Heavy object carrying intelligent control system

Abstract

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

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent control, in particular to a heavy object carrying intelligent control system. BACKGROUND

[0002] In the field of modern industrial production and logistics carrying, the automatic carrying system of heavy objects has become one of the key technologies, especially when it comes to the carrying and positioning of large mass objects, the conventional mechanical control method is often difficult to meet the demand of high precision and high efficiency. The heavy object carrying equipment on the market mostly adopts traditional motor drive and mechanical structure, the control precision is low, the system is easy to be affected by the factors such as the mass, shape size and environmental change of heavy object, thereby leading to unstable operation of equipment, high energy consumption and increased operation risk. SUMMARY

[0003] In order to overcome the shortcomings and deficiencies existing in the prior art, the purpose of the present application is to provide a heavy object carrying intelligent control system, which realizes accurate putting down or lifting of different types of heavy objects by setting up a clever structure combined with intelligent monitoring, and improves the stability of system operation.

[0004] The present application is realized by the following technical solutions:

[0005] In a first aspect, the present application discloses a heavy object carrying intelligent control system, which comprises:

[0006] A fan-shaped rack, one straight edge of the rack is used to abut against the ground, and the arc surface of the rack is provided with an arc-shaped track;

[0007] A moving module for supporting heavy objects and putting down or lifting the heavy objects to be carried along the arc-shaped track of the rack;

[0008] A detection module for obtaining initial data of the heavy objects, the initial data including the weight and shape characteristics of the heavy objects;

[0009] A feedback module for obtaining real-time data of the heavy objects when they are put down or lifted;

[0010] A main control module for analyzing the initial data obtained by the detection module and controlling the movement state of the moving module when putting down or lifting.

[0011] In combination with the first aspect, further, the moving module comprises a driving motor, a guide piece, a gear, a support rod and a support piece, the arc-shaped track is paved with a rack; the driving motor and the gear are both installed on the guide piece, the guide piece is in sliding connection with the arc-shaped slide rail, the gear is in engagement with the rack, the driving motor is in driving connection with the gear, one end of the support rod is in coaxial rotation connection with the gear, and the support piece is in rotation connection with the support rod and is used to abut against the heavy object to be carried.

[0012] With reference to the first aspect, further, the rack comprises two left-right symmetrical fan-shaped bases, each of which is paved with an arc-shaped track and a rack; the number of the guide members and the gears is two, the two guide members are connected with the corresponding arc-shaped tracks respectively, the two gears are connected with the corresponding racks respectively, and the two ends of the support rod are coaxially connected with the two gears respectively.

[0013] With reference to the first aspect, further, the detection module comprises a weight sensor and a visual sensor.

[0014] The second aspect, the present application discloses a heavy object carrying intelligent control method, which comprises the following steps:

[0015] S100. The heavy object is fixed to the moving module, and the detection module obtains the related data of the heavy object;

[0016] S200. The main control module analyzes the initial data obtained by the detection module and outputs corresponding driving instructions to the moving module;

[0017] S300. The main control module controls the operation state of the moving mechanism in real time according to the real-time data obtained by the feedback module.

[0018] With reference to the second aspect, further, in step S100, a mathematical model of the heavy object is established according to the obtained weight and shape characteristics, and the equivalent mass and the center of gravity position of the heavy object are calculated;

[0019] The calculation formula of the mathematical model of the heavy object is represented as:

[0020]

[0021] wherein, is the coordinate of the center of gravity of the heavy object, is the mass of the heavy object, is the coordinate of the heavy object;

[0022]

[0023] wherein, is the equivalent mass of the heavy object, is the center of gravity of the heavy object, is the reference position of the gear and the rack, is the center of gravity offset coefficient, is the length of the rack.

[0024] With reference to the second aspect, further, in step S200, the corresponding driving instructions are outputted to the motor by calculating the power and the torque required by the gear;

[0025] The calculation formula of the power is represented as:

[0026]

[0027] wherein, g is the acceleration of 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;

[0028] The calculation formula of the torque is represented as:

[0029]

[0030] wherein, is the moment of inertia of the gear, is the acceleration of the gear.

[0031] In combination with the second aspect, further, the feedback module comprises a PID controller;

[0032] In step S300, the PID controller obtains the real-time data of the weight when it is lowered or lifted by acquiring the rotational speed of the gear, and outputs the data to the main control module. The calculation formula of the PID controller output signal is represented as:

[0033]

[0034]

[0035] wherein, 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 rotational speed of the gear, is the radius of the gear.

[0036] In combination with the second aspect, further, the system further comprises step S400: based on the sensor, the motor and the gear are subjected to fault detection to monitor the working state of the system in real time and optimize and adjust the operation of the system;

[0037] The calculation formula of the fault detection is represented as:

[0038]

[0039] wherein, is the frequency domain signal, is the system vibration signal collected by the sensor;

[0040] The calculation formula for optimizing and adjusting the operation of the system is expressed as:

[0041]

[0042] wherein, is a power adjustment amount, is a learning rate, is a system loss function, , is an output power and a torque of the motor.

[0043] In a third aspect, the present application further discloses an electronic device, which comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor executes the computer program to implement the heavy object carrying intelligent control method as described above.

[0044] In a fourth aspect, the present application further discloses a computer readable storage medium, which stores a computer program, and the program is executed by a processor to implement the heavy object carrying intelligent control method as described above.

[0045] The present application has the following beneficial effects:

[0046] The heavy object carrying intelligent control system, method, electronic device and storage medium of the present application realize accurate placing down or lifting up of different types of heavy objects through the intelligent control composed of the fan-shaped rack structure, the moving module, the detection module, the feedback module and the active module, thereby improving the stability of system operation, and reducing the energy consumption, risk and other problems of the system. BRIEF DESCRIPTION OF DRAWINGS

[0047] The present application is further described by using the accompanying drawings, but the embodiments in the drawings do not constitute any limitation on the present application, and other drawings can be obtained by those skilled in the art without creative labor on the premise of not paying creative labor.

[0048] Figure 1 The step flow chart of the heavy object carrying intelligent control method provided by an embodiment of the present application.

[0049] Figure 2 The structural schematic diagram of the battery cell production scheduling system of an embodiment of the present application.

[0050] REFERENCE NUMERALS

[0051] Rack - 100, rack gear - 101, moving module - 200, driving motor - 201, guide - 202, gear - 203, support rod - 204, support - 205. DETAILED DESCRIPTION

[0052] In order to make the above objectives, characteristics and advantages of the present application more obvious and easy to understand, the specific embodiments of the present application are described in detail below. In the following description, a large number of specific details are set forth in order to facilitate a thorough understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the spirit of the present application, so the present application is not limited to the specific embodiments disclosed below.

[0053] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0054] In addition, the terms "first" and "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first" and "second" can include at least one of the features explicitly or implicitly. In the description of the present application, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise explicitly specified.

[0055] In the field of modern industrial production and logistics transportation, the automatic transportation system of heavy objects has become one of the key technologies, especially when it comes to the transportation and positioning of large mass objects, the conventional mechanical control method often fails to meet the demand for high precision and high efficiency. Most of the heavy object transportation equipment on the market currently adopts traditional motor drive and mechanical structure, which has low control precision, and the system is easily affected by factors such as heavy object mass, shape size and environmental changes, thereby leading to unstable equipment operation, high energy consumption and increased operation risk.

[0056] Especially in the traditional gear-rack mechanism, the gear engagement state is easily affected by load fluctuations and wear conditions, so the failure rate is high. In addition, the existing control system usually relies on preset parameters and fixed control logic, which is difficult to respond to different characteristics (such as weight, shape, center of gravity position) of heavy objects and dynamic environmental changes in real time, which limits the adaptability and reliability of the system under complex working conditions

[0057] In order to solve the above problems, the embodiment discloses a heavy object transportation intelligent control system, the structure of the system is as shown in Figure 2 The system comprises:

[0058] a fan-shaped frame 100, a straight side of the frame 100 is used to contact the ground, and an arc side of the frame 100 is provided with an arc-shaped track;

[0059] a moving module 200 used for supporting a heavy object and lowering or lifting the heavy object to be carried along the arc-shaped track of the frame 100;

[0060] a detection module used for acquiring initial data of the heavy object, the initial data including weight and shape features of the heavy object;

[0061] a feedback module used for acquiring real-time data of the heavy object when the heavy object is lowered or lifted;

[0062] a main control module used for analyzing the initial data acquired by the detection module and controlling a motion state of the moving module 200 when the heavy object is lowered or lifted.

[0063] Further, the moving module 200 includes a driving motor 201, a guide 202, a gear 203, a support rod 204 and a support 205, and the arc-shaped track is paved with a rack 101; the driving motor 201 and the gear 203 are both arranged on the guide 202, the guide 202 is in sliding connection with the arc-shaped track, the gear 203 is in engagement with the rack 101, the driving motor 201 is in driving connection with the gear 203, one end of the support rod 204 is in coaxial rotation connection with the gear 203, and the support 205 is in rotation connection with the support rod 204 and used for contacting the heavy object to be carried.

[0064] Further, the frame 100 includes two left-right symmetrical fan-shaped bases, and both of the two fan-shaped bases are paved with the arc-shaped track and the rack 101; the number of the guide 202 and the gear 203 is both two, two guides 202 are respectively connected with corresponding arc-shaped tracks, two gears 203 are respectively connected with corresponding racks 101, and two ends of the support rod 204 are respectively in coaxial rotation connection with the two gears 203.

[0065] Further, the detection module includes a weight sensor and a vision sensor.

[0066] Please refer to Figure 1 which shows a battery production method provided by some embodiments of the present application, the method can be executed in the system as described above, and the method includes the following steps:

[0067] S100. The heavy object is fixed to the moving module 200, and the detection module acquires relevant data of the heavy object;

[0068] S200. The main control module analyzes the initial data acquired by the detection module and outputs corresponding driving instructions to the moving module 200;

[0069] S300. The master module controls the operation state of the moving mechanism in real time according to the real-time data obtained by the feedback module.

[0070] Further, in step S100, a mathematical model of the weight is established according to the obtained weight and shape characteristics, and the equivalent mass and the center of gravity position of the weight are calculated.

[0071] The calculation formula of the mathematical model of the weight is represented as:

[0072]

[0073] wherein, is the coordinate of the center of gravity of the weight, is the mass of the segmented unit of the weight, is the coordinate of the segmented unit of the weight;

[0074]

[0075] wherein, 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 offset coefficient, is the length of the rack 101.

[0076] Further, in step S200, the corresponding driving instruction is output to the motor by calculating the power and torque required by the gear 203.

[0077] The calculation formula of the power is represented as:

[0078]

[0079] wherein, is the acceleration of gravity, is the lifting speed of the gear 203 on the rack 101, is the resistance coefficient, is the windward area of the weight, is the air density;

[0080] The calculation formula of the torque is represented as:

[0081]

[0082] wherein, is the moment of inertia of the gear 203, is the acceleration of the gear 203.

[0083] Further, the feedback module comprises a PID controller.

[0084] In step S300, the PID controller obtains the rotational speed of the gear 203 to obtain real-time data of the weight when it is lowered or lifted, and outputs the data to the main control module. The calculation formula of the PID controller output signal is:

[0085]

[0086]

[0087] wherein, 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 rotational speed of the gear 203, is the radius of the gear 203.

[0088] Further, the system further comprises step S400: based on the sensor, the motor and the gear 203 are detected for failure to monitor the working state of the system in real time and optimize the operation of the system.

[0089] The calculation formula of the failure detection is:

[0090]

[0091] wherein, is the frequency domain signal, is the system vibration signal collected by the sensor;

[0092] The calculation formula of the optimization adjustment of the operation of the system is:

[0093]

[0094] wherein, is the power adjustment amount, is the learning rate, is the system loss function, , is the output power and torque of the motor.

[0095] The heavy object carrying intelligent control system provided by the above-mentioned embodiments of the present application has the same beneficial effects as the method adopted, run or implemented by the application program stored therein.

[0096] Some embodiments of the present application also provide an electronic device, comprising: a processor, a memory, a bus and a communication interface, the processor, the communication interface and the memory being connected through the bus; the memory storing a computer program capable of running on the processor, and the processor executes the computer program to perform the method provided by any one of the preceding embodiments of the present application.

[0097] The memory can include a high-speed random access memory (RAM) and can also include a non-volatile memory such as at least one disk memory. The communication connection between the system network element and at least one other network element is realized through at least one communication interface (which can be wired or wireless), and the Internet, a wide area network, a local area network, a metropolitan area network, etc. can be used.

[0098] The bus can be an ISA bus, a PCI bus, an EISA bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. The memory is used to store programs, and the processor executes the programs after receiving execution instructions. The battery production scheduling method disclosed in any one of the preceding embodiments of the present application can be applied to the processor or realized by the processor.

[0099] The processor can be an integrated circuit chip with a processing capability of signals. In the implementation process, each step of the above method can be completed by integrated logic circuits or instructions in the form of software in the processor. The processor mentioned above can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a ready-to-program gate array (FPGA), or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. Each method, step and logic block disclosed in the embodiments of the present application can be implemented or executed. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in combination with the embodiments of the present application can be directly embodied as a hardware coding processor for execution, or a combination of hardware and software modules in the coding processor for execution. The software module can be located in a random access memory, a flash memory, a read-only memory, a programmable read-only memory, an electrically erasable programmable memory, a register, or other mature storage media in the art. The storage medium is located in the memory, and the processor reads the information in the memory and combines the hardware to complete the steps of the above method.

[0100] The electronic device provided by the embodiments of the present application and the heavy object carrying intelligent control method provided by the embodiments of the present application have the same beneficial effects as the method adopted, run or implemented by the electronic device.

[0101] The embodiments of the present application also provide a computer readable storage medium corresponding to the heavy object carrying intelligent control method provided by the preceding embodiments, and a computer program is stored on the computer readable storage medium. The computer readable storage medium is an optical disc, and a computer program (i.e., a program product) is stored on the optical disc. When the computer program is run by a processor, the heavy object carrying intelligent control method provided by any of the preceding embodiments is executed.

[0102] It should be noted that examples of the computer readable storage medium can also include, but are not limited to, a phase change memory (PRAM), a static random access memory (SRAM), a dynamic random access memory (DRAM), other types of random access memory (RAM), a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), a flash memory or other optical or magnetic storage medium, which will not be described one by one here.

[0103] The computer readable storage medium provided by the above embodiments of the present application and the battery production scheduling method provided by the embodiments of the present application have the same beneficial effects as the method adopted, run or implemented by the application program stored in the computer readable storage medium.

[0104] It should be noted that in the above text, the terms "include", "contain" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or device. Without more limitations, the element defined by the statement "including a" does not exclude the presence of another identical element in the process, method, article or device including the element. In addition, it should be noted that the scope of the method and device in the embodiments of the present application is not limited to the order of functions shown or discussed, and can also include functions performed in a substantially simultaneous manner or in reverse order according to the functions involved, for example, the described method can be performed in an order different from that described, and various steps can also be added, omitted or combined. In addition, the features described with reference to certain examples can be combined in other examples.

[0105] Those skilled in the art can clearly understand the above-mentioned embodiment method can be realized by means of software and the necessary general hardware platform, of course, also can be through hardware, but in many cases the former is the better embodiment. Based on such understanding, the technical solutions of the present application essentially or say the part of the prior art to make contributions can be embodied in the form of software products, the computer software product is stored in a storage medium (such as ROM / RAM, magnetic disc, optical disc), including a number of instructions to make a terminal (may be a mobile phone, computer, server, air conditioner, or network equipment, etc.) executes the method described in various embodiments of the present application.

[0106] The embodiments of the present application are described above in conjunction with the drawings, which are merely specific embodiments of the present application, but the present application is not limited to the above-mentioned specific embodiments, the above-mentioned specific embodiments are only illustrative, but not restrictive, those skilled in the art can make many forms without departing from the scope of the present application and the protection scope of the claims under the inspiration of the present application, which all belong to the protection of the present application.

Claims

1. A heavy goods intelligent control system, characterized in that, The system comprises: a fan-shaped frame, a straight side of the frame being used to abut against the ground, and an arc surface of the frame being provided with an arc-shaped track; a moving module used to support a heavy object and to lower or lift the heavy object to be carried along the arc-shaped track of the frame; a detection module used to obtain initial data of the heavy object, the initial data including the weight and shape features of the heavy object; a feedback module used to obtain real-time data of the heavy object when being lowered or lifted; a main control module used to analyze the initial data obtained by the detection module and to control the moving state of the moving module when being lowered or lifted; The control system is further used to execute the following steps: S100. The heavy object is fixed to the moving module, and the detection module obtains relevant data of the heavy object; S200. The main control module analyzes the initial data obtained by the detection module and outputs corresponding driving instructions to the moving module; S300. The main control module controls the operation state of the moving mechanism in real time according to the real-time data obtained by the feedback module; The moving module comprises a driving motor, a guide piece, a gear, a support rod and a support piece, and the arc-shaped track is paved with a rack; The driving motor and the gear are both arranged on the guide piece, the guide piece is in sliding connection with the arc-shaped slide rail, the gear is in engagement with the rack, the driving motor is in driving connection with the gear, one end of the support rod is in coaxial rotation connection with the gear, and the support piece is in rotation connection with the support rod and is used to abut against the heavy object to be carried; The detection module comprises a weight sensor and a visual sensor; In step S100, a mathematical model of the heavy object is established according to the obtained weight and shape features, and the equivalent mass and the center of gravity position of the heavy object are calculated; The calculation formula of the mathematical model of the heavy object is represented as: wherein, is the coordinate of the center of gravity of the weight, is the mass of the weight division unit, is the coordinate of the weight division unit; wherein, is the equivalent mass of the weight, is the position of the center of gravity of the weight, is the reference position of the gear, the rack, is the center of gravity offset coefficient, is the length of the rack; The feedback module comprises a PID controller; In step S300, the PID controller obtains the rotation speed of the gear to obtain the real-time data of the heavy object when being lowered or lifted, and outputs the real-time data to the main control module, and the calculation formula of the output signal of the PID controller is represented as: wherein is a deviation of the actual position or velocity from the target position or velocity, is a proportional gain of the PID controller, is an integral gain of the PID controller, is a derivative gain of the PID controller, is a gear rotational speed, is a gear radius.

2. The heavy object carrying intelligent control system of claim 1, wherein, The frame comprises two left and right symmetrical fan-shaped bases, and the two fan-shaped bases are both paved with the arc-shaped track and the rack; The number of the guide pieces and the gears is both two, the two guide pieces are respectively connected with the corresponding arc-shaped tracks, the two gears are respectively connected with the corresponding racks, and the two ends of the support rod are respectively in coaxial rotation connection with the two gears.

3. The heavy object carrying intelligent control system of claim 1, wherein, In step S200, the corresponding driving instructions are outputted to the motor by calculating the power and the torque required by the gear; The calculation formula of the power is represented as: wherein, g is the acceleration of gravity, is the lifting speed of the gear on the rack, is the drag coefficient, is the wind area of the weight, is the air density; The calculation formula of the torque is represented as: wherein, is the moment of inertia of the gear, is the acceleration of the gear.

4. The heavy object carrying intelligent control system of claim 1, wherein, The system further comprises step S400: based on the sensor, the motor and the gear are detected for faults to monitor the working state of the system in real time and to optimize and adjust the operation of the system; The calculation formula of the fault detection is represented as: wherein, is a frequency domain signal, is a system vibration signal collected by the sensor; The calculation formula of the optimization and adjustment of the operation of the system is represented as: wherein, is a power adjustment amount, is a learning rate, is a system loss function, , is an output power and a torque of the motor.

5. An electronic device, comprising 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 heavy object carrying intelligent control system according to any one of claims 1-4. ​ 6.A computer readable storage medium having stored thereon a computer program, wherein the program is executed by a processor to implement the steps in the heavy object carrying intelligent control system according to any one of claims 1-4. ​

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