Weight carrying intelligent control system

Abstract

The invention relates to the technical field of intelligent control, in particular to a weight carrying intelligent control system which comprises a fan-shaped rack, one straight edge of the rack is used for abutting against the ground, and an arc-shaped rail is arranged on the arc surface of the rack; the moving module is used for bearing the heavy object and putting down or lifting up the heavy object to be carried along the arc-shaped track of the rack; the detection module is used for acquiring initial data of the heavy object, and the initial data comprises weight and shape features of the heavy object; the feedback module is used for acquiring real-time data when the heavy object is put down or lifted up; and the main control module is used for analyzing the initial data acquired by the detection module and controlling the putting-down or lifting-up motion state of the moving module. According to the intelligent control system for heavy object carrying, by arranging an ingenious structure and combining intelligent monitoring, accurate putting-down or lifting of different types of heavy objects is achieved, and the operation stability of the system is improved.

Description

Technical Field

[0001] The present invention relates to the field of intelligent control technology, and in particular to an intelligent control system for heavy object transportation. Background Art

[0002] In the field of modern industrial production and logistics handling, the automated handling system of heavy objects has become one of the key technologies, especially when it comes to the handling and positioning of large mass objects. Conventional mechanical control methods often cannot meet the requirements of high precision and high efficiency. Currently, most of the heavy object handling equipment on the market uses traditional motor drive and mechanical structure, with low control accuracy. The system is easily affected by factors such as the weight of the heavy object, the size of the shape and the environmental changes, which leads to unstable equipment operation, high energy consumption and increased operation risks. Summary of the invention

[0003] In order to overcome the shortcomings and deficiencies in the prior art, the purpose of the present invention is to provide an intelligent control system for heavy object handling, which has an ingenious structure and combines intelligent monitoring to achieve accurate lowering or lifting of different types of heavy objects, thereby improving the stability of system operation.

[0004] The present invention is achieved through the following technical solutions: In a first aspect, the present invention discloses an intelligent control system for heavy object handling, which comprises: A fan-shaped frame, wherein a straight side of the frame is used to contact the ground, and a curved surface of the frame is provided with a curved track; The mobile module is used to support heavy objects and put down or lift the heavy objects to be transported along the curved track of the rack; A detection module, used to obtain initial data of the heavy object, wherein the initial data includes the weight and shape characteristics of the heavy object; Feedback module, used to obtain real-time data when the weight is lowered or lifted; The main control module is used to analyze the initial data obtained by the detection module and control the movement state of the mobile module to be lowered or raised.

[0005] In combination with the first aspect, further, the mobile module includes a driving motor, a guide member, a gear, a support rod and a support member, and the arc track is paved with a rack; the driving motor and the gear are both installed on the guide member, the guide member is slidingly connected to the arc slide rail, the gear is meshing with the rack, the driving motor is drivingly connected to the gear, one end of the support rod is coaxially connected to the gear, and the support member is rotatably connected to the support rod and is used to resist the heavy objects to be transported.

[0006] In combination with the first aspect, further, the frame includes two left-right symmetrical fan-shaped bases, both of which are paved with arc tracks and racks; there are two guide members and two gears, the two guide members are respectively connected to the corresponding arc tracks, the two gears are respectively connected to the corresponding racks, and the two ends of the support rod are respectively coaxially connected to the two gears.

[0007] In combination with the first aspect, further, the detection module includes a weight sensor and a visual sensor.

[0008] In a second aspect, the present invention further discloses a method for intelligently controlling heavy object handling, the method comprising the following steps: S100. The weight is fixed to the mobile module, and the detection module obtains the relevant data of the weight; S200 main control module analyzes the initial data obtained by the detection module, outputs the corresponding drive command to the mobile module; S300. The main control module controls the operation status of the mobile mechanism in real time according to the real-time data obtained by the feedback module.

[0009] In combination with the second aspect, further, in step S100, a mathematical model of the weight is established according to the acquired weight and shape characteristics, and the equivalent mass and center of gravity position of the weight are calculated; The calculation formula of the mathematical model of heavy objects is expressed as: in, is the coordinate of the center of gravity of the weight, is the mass of the weight segmentation unit, is the coordinate of the weight segmentation unit; in, is the equivalent mass of the weight, is the center of gravity of the weight, is the reference position of the gear and rack, is the center of gravity shift coefficient, is the length of the rack.

[0010] In combination with the second aspect, further, in step S200, by calculating the power and torque required by the gear, a corresponding driving instruction is output to the motor; The power calculation formula is expressed as: in, is the acceleration due to gravity, is the lifting speed of the gear on the rack, is the drag coefficient, is the windward area of ​​the weight, is the air density; The calculation formula of torque is expressed as: in, is the moment of inertia of the gear, is the acceleration of the gear.

[0011] In combination with the second aspect, further, the feedback module includes a PID controller; In step S300, the PID controller obtains the speed of the gear to obtain real-time data when the weight is put down or lifted, and outputs it to the main control module. The calculation formula of the PID controller output signal is expressed as: in, is the deviation between the actual position or speed and the target position or speed, is the proportional gain of the PID controller, is the integral gain of the PID controller, is the differential gain of the PID controller, is the gear speed, is the gear radius.

[0012] In combination with the second aspect, further, the system further includes step S400: performing fault detection on the motor and the gear based on the sensor to monitor the working state of the system in real time and optimize and adjust the operation of the system; The calculation formula for fault detection is expressed as: in, is the frequency domain signal, The system vibration signal collected by the sensor; The calculation formula for optimizing the operation of the system is expressed as: in, is the power adjustment amount, is the learning rate, is the system loss function, , is the output power and torque of the motor.

[0013] In a third aspect, the present invention further discloses an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor runs the computer program to implement the intelligent control method for heavy object handling as described above.

[0014] In a fourth aspect, the present invention further discloses a computer-readable storage medium having a computer program stored thereon, wherein the program is executed by a processor to implement the intelligent control method for heavy object handling as described above.

[0015] Beneficial effects of the present invention: The intelligent control system, method, electronic device and storage medium for heavy object transportation of the present invention realizes the precise lowering or lifting of different types of heavy objects through a fan-shaped rack structure, in conjunction with intelligent control composed of a moving module, a detection module, a feedback module and an active module, thereby improving the stability of the system operation and reducing the energy consumption, risk and other problems of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The present invention is further described using the accompanying drawings, but the embodiments in the accompanying drawings do not constitute any limitation to the present invention. A person skilled in the art can obtain other drawings based on the following drawings without creative work.

[0017] Figure 1 A flowchart of the steps of an intelligent control method for heavy object transportation provided by one embodiment of the present invention.

[0018] Figure 2 Schematic diagram of the structure of a battery cell scheduling system according to an embodiment of the present invention.

[0019] Reference numerals Frame--100, rack--101, moving module--200, driving motor--201, guide member--202, gear--203, support rod--204, support member--205. DETAILED DESCRIPTION

[0020] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention, so the present invention is not limited by the specific embodiments disclosed below.

[0021] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0022] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0023] In the field of modern industrial production and logistics handling, the automated handling system of heavy objects has become one of the key technologies, especially when it comes to the handling and positioning of large mass objects. Conventional mechanical control methods often cannot meet the requirements of high precision and high efficiency. Currently, most of the heavy object handling equipment on the market uses traditional motor drive and mechanical structure, with low control accuracy. The system is easily affected by factors such as the weight of the heavy object, the size of the shape and the environmental changes, which leads to unstable equipment operation, high energy consumption and increased operation risks.

[0024] Especially in the traditional gear-rack mechanism, the gear meshing state is easily affected by load fluctuations and wear, resulting in a high failure rate. In addition, the existing control system usually relies on preset parameters and fixed control logic, which makes it difficult to respond to the different characteristics of heavy objects (such as weight, shape, center of gravity position) and dynamic environmental changes in real time, which limits the adaptability and reliability of the system under complex working conditions. In order to solve the above problems, this embodiment discloses an intelligent control system for heavy object handling, the structure of which is as follows: Figure 2 As shown, the system includes: A fan-shaped rack 100, wherein a straight side of the rack 100 is used to contact the ground, and a curved surface of the rack 100 is provided with a curved track; The mobile module 200 is used to support the heavy objects and put down or lift the heavy objects to be transported along the curved track of the rack 100; A detection module, used to obtain initial data of the heavy object, wherein the initial data includes the weight and shape characteristics of the heavy object; Feedback module, used to obtain real-time data when the weight is lowered or lifted; The main control module is used to analyze the initial data obtained by the detection module and control the movement state of the moving module 200 to be lowered or raised.

[0025] Furthermore, the mobile module 200 includes a driving motor 201, a guide member 202, a gear 203, a support rod 204 and a support member 205, and the arc track is paved with a rack 101; the driving motor 201 and the gear 203 are both installed on the guide member 202, the guide member 202 is slidingly connected to the arc slide rail, the gear 203 is meshed with the rack 101, the driving motor 201 is drivingly connected to the gear 203, one end of the support rod 204 is coaxially rotatably connected to the gear 203, and the support member 205 is rotatably connected to the support rod 204 and is used to resist the heavy objects to be transported.

[0026] Furthermore, the frame 100 includes two left-right symmetrical fan-shaped bases, both of which are paved with arc tracks and racks 101; there are two guide members 202 and two gears 203, the two guide members 202 are respectively connected to the corresponding arc tracks, the two gears 203 are respectively connected to the corresponding racks 101, and the two ends of the support rod 204 are respectively connected to the two gears 203 for coaxial rotation.

[0027] Furthermore, the detection module includes a weight sensor and a visual sensor.

[0028] Please refer to Figure 1 , which shows a battery production scheduling method provided by some embodiments of the present application, which can be executed in the system as described above, and the method includes the following steps: S100. The weight is fixed to the mobile module 200, and the detection module obtains relevant data of the weight; S200 main control module analyzes the initial data obtained by the detection module, outputs the corresponding drive command to the mobile module 200; S300. The main control module controls the operation status of the mobile mechanism in real time according to the real-time data obtained by the feedback module.

[0029] Furthermore, in step S100, a mathematical model of the weight is established based on the acquired weight and shape characteristics, and the equivalent mass and center of gravity position of the weight are calculated; The calculation formula of the mathematical model of heavy objects is expressed as: in, is the coordinate of the center of gravity of the weight, is the mass of the weight segmentation unit, is the coordinate of the weight segmentation unit; in, is the equivalent mass of the weight, is the center of gravity of the weight, is the reference position of the gear 203 and the rack 101, is the center of gravity shift coefficient, is the length of the rack 101.

[0030] Further, in step S200, by calculating the power and torque required by the gear 203, a corresponding driving instruction is output to the motor; The power calculation formula is expressed as: in, is the acceleration due to gravity, is the lifting speed of the gear 203 on the rack 101, is the drag coefficient, is the windward area of ​​the weight, is the air density; The calculation formula of torque is expressed as: in, is the moment of inertia of gear 203, is the acceleration of gear 203.

[0031] Further, the feedback module includes a PID controller; In step S300, the PID controller obtains the rotation speed of the gear 203 to obtain real-time data when the weight is put down or lifted, and outputs the data to the main control module. The calculation formula of the PID controller output signal is expressed as: in, is the deviation between the actual position or speed and the target position or speed, is the proportional gain of the PID controller, is the integral gain of the PID controller, is the differential gain of the PID controller, is the speed of gear 203, is the radius of gear 203.

[0032] Furthermore, the system further comprises step S400: performing fault detection on the motor and the gear 203 based on the sensor to monitor the working state of the system in real time and optimize and adjust the operation of the system; The calculation formula for fault detection is expressed as: in, is the frequency domain signal, The system vibration signal collected by the sensor; The calculation formula for optimizing the operation of the system is expressed as: in, is the power adjustment amount, is the learning rate, is the system loss function, , is the output power and torque of the motor.

[0033] The intelligent control system for heavy object handling provided by the above-mentioned embodiments of the present application and the intelligent control method for heavy object handling provided by the embodiments of the present application are based on the same application concept and have the same beneficial effects as the methods adopted, run or implemented by the application programs stored therein.

[0034] Some embodiments of the present application also provide an electronic device, comprising: a processor, a memory, a bus and a communication interface, wherein the processor, the communication interface and the memory are connected via the bus; the memory stores a computer program that can be run on the processor, and when the processor runs the computer program, the method provided in any of the aforementioned embodiments of the present application is executed.

[0035] The memory may include high-speed random access memory (RAM), and may also include non-volatile memory, such as at least one disk storage. The communication connection between the system network element and at least one other network element is realized through at least one communication interface (which may be wired or wireless), and the Internet, wide area network, local area network, metropolitan area network, etc. may be used.

[0036] The bus may be an ISA bus, a PCI bus, or an EISA bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. The memory is used to store a program, and the processor executes the program after receiving an execution instruction. The battery production scheduling method disclosed in any implementation of the above-mentioned embodiment of the present application may be applied to the processor, or implemented by the processor.

[0037] The processor may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by an integrated logic circuit of hardware in the processor or an instruction in the form of software. The above processor may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a readily available programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The methods, steps and logic block diagrams disclosed in the embodiments of the present application can be implemented or executed. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc. The steps of the method disclosed in the embodiments of the present application can be directly embodied as a hardware decoding processor to be executed, or a combination of hardware and software modules in the decoding processor to be executed. The software module may be located in a mature storage medium in the field such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register, etc. The storage medium is located in a memory, and the processor reads the information in the memory and completes the steps of the above method in combination with its hardware.

[0038] The electronic device provided in the embodiment of the present application and the intelligent control method for heavy object handling provided in the embodiment of the present application are based on the same application concept and have the same beneficial effects as the methods adopted, operated or implemented therein.

[0039] An embodiment of the present application also provides a computer-readable storage medium corresponding to the intelligent control method for heavy object handling provided in the aforementioned embodiment, on which a computer program is stored. The computer-readable storage medium is a CD, on which a computer program (i.e., a program product) is stored. When the computer program is run by a processor, it will execute the intelligent control method for heavy object handling provided in any of the aforementioned embodiments.

[0040] It should be noted that examples of the computer-readable storage medium may also include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other optical or magnetic storage media, which are not listed here one by one.

[0041] The computer-readable storage medium provided in the above-mentioned embodiments of the present application and the battery scheduling method provided in the embodiments of the present application are based on the same application concept and have the same beneficial effects as the methods adopted, run or implemented by the application programs stored therein.

[0042] It should be noted that: in the above text, the term "comprises", "includes" or any other variant thereof is intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "including one..." do not exclude the presence of other identical elements in the process, method, article or device including the element. In addition, it should be pointed out that the scope of the method and device in the embodiment of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in the opposite order according to the functions involved, for example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0043] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for a terminal (which can be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to execute the methods described in each embodiment of the present application.

[0044] The embodiments of the present application are described above in conjunction with the accompanying drawings, which are only specific implementation modes of the present application. However, the present application is not limited to the above-mentioned specific implementation modes. The above-mentioned specific implementation modes are merely illustrative and not restrictive. Under the guidance of the present application, ordinary technicians in this field can also make many forms without departing from the purpose of the present application and the scope of protection of the claims, all of which are within the protection of the present application.

Claims

1. An intelligent control system for heavy object handling, characterized in that: include: A fan-shaped frame, wherein a straight side of the frame is used to contact the ground, and a curved surface of the frame is provided with a curved track; The mobile module is used to support heavy objects and put down or lift the heavy objects to be transported along the curved track of the rack; A detection module, used to obtain initial data of the heavy object, wherein the initial data includes the weight and shape characteristics of the heavy object; Feedback module, used to obtain real-time data when the weight is lowered or lifted; The main control module is used to analyze the initial data obtained by the detection module and control the movement state of the mobile module to be lowered or raised; The control system is also used to perform the following steps: S100. The weight is fixed to the mobile module, and the detection module obtains the relevant data of the weight; S200 main control module analyzes the initial data obtained by the detection module, outputs the corresponding drive command to the mobile module; S300. The main control module controls the operation status of the mobile mechanism in real time according to the real-time data obtained by the feedback module.

2. The intelligent control system for heavy object handling according to claim 1, characterized in that: The mobile module includes a driving motor, a guide, a gear, a support rod and a support, and the arc track is paved with a rack; The drive motor and the gear are both installed on the guide member, the guide member is slidably connected to the arc-shaped slide rail, the gear is meshed with the rack, the drive motor is drive-connected to the gear, one end of the support rod is coaxially connected to the gear, the support member is rotatably connected to the support rod and is used to resist the heavy objects to be transported.

3. The intelligent control system for heavy object handling according to claim 2 is characterized in that: The frame comprises two bilaterally symmetrical fan-shaped bases, both of which are provided with arc-shaped tracks and racks; There are two guide members and two gears, the two guide members are respectively connected to the corresponding arc tracks, the two gears are respectively connected to the corresponding racks, and the two ends of the support rod are respectively connected to the two gears for coaxial rotation.

4. The intelligent control system for heavy object handling according to claim 2, characterized in that: The detection module includes a weight sensor and a visual sensor; In step S100, a mathematical model of the weight is established based on the acquired weight and shape characteristics, and the equivalent mass and center of gravity position of the weight are calculated; The calculation formula of the mathematical model of heavy objects is expressed as: in, is the coordinate of the center of gravity of the weight, is the mass of the weight segmentation unit, is the coordinate of the weight segmentation unit; in, is the equivalent mass of the weight, is the center of gravity of the weight, is the reference position of the gear and rack, is the center of gravity shift coefficient, is the length of the rack.

5. The intelligent control system for heavy object handling according to claim 4, characterized in that: In step S200, the power and torque required by the gear are calculated, and a corresponding driving instruction is output to the motor; The power calculation formula is expressed as: in, is the acceleration due to gravity, is the lifting speed of the gear on the rack, is the drag coefficient, is the windward area of ​​the weight, is the air density; The calculation formula of torque is expressed as: in, is the moment of inertia of the gear, is the acceleration of the gear.

6. The intelligent control system for heavy object handling according to claim 2, characterized in that: The feedback module includes a PID controller; In step S300, the PID controller obtains the speed of the gear to obtain real-time data when the weight is put down or lifted, and outputs it to the main control module. The calculation formula of the PID controller output signal is expressed as: in, is the deviation between the actual position or speed and the target position or speed, is the proportional gain of the PID controller, is the integral gain of the PID controller, is the differential gain of the PID controller, is the gear speed, is the gear radius.

7. The intelligent control system for heavy object handling according to claim 2, characterized in that: The system further comprises step S400: performing fault detection on the motor and the gear based on the sensor to monitor the working state of the system in real time and optimize and adjust the operation of the system; The calculation formula for fault detection is expressed as: in, is the frequency domain signal, The system vibration signal collected by the sensor; The calculation formula for optimizing the operation of the system is expressed as: in, is the power adjustment amount, is the learning rate, is the system loss function, , is the output power and torque of the motor.

8. An electronic device, characterized in that: It includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps in the intelligent control system for heavy object handling as described in any one of claims 1 to 7.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by the processor to implement the steps in the intelligent control system for heavy object handling as described in any one of claims 1-7.

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