavy load equipment to zero; judging whether the motion pose of the heavy load equipment needs to be converted according to an application scene; if yes, selecting a differential motion mode, and if not, selecting a synchronous motion mode; adjusting the initial poses of the two driving tanks according to the selected motion mode; making the driving tanks carry the heavy load equipment according to the selected motion mode; judging whether the heavy load equipment reaches a target position; if not, returning to the step of judging whether the motion pose of the heavy load equipment needs to be converted until the heavy load equipment reaches the target position; and if yes, ending the carrying. The combination of the synchronous motion mode and the differential motion mode can realize flexible carrying of the heavy load equipment.

Description

Technical Field

[0001] This invention belongs to the field of heavy-duty equipment handling technology, specifically relating to a method for handling heavy-duty equipment based on a dual-differential-speed transport tank. Background Technology

[0002] In engineering sites such as container transshipment at docks and power grid substation construction, the lifting and handling of heavy-duty and large-sized equipment is very common. When using traditional gantry cranes and cranes for handling, there are disadvantages such as high cost and large space occupation. Moreover, in some limited spaces such as the interior of substations, when handling and adjusting the position of equipment, large forklifts are often not suitable due to the size of the space or road conditions.

[0003] Electric transport tanks occupy little space and are generally used in conjunction with driven tanks, employing a "one main tank with two driven tanks" or "one main tank with one driven tank" configuration to suit the aforementioned working conditions. However, the load-bearing and driving capacity of a single transport tank is limited. As the weight and size of the equipment increase, the overall size of the transport tank also increases, leading to increased manufacturing costs. The increased size of the transport tank also results in inconvenient transportation. Furthermore, the turning radius in this configuration is related to the length of the equipment. When the equipment is long, the turning radius required for overall transport is very large, which cannot be met within the limited space. In addition, as the weight and size of the equipment increase, the equipment's steering and lateral / longitudinal switching flexibility becomes poor, making omnidirectional movement impossible, and the positioning time during the reciprocating adjustment process is longer. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide a method for transporting heavy-duty equipment based on a dual differential speed transport tank, which is suitable for transporting heavy-duty equipment and can quickly and flexibly perform equipment turning and lateral and longitudinal position switching.

[0005] This invention provides the following technical solution:

[0006] A method for handling heavy-duty equipment based on a dual-differential-speed transport tank includes:

[0007] S1: Arrange two active tanks and two passive tanks according to the set positions, and install the heavy equipment to be transported with the arranged active and passive tanks.

[0008] S2: Correct the turning angle of the active tank and heavy equipment to zero;

[0009] S3: Determine whether it is necessary to change the motion posture of heavy-duty equipment based on the application scenario.

[0010] If yes, select the differential motion mode; otherwise, select the synchronous motion mode.

[0011] S4: Adjust the initial pose of the two active tanks according to the selected motion mode;

[0012] S5: According to the selected movement mode, the tank actively performs the task of transporting heavy equipment;

[0013] S6: Determine whether the heavy-duty equipment has reached the target location. If it has not reached the target location, return to step S3; if it has reached the target location, end the handling process.

[0014] Optionally, the synchronous motion mode is that the two active tanks move in the same direction; the asynchronous motion mode is that one active tank is stationary, and the other active tank rotates around the stationary active tank as the center.

[0015] In step S3, after selecting the synchronous motion mode, the motion direction of the heavy-duty equipment is selected; the motion direction of the heavy-duty equipment includes the X direction, Y direction and the oblique direction with an angle to the Y direction in the world coordinate system; when the motion direction of the heavy-duty equipment is oblique, the angle between the motion direction of the heavy-duty equipment and the Y direction in the world coordinate system is set.

[0016] Optionally, in step S5,

[0017] When the selected motion mode is synchronous motion mode, when the tank actively performs the task of transporting heavy equipment, the movement time or movement distance of the heavy equipment in a determined motion direction is set.

[0018] Optionally, in step S5, when the selected motion mode is asynchronous motion mode, the active tank performs the task of transporting heavy-load equipment as follows:

[0019] Set the speed difference between the left and right drive wheels of each active tank, and obtain the rotational angular velocity of each active tank and the rotational angular velocity of the heavy-load equipment based on the rotation angle of the two active tanks at the current moment and the set moving speed of the heavy-load equipment.

[0020] Based on the set action time of the active tank located in front of the transport equipment, determine the angle of the heavy-duty equipment after rotation in the world coordinate system under the current speed difference of the active tank;

[0021] Determine whether the rotation angle of the heavy-load equipment in the world coordinate system reaches the required angle under the current speed difference of the active tanks. If it does, use the speed difference between the left and right wheels of each active tank as the execution requirement to enable the active tanks to perform the task of transporting the heavy-load equipment. If it does not reach the required angle, reset the speed difference between the left and right wheels of each active tank until the rotation angle of the heavy-load equipment in the world coordinate system reaches the required angle under the current speed difference of the active tanks.

[0022] Optionally, when the selected motion mode is asynchronous motion mode, the active tank performs the task of transporting heavy-load equipment as follows:

[0023] Set the speed difference between the left and right drive wheels of each active tank, and obtain the rotational angular velocity of each active tank and the rotational angular velocity of the heavy-load equipment based on the rotation angle of the two active tanks at the current moment and the set moving speed of the heavy-load equipment.

[0024] The rotation angle is adjusted according to the needs of the heavy-duty equipment, and the timing of the action of the active ground tank located in front of the transport equipment is controlled.

[0025] Optionally, the speed difference between the left and right wheels of each active tank is set, and the rotational angular velocity of each active tank and the rotational angular velocity of the heavy-load equipment are obtained based on the rotation angle of the two active tanks at the current moment and the set moving speed of the heavy-load equipment:

[0026] The rotational angular velocity of the active ground tank located in front of the transport equipment Let be the rotational angular velocity of the active tank located behind the transport equipment. For, the rotational angular velocity of the heavy-duty equipment for:

[0027]

[0028] Where v is the moving speed of the heavy-duty equipment, θ1 is the rotation angle of the active tank located in front of the transport equipment at the current moment, θ2 is the rotation angle of the active tank located behind the transport equipment at the current moment, Δv1 is the speed difference between the left and right drive wheels of the active tank located in front of the transport equipment, Δv2 is the speed difference between the left and right drive wheels of the active tank located behind the transport equipment, L is the distance between the center points of the two active tanks located in front of and behind the transport equipment, and W is the axial distance between the left and right drive wheels of the active tank.

[0029] Optionally, in step S5, when the selected motion mode is synchronous motion mode and the motion direction of the heavy-duty equipment is diagonal or X-axis,

[0030] During the active tank transport of heavy equipment, it is determined whether there is a situation where |θ1-θ|>Δθ or |θ2-θ|>Δθ. If there is, return to step S4; if not, proceed to step S6.

[0031] Where θ1 is the rotation angle of the active tank located in front of the conveying equipment at the current moment, θ2 is the rotation angle of the active tank located in front of the conveying equipment at the current moment; θ is the angle between the set running direction of the heavy-duty equipment and the length direction of the heavy-duty equipment; Δθ is the set threshold.

[0032] Optionally, in step S5, when the active tank performs the task of transporting heavy equipment, it determines whether it encounters an obstacle. If not, it maintains the current movement mode and the active tank performs the task of transporting heavy equipment. If there is an obstacle, it determines whether it can overcome the obstacle in the current movement mode. If not, it returns to step S3. If it can, it overcomes the obstacle in the current movement mode.

[0033] Optionally, in step S1, both active tanks are differential speed transport tanks; both driven tanks are equipped with omnidirectional wheels; the line connecting the two active tanks passes through the center of mass of the heavy-duty equipment; the two active tanks and the two driven tanks are located at the four corners of the heavy-duty equipment, and the two active tanks are arranged diagonally; or the two active tanks are located on the front and rear sides of the heavy-duty equipment, and the two driven tanks are located on the left and right sides of the heavy-duty equipment.

[0034] The active tank is equipped with drive wheels on both its left and right sides; a load-bearing disc for connecting to heavy-duty equipment is provided at the center of both the active tank and the driven tank. An angle sensor is connected between the load-bearing disc of the active tank and the active tank body, and the angle sensor is used to detect and display the rotation angle of the load-bearing disc relative to the active tank body.

[0035] Optionally, a disc spring is installed between the carrier plate of the driven tank and the vehicle body of the driven tank, so that when the driven tank is in an unloaded state, the height of the carrier plate of the driven tank is higher than the height of the carrier plate of the active tank.

[0036] Compared with the prior art, the beneficial effects of the present invention are:

[0037] This invention solves the problems of limited load-bearing capacity, poor flexibility, and low efficiency when a single differential speed ground tank ("one main and two slave") is used to transport heavy-duty long equipment in a confined space. By cooperating with two active ground tanks and two passive ground tanks, the load-bearing capacity is increased while maintaining the same lifting height. At the same time, the dual-vehicle drive allows rotation around any point inside the equipment, resulting in high flexibility and reduced posture adjustment time. Through the combination of synchronous and differential motion modes, flexible transport of heavy-duty equipment in any space can be achieved. Attached Figure Description

[0038] Figure 1 These are diagrams illustrating two placement methods for the two active ground tanks of this invention. Figure 1 'a' means placing the heavy-duty equipment in a straight line along the front-to-back direction. Figure 1 b means placing it along the diagonal of the heavy-duty equipment;

[0039] Figure 2 This is a structural diagram of the active tank of the present invention;

[0040] Figure 3 This is a schematic diagram of the handling process of the heavy-duty equipment handling method based on the dual differential speed transport tank of the present invention;

[0041] Figure 4 This is a schematic diagram of the transport trajectory within a confined space according to the present invention. Figure 4 a is a schematic diagram of the trajectory when encountering an obstacle and changing the movement pattern for the first time. Figure 4 b is a schematic diagram of the trajectory after encountering obstacles and changing the movement mode multiple times. Figure 4 c is a schematic diagram of the trajectory of a straight line passing through a confined space in the Y direction. Figure 4 d is a schematic diagram of the trajectory of traveling straight in the X direction to the target position;

[0042] Figure 5 This is a schematic diagram of the Y-axis linear motion of the present invention;

[0043] Figure 6 This is a schematic diagram of the X-axis linear motion of the present invention;

[0044] Figure 7 This is a schematic diagram of the single-point rotational motion of the present invention.

[0045] The markings in the diagram are as follows: 1 is the active tank, 2 is the passive tank, 3 is the heavy-duty equipment, 101 is the load-bearing disc, 102 is the vehicle body, and 103 is the drive wheel. Detailed Implementation

[0046] The invention will now be described in further detail with reference to the accompanying drawings.

[0047] It should be noted that the terms such as "upper", "lower", "left", "right", "front", and "back" used in the invention are only for clarity of description and are not intended to limit the scope of the invention. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of the invention.

[0048] like Figure 3 As shown, a method for handling heavy-duty equipment based on a dual-differential-speed transport tank includes the following steps:

[0049] S1: Arrange the two active ground tanks 1 and the two passive ground tanks 2 according to the set positions, and install the heavy-duty equipment 3 to be transported with the arranged active ground tanks 1 and passive ground tanks 2.

[0050] Specifically, both active tanks 1 are differential speed transport tanks, and the active tanks 1 are electrically driven; both driven tanks 2 are equipped with omnidirectional wheels, meaning that the two driven tanks 2 can move in any direction. The overall movement of the heavy-duty equipment 3 is mainly determined by the movement of the two active tanks 1; with the length direction of the heavy-duty equipment 3 as the front-to-back direction, the bottom of the two active tanks 1 are compressed on the front and rear sides of the heavy-duty equipment 3. To prevent the heavy-duty equipment 3 from tipping over during transport, the driven tanks 2 are designed to balance the tipping moment; the line connecting the two active tanks 1 passes through the center of mass of the heavy-duty equipment 3; drive wheels 103 are provided on both the left and right sides of the active tanks 1; the drive wheels 103 are made of high-strength polyurethane wheels, which have a large load-bearing capacity while reducing damage to the ground; the drive motors of the drive wheels 103 are two DC brushless motors, which are installed in an L-shape with the gearbox. The specific structure of the active tanks 1 can refer to existing technologies.

[0051] like Figure 1 As shown in 1a and 1b, two active tanks 1 are located on the front and rear sides of the heavy-load equipment 3, respectively, and two passive tanks 2 are located on the left and right sides of the heavy-load equipment 3, respectively; in some other embodiments, two active tanks 1 and two passive tanks 2 are located at the four corners of the heavy-load equipment 3, and the two active tanks 1 are arranged diagonally.

[0052] like Figure 2 As shown, a bearing disk 101 for connecting to heavy-duty equipment 3 is provided at the center of the body 102 of the active tank 1 and the center of the body 102 of the driven tank 2. The bearing disk 101 is provided with limiting holes and is detachably connected to the heavy-duty equipment 3 through a connector. There is no relative sliding between the heavy-duty equipment 3 and the bearing disk 101. The width of the heavy-duty equipment 3 is greater than the diameter of the bearing disk 101. The bearing disk 101 can be provided with multiple sets of limiting holes to meet the limiting requirements of equipment of different sizes.

[0053] An angle sensor is connected between the support disk 101 of the active tank 1 and the body 102 of the active tank 1. The angle sensor is used to detect and display the rotation angle of the support disk 101 relative to the body 102 of the active tank 1, so as to determine the current motion state of the active tank 1.

[0054] In some other embodiments, considering the problems of insufficient power and wheel dislocation caused by three-point support and one wheel being suspended due to poor ground flatness, a disc spring is installed between the load-bearing disc 101 of the driven tank 2 and the body 102 of the driven tank 2. When the driven tank 2 is in an unloaded state, the height of the load-bearing disc 101 of the driven tank 2 is higher than the height of the load-bearing disc 101 of the active tank 1. That is, during normal operation, the disc spring is always under compression to prevent the driven tank 2 from falling off during transportation.

[0055] The drive control unit consists of two motor drivers. These drivers control their respective motor speeds and directions via an RS485 bus, achieving active tank steering through differential principles. The main control unit can be a 32-bit microcontroller used for controlling the active tank's movement and calculating its position and posture. Wireless communication facilitates information exchange between the two active tanks. A handheld remote control wirelessly connects to the controller, sending motion signals, which are then processed and sent to each driver. The remote control also includes an emergency stop button; pressing this button disconnects the relay switch in case of loss of control, powering off the entire system and stopping it. Voice prompts indicate successful command transmission, such as mode switching and continuous signal transmission commands.

[0056] S2: Corrects the turning angle of the active tank and heavy equipment to zero.

[0057] After installation and adjustment to zero by rotation, the angle sensors on the two active tanks register a value of 0.

[0058] S3: Based on the application scenario, determine whether it is necessary to change the motion posture of the heavy-duty device; if yes, select the differential motion mode; otherwise, select the synchronous motion mode.

[0059] Synchronous motion mode means that the two active tanks move in the same direction, which is reflected in the consistent speed and direction of the drive wheels on both sides of each tank. Based on the movement direction of the heavy-duty equipment, it can be divided into Y-axis, X-axis, and diagonal straight-line motion. That is, when the rotation angles of both active tanks 1 are 0°, 90°, or θ, the aforementioned Y-axis, X-axis, and diagonal straight-line motion can be achieved. Figure 5 and 6 As shown, in synchronous operation mode, the operation control equation is v 1l =v 1r =v 2l =v 2r = v, where v is the preset speed of the heavy-duty equipment, v 1l and v 1r v represents the speeds of the left and right wheels of an active tank. 2l and v 2r The speed of the left and right wheels of the other active tank; the length parallel to the heavy-load equipment is the Y-axis of the world coordinate system; when the heavy-load equipment moves along the Y-axis of the world coordinate system, the direction of movement of the heavy-load equipment is consistent with the length parallel to the heavy-load equipment.

[0060] Let the direction parallel to the length of the heavy-duty equipment be the vertical axis of the heavy-duty equipment, and the direction parallel to the width of the heavy-duty equipment be the horizontal axis of the heavy-duty equipment. Let the speeds of the left and right wheels of the two active ground tanks be v, respectively. 1l v 1r v2l v 2r The active tank center velocities are v1 and v2, respectively, satisfying... The angle sensor readings for the two active tanks, θ1 and θ2 respectively, are given. To satisfy rigid body motion constraints, the velocities of the two active tanks along the line connecting them should be equal, i.e., v. 1y =v 2y Substituting these values, we get v1cosθ1=v2cosθ2, which is the objective of the dual-tank cooperative control system that guarantees motion constraints.

[0061] like Figure 7 As shown, in the asynchronous motion mode, one active tank remains stationary while another active tank rotates around the stationary active tank as the center. This asynchronous motion mode is suitable for switching the X and Y orientations of heavy-duty equipment. The motion constraint in this mode is v. 2l =v 2r =0, Where L is the distance between the center points of the two active tanks, and W is the axial distance between the drive wheels of the active tanks.

[0062] Specifically, after selecting the synchronous motion mode, the motion direction of the heavy-duty equipment is selected; the motion direction of the heavy-duty equipment includes the X direction, Y direction and the oblique direction with an angle to the Y direction in the world coordinate system; when the motion direction of the heavy-duty equipment is oblique, the angle between the motion direction of the heavy-duty equipment and the Y direction in the world coordinate system is determined; that is, if the synchronous motion mode is set, the direction of movement needs to be determined.

[0063] S4: Adjust the initial position and attitude of the two active tanks according to the selected motion mode.

[0064] Specifically, when the synchronous motion mode is selected, the initial posture of the two active tanks is adjusted according to the motion direction of the selected heavy-duty equipment. That is, if the active tank is currently in synchronous motion mode and the motion direction is Y, and it is necessary to change the motion mode to X, the bodies of both active tanks need to be rotated 90° relative to their load-bearing discs.

[0065] When the asynchronous motion mode is selected, the initial attitude of the two active tanks is adjusted according to the rotation direction of the heavy-duty equipment. For example, if the active tank is currently selected to use the synchronous motion mode and the motion direction is Y, and if the asynchronous motion mode needs to be selected, the active tank located in front of the heavy-duty equipment is rotated 90° clockwise or counterclockwise, starting from the vertical axis direction of the heavy-duty equipment (the direction of the long side of the heavy-duty equipment). This makes the velocity direction of the active tank located in front of the heavy-duty equipment the horizontal axis direction of the heavy-duty equipment, and the velocity direction of the center point of the active tank located behind the heavy-duty equipment the Y direction of the world coordinate system.

[0066] Furthermore, the angle sensors of both vehicles detect in real time. When the reading of either vehicle's angle sensor does not match the current mode, the vehicle's posture is readjusted before the transport is resumed.

[0067] S5: According to the selected movement mode, the tank actively performs the task of transporting heavy equipment.

[0068] Specifically, when the selected motion mode is synchronous motion mode, when the active tank performs the task of transporting heavy equipment, the movement time or movement distance of the heavy equipment in a determined movement direction is set. The movement time or movement distance can be set by a host computer or remote control. When the active tank receives the motion command (including motion mode, movement direction, and movement time or movement distance) from the host computer or remote control, it executes the corresponding motion at a predetermined speed. The two active tanks communicate in real time through a 2.4G wireless module, exchanging the speed information of each motor and the angle information of the angle sensor.

[0069] When the selected motion mode is asynchronous motion mode, the active tank performing the task of transporting heavy equipment includes the following steps:

[0070] Set the speed difference between the left and right drive wheels of each active tank, and obtain the rotational angular velocity of each active tank and the rotational angular velocity of the heavy-load equipment based on the rotation angle of the two active tanks at the current moment and the set moving speed of the heavy-load equipment.

[0071] Specifically, the rotational angular velocity of the active tank located in front of the conveying equipment Let be the rotational angular velocity of the active tank located behind the transport equipment. For, the rotational angular velocity of the heavy-duty equipment for:

[0072]

[0073] Where v is the moving speed of the heavy-duty equipment, θ1 is the rotation angle of the active tank located in front of the transport equipment at the current moment, θ2 is the rotation angle of the active tank located behind the transport equipment at the current moment, Δv1 is the speed difference between the left and right drive wheels of the active tank located in front of the transport equipment, Δv2 is the speed difference between the left and right drive wheels of the active tank located behind the transport equipment, L is the distance between the center points of the two active tanks located in front of and behind the transport equipment, and W is the axial distance between the left and right drive wheels of the active tank; specifically, θ1 and θ2 are both readings of the angle sensor; the value of v is a fixed value set according to the actual scene.

[0074] Based on the set action time of the active tank located in front of the transport equipment, determine the angle of the heavy-duty equipment after rotation in the world coordinate system under the current speed difference of the active tank.

[0075] Specifically, through the rotational angular velocity of the heavy-duty equipment By setting the action time, the angle of the heavy-load equipment after rotation in the world coordinate system can be obtained under the current speed difference of the active tank.

[0076] Determine whether the rotation angle of the heavy-load equipment in the world coordinate system reaches the required angle under the current speed difference of the active tanks. If it does, use the speed difference between the left and right wheels of each active tank as the execution requirement to enable the active tanks to perform the task of transporting the heavy-load equipment. If it does not reach the required angle, reset the speed difference between the left and right wheels of each active tank until the rotation angle of the heavy-load equipment in the world coordinate system reaches the required angle under the current speed difference of the active tanks.

[0077] The controller can change the speed difference Δv1 between the left and right drive wheels of the active ground tank located at the front of the transport equipment and the speed difference Δv2 between the left and right drive wheels of the active ground tank located at the rear of the transport equipment as needed, so that the rotation value of the heavy-duty equipment reaches the desired value.

[0078] In some other embodiments, when the selected motion mode is asynchronous motion mode, the active tank performs the task of transporting heavy-duty equipment as follows: The speed difference between the left and right drive wheels of each active tank is set; based on the current rotation angle of the two active tanks and the set moving speed of the heavy-duty equipment, the rotational angular velocity of each active tank and the rotational angular velocity of the heavy-duty equipment are obtained; according to the required rotation angle and rotational angular velocity of the heavy-duty equipment, the action time of the active tank located in front of the transport equipment is controlled, thereby enabling the heavy-duty equipment to rotate into position; when determining whether the rotation angle of the heavy-duty equipment has reached the desired value, the angle value of the active tank located behind the heavy-duty equipment can be used as the judgment criterion, that is, after the angle sensor located behind the heavy-duty equipment reaches the predetermined angle, the other active tank is notified to stop rotating.

[0079] S6: Determine whether the heavy-duty equipment has reached the target location. If it has not reached the target location, return to step S3; if it has reached the target location, end the handling process.

[0080] Specifically, during the movement, the motion mode can be reselected multiple times according to the actual application scenario. Through fine-tuning of multiple synchronous and differential motion modes, the heavy-duty equipment can be transported. The transport path of the heavy-duty equipment and whether the transport mode is switched can be manually controlled, or it can be determined using existing technology.

[0081] In some other embodiments, during the active tank's task of transporting heavy equipment, it is constantly determined whether the angular deviation exceeds a set threshold.

[0082] Specifically, in step S5, when the selected motion mode is synchronous motion mode and the motion direction of the heavy-load equipment is oblique, during the active tank transport of the heavy-load equipment, it is determined whether there is a situation where |θ1-θ|>Δθ or |θ2-θ|>Δθ. If there is, return to step S4; if not, proceed to step S6.

[0083] Where θ1 is the rotation angle of the active tank located in front of the conveying equipment at the current moment, θ2 is the rotation angle of the active tank located in front of the conveying equipment at the current moment, θ1 and θ2 are the readings of the two angle sensors; θ is the angle between the set running direction of the heavy-duty equipment and the length direction of the heavy-duty equipment (y-axis in the coordinate system of the heavy-duty equipment); Δθ is the set threshold.

[0084] Take the clockwise readings of the angle sensors on the two active tanks as positive. At this time, the active tank body rotates clockwise relative to the supporting disc. The X-direction straight travel mode can be regarded as a special case of the oblique straight travel mode with θ set to 90°.

[0085] In some other embodiments, it is determined whether an obstacle can be overcome within a confined space.

[0086] Specifically, such as Figure 3 and 4 As shown, in step S5, when the active tank performs the task of transporting heavy equipment, it determines whether it encounters an obstacle. If not, it maintains the current movement mode and the active tank performs the task of transporting heavy equipment. If there is an obstacle, it determines whether it can overcome the obstacle in the current movement mode. If not, it returns to step S3. If it can, it overcomes the obstacle in the current movement mode.

[0087] If the current movement mode cannot be used to overcome the obstacle during the obstacle-crossing process, the movement mode needs to be changed. In actual long-term processes, steps S3-S5 usually need to be repeated multiple times. The choice of movement mode during the specific obstacle-crossing process can be controlled manually.

[0088] For more detailed information on the above methods, please refer to the relevant content disclosed in the foregoing embodiments, which will not be repeated here.

[0089] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. The systems, devices, and storage media disclosed in the embodiments are described simply because they correspond to the methods disclosed in the embodiments; relevant details can be found in the method section.

[0090] The above are merely preferred embodiments of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principles of the present invention should be considered within the scope of protection of the present invention.

Claims

1. A method for transporting heavy-duty equipment based on a dual-differential-speed transport tank, characterized in that, include: S1: Arrange two active tanks and two passive tanks in the set positions, and install the heavy-duty equipment to be transported with the arranged active and passive tanks; both active tanks are differential transport tanks and the line connecting the two active tanks passes through the center of mass of the heavy-duty equipment. S2: Correct the turning angle of the active tank and heavy equipment to zero; S3: Determine whether it is necessary to change the motion posture of heavy-duty equipment based on the application scenario. If yes, select the differential motion mode; otherwise, select the synchronous motion mode. S4: Adjust the initial pose of the two active tanks according to the selected motion mode; S5: According to the selected movement mode, the tank actively performs the task of transporting heavy equipment; S6: Determine whether the heavy-duty equipment has reached the target location. If it has not reached the target location, return to step S3; if it has reached the target location, end the handling process. In step S3, the synchronous motion mode is that the two active tanks move in the same direction; the differential motion mode is that one active tank is stationary and the other active tank rotates around the stationary active tank as the center. In step S5, when the selected motion mode is differential motion mode, the active tank performs the task of transporting heavy-load equipment as follows: Set the speed difference between the left and right drive wheels of each active tank, and obtain the rotational angular velocity of each active tank and the rotational angular velocity of the heavy-load equipment based on the rotation angle of the two active tanks at the current moment and the set moving speed of the heavy-load equipment. Based on the set action time of the active tank located in front of the transport equipment, determine the angle of the heavy-duty equipment after rotation in the world coordinate system under the current speed difference of the active tank; Determine whether the rotation angle of the heavy-load equipment in the world coordinate system reaches the required angle under the current speed difference of the active tanks. If it does, use the speed difference between the left and right wheels of each active tank as the execution requirement to enable the active tanks to perform the task of transporting the heavy-load equipment. If it does not reach the required angle, reset the speed difference between the left and right wheels of each active tank until the rotation angle of the heavy-load equipment in the world coordinate system reaches the required angle under the current speed difference of the active tanks.

2. The heavy-load equipment handling method based on a dual-differential-speed transport tank according to claim 1, characterized in that, In step S3, after selecting the synchronous motion mode, the motion direction of the heavy-duty equipment is selected; the motion direction of the heavy-duty equipment includes the X direction, Y direction and the oblique direction with an angle to the Y direction in the world coordinate system; when the motion direction of the heavy-duty equipment is oblique, the angle between the motion direction of the heavy-duty equipment and the Y direction in the world coordinate system is set.

3. The heavy-load equipment handling method based on a dual-differential-speed transport tank according to claim 1, characterized in that, In step S5, when the selected motion mode is synchronous motion mode, when the tank actively performs the task of transporting heavy equipment, the movement time or movement distance of the heavy equipment in the determined motion direction is set.

4. The heavy-load equipment handling method based on a dual-differential-speed transport tank according to claim 1, characterized in that, The speed difference between the left and right wheels of each active tank is set. Based on the rotation angles of the two active tanks at the current moment and the set moving speed of the heavy-load equipment, the rotational angular velocity of each active tank and the rotational angular velocity of the heavy-load equipment are obtained as follows: The rotational angular velocity of the active ground tank located in front of the transport equipment Let be the rotational angular velocity of the active tank located behind the transport equipment. For, the rotational angular velocity of the heavy-duty equipment for: in, For the moving speed of heavy-duty equipment, This represents the rotation angle of the active tank located in front of the transport equipment at the current moment. This represents the rotation angle of the active tank located behind the transport equipment at the current moment. The speed difference between the left and right drive wheels of the active ground tank located in front of the transport equipment. The speed difference between the left and right drive wheels of the active ground tank located behind the transport equipment. The distance between the center points of the two active tanks located before and after the transport equipment. The axial distance between the left and right drive wheels of the tank is actively measured.

5. The heavy-load equipment handling method based on a dual-differential-speed transport tank according to claim 1, characterized in that, In step S5, when the selected motion mode is synchronous motion mode, and the motion direction of the heavy-duty equipment is diagonal or X-axis, During the active tank transport of heavy equipment, determine whether | |>Δ Or | |>Δ If the condition exists, return to step S4; otherwise, proceed to step S6. in, This represents the rotation angle of the active tank located in front of the transport equipment at the current moment. This represents the rotation angle of the active tank located in front of the transport equipment at the current moment. Δ is the angle between the set running direction of the heavy-duty equipment and the length direction of the heavy-duty equipment. To set a threshold.

6. The heavy-load equipment handling method based on a dual-differential-speed transport tank according to claim 1, characterized in that, In step S5, when the active tank performs the task of transporting heavy equipment, it determines whether it encounters an obstacle. If not, it maintains the current movement mode and the active tank performs the task of transporting heavy equipment. If there is an obstacle, it determines whether it can overcome the obstacle in the current movement mode. If not, it returns to step S3. If it can, it overcomes the obstacle in the current movement mode.

7. The method for transporting heavy-duty equipment based on a dual-differential-speed transport tank according to any one of claims 1-6, characterized in that, In step S1, both driven tanks are equipped with caster wheels; the two active tanks and the two driven tanks are located at the four corners of the heavy-load equipment, and the two active tanks are arranged diagonally; or the two active tanks are located at the front and rear sides of the heavy-load equipment, and the two driven tanks are located at the left and right sides of the heavy-load equipment. The active tank is equipped with drive wheels on both its left and right sides; a load-bearing disc for connecting to heavy-duty equipment is provided at the center of both the active tank and the driven tank. An angle sensor is connected between the load-bearing disc of the active tank and the active tank body, and the angle sensor is used to detect and display the rotation angle of the load-bearing disc relative to the active tank body.

8. The heavy-load equipment handling method based on a dual-differential-speed transport tank according to claim 7, characterized in that, A disc spring is installed between the load-bearing disc of the driven tank and the vehicle body of the driven tank. When the driven tank is in an unloaded state, the height of the load-bearing disc of the driven tank is higher than the height of the load-bearing disc of the active tank.

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