Control system and control system of high-position picking vehicle with double driving wheels

Abstract

The invention discloses a control system and a control system of a high-position picking vehicle with double driving wheels, and aims to overcome the defects that a conventional high-position picking vehicle is poor in movement flexibility and cannot conveniently move among various scenes in a warehouse. The vehicle comprises a vehicle body, a first driving wheel and a second driving wheel, the first driving wheel and the second driving wheel can be independently driven to generate a normal mode, a multi-directional moving mode and a small-radius steering mode, conventional moving, inclined and horizontal parallelism and small-radius steering are achieved, the vast majority of scenes of moving in a narrow goods channel are covered, and the moving efficiency is improved. And more flexible movement can be realized, and the burden of an operator is reduced.

Description

Technical Field

[0001] The invention relates to the field of motion control of low-speed storage and transportation vehicles, and more specifically, to a control system and a manipulation system of a high-position picking vehicle with dual driving wheels. Background Art

[0002] A high-level picking vehicle is a low-speed storage and transportation vehicle for industrial use. It is a mechanical device used in warehouses and logistics centers. It is mainly used for picking, transporting and stacking goods on high-level shelves. The operator drives the high-level picking vehicle to move between shelves. The operator is lifted by raising the platform that carries the operator, so that the operator can pick up or place goods on the high shelves.

[0003] When operators pick up or place goods between shelves, they need to have a movement mode other than that of conventional vehicles, so as to facilitate the movement between shelves. For example, there is a scenario where the operator needs to pick up and place goods between two parallel shelves, and the aisle between the shelves is often wider than the vehicle body, so that the operator needs to adjust the position of the vehicle body laterally; or, at a dead-end angle, the operator wants the high-level picking vehicle to turn around, but the width of the aisle is not enough to complete the turn in a small number of operations.

[0004] In the above scenario, the operator often needs to perform a lot of operations to move the high-level picking vehicle into position, which increases the operator's burden, reduces efficiency, and increases the user's cost of use.

[0005] The above-mentioned scenarios appear frequently and repeatedly in the actual application of high-level order picking vehicles, so that there is an urgent need to provide more operation modes for high-level order picking vehicles to solve the inconvenience caused by the above-mentioned scenarios. Summary of the invention

[0006] The present invention overcomes the poor movement flexibility of conventional high-position picking vehicles, which makes it difficult to meet the demand for convenient movement between various scenes in a warehouse, and provides a control system and operating system for a high-position picking vehicle with dual drive wheels, which can realize multiple operation modes, covering most of the scenes of movement in narrow cargo aisles, and can move more flexibly, reducing the burden on operators.

[0007] In order to solve the above technical problems, the present invention adopts the following technical solutions: A control system for a high-position picking vehicle with dual drive wheels, the high-position picking vehicle comprising a vehicle body, a first drive wheel, a second drive wheel, a plurality of universal wheels and a motion control module, the universal wheels being arranged near the outer edge of the vehicle body, the first drive wheel and the second drive wheel being arranged in the length direction of the vehicle body, a first drive structure being arranged at one end of the vehicle frame, and a second drive structure being arranged at the other end of the vehicle frame, the first drive structure driving the first drive wheel to move, and the second drive structure driving the second drive wheel to move, the movement comprising rotation and steering; the high-position picking vehicle has a plurality of motion modes, and the motion control module controls the movement of the first drive wheel and / or the second drive wheel according to the motion mode; Movement modes include normal mode, multi-directional movement mode and small turning radius mode; In the normal mode, the motion controller controls one of the first drive wheel and the second drive wheel to turn, and the motion controller controls one or both of the first drive wheel and the second drive wheel to rotate; In the multi-directional movement mode, the motion controller controls the first drive wheel and the second drive wheel to turn synchronously, with the same turning direction and the same angle, and the motion controller controls one or both of the first drive wheel and the second drive wheel to rotate; In the small turning radius mode, the motion controller controls the first drive wheel and the second drive wheel to turn synchronously, with opposite directions and the same angles, and the motion controller controls one or both of the first drive wheel and the second drive wheel to rotate.

[0008] Preferably, the first driving structure includes a power seat, a power motor arranged on the power seat, a steering seat and a steering motor arranged on the steering seat. The power seat and the steering seat are rotatably connected, the steering motor is transmission-connected to the power seat and drives the power seat to rotate, the steering seat is elastically connected to the vehicle body through a suspension part, and the power motor drives the first driving wheel to rotate.

[0009] Preferably, the structure of the second driving structure is the same as that of the first driving structure, wherein the driving motor of the second driving structure drives the second driving wheel to rotate.

[0010] Preferably, the suspension part includes a slide rail, a guide rod and a suspension spring. The guide rod is arranged on the vehicle body and along the height direction. The steering seat is provided with a guide hole. The guide rod is inserted in the guide hole. The suspension spring is inserted on the guide rod and its two ends are respectively abutted between the vehicle body and the steering seat. The slide rail is arranged on the vehicle body and along the height direction. The steering seat is provided with a slide groove. The slide groove and the slide rail are slidably connected.

[0011] Preferably, the first drive wheel and the second drive wheel are arranged on the central axis of the vehicle body.

[0012] Preferably, the first drive wheel is located on one side of the center axis of the vehicle body, and the second drive wheel is located on the other side of the center axis of the vehicle body.

[0013] Preferably, the top of the power seat is circular and a gear ring is provided on the outer edge, the steering motor is transmission-connected with a driving gear, and the driving gear is meshed with the gear ring.

[0014] Preferably, a driven gear is rotatably connected to the steering seat, and the driven gear and the driving gear are arranged on both sides of the ring gear, and the centers of the driven gear and the driving gear are arranged on a straight line passing through the center of the ring gear.

[0015] Preferably, in normal mode, the motion controller controls the first drive wheel to steer, and the second drive wheel steers synchronously following the steering angle of the first drive wheel, and the steering angle of the second drive wheel is smaller than the steering angle of the first drive wheel.

[0016] Preferably, in normal mode, the motion controller controls the second drive wheel to steer, and the first drive wheel steers synchronously following the steering angle of the second drive wheel, and the steering angle of the first drive wheel is smaller than the steering angle of the second drive wheel.

[0017] Preferably, the small turning radius mode also includes a zero-position steering mode. In the zero-position steering mode, when it is detected that the steering angles of the first drive wheel and the second drive wheel reach a steering threshold, the rotation speeds of the first drive wheel and the second drive wheel are limited to below a preset value.

[0018] Preferably, in normal mode, the motion controller controls the first drive wheel to turn, wherein during the turning process of the high-level picking vehicle, the motion control module controls the second drive wheel to adaptively turn according to the steering angle of the first drive wheel, and the steering angle of the second drive wheel lags behind that of the first drive wheel.

[0019] A control system for a high-position picking vehicle with dual drive wheels, comprising a high-position picking vehicle as claimed in any one of claims 1 to 10, and further comprising a controller capable of human-computer interaction, the controller comprising a mode switching controller and a motion controller, the mode switching controller being capable of inputting a switching state, and a motion control module switching the motion mode according to the switching state input by the mode switching controller.

[0020] Preferably, the motion controller includes two handles, which receive a number of linear signal inputs to control the movement of the first drive wheel and the second drive wheel, wherein the rotation speed of the first drive wheel and / or the second drive wheel output is controlled by one signal input, and the steering angle of the first drive wheel and / or the second drive wheel output is controlled by another signal input.

[0021] Preferably, the signal input includes one or more of the push-pull forces exerted on the two handles and the openings of the two handles along the axial rotation of the handles.

[0022] Preferably, one handle controls the rotation speed of the first drive wheel and / or the second drive wheel output through the signal input generated by the opening, and the other handle controls the steering angle of the first drive wheel and / or the second drive wheel output through the signal input generated by the opening.

[0023] Preferably, the handle is also provided with a sensing device for sensing whether the operator is holding the two handles, and the sensing device is communicatively connected to the motion control module. When the sensing device confirms that the operator is holding the two handles, the motion control module allows the high-position picking vehicle to move.

[0024] Preferably, the normal mode includes a first normal mode and a second normal mode. In the first normal mode, the motion controller controls the first drive wheel to steer, and the second drive wheel steers synchronously following the steering angle of the first drive wheel, and the steering angle of the second drive wheel is smaller than the steering angle of the first drive wheel; in the second normal mode, the motion controller controls the second drive wheel to steer, and the first drive wheel steers synchronously following the steering angle of the second drive wheel, and the steering angle of the first drive wheel is smaller than the steering angle of the second drive wheel.

[0025] Compared with the prior art, the present invention has the following beneficial effects: The high-level picking vehicle achieves three operating modes through the rotation and steering of independent dual drive wheels. It supports three mobile modes: normal walking, multi-directional walking and small-radius steering. It covers most scenarios of moving in narrow cargo aisles, can move more flexibly, and reduce the burden on operators. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 is a schematic diagram of the present invention; Figure 2 It is a schematic diagram of the chassis layout of the present invention; Figure 3 is another chassis layout schematic diagram of the present invention; Figure 4 is a structural schematic diagram of a first driving structure of the present invention; Figure 5 It is a schematic diagram of another angle of the present invention; Figure 6 is a schematic diagram of the steering of the first driving wheel and the second driving wheel in a normal mode of the present invention; Figure 7 is a schematic diagram of the steering of the first driving wheel and the second driving wheel in the multi-directional movement mode of the present invention; Figure 8 is a schematic diagram of the steering of the first driving wheel and the second driving wheel in a small turning radius mode of the present invention; Fig. 9 is a flow chart of the control logic of the present invention; Fig.10 It is a schematic diagram of a handle of the present invention.

[0027] In the figure: Vehicle body 100, universal wheel 101, first driving wheel 200, second driving wheel 300, power seat 410, power motor 420, steering motor 430, reducer 431, steering seat 440, slide rail 451, guide rod 452, suspension spring 453, ring gear 432, driving gear 433, driven gear 434, handle 500, sensing device 501, mode switch N601, mode switch C602, mode switch Z603. DETAILED DESCRIPTION

[0028] The present disclosure is further described below in conjunction with the accompanying drawings and embodiments.

[0029] It should be noted that the following detailed descriptions are illustrative and are intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present application belongs.

[0030] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0031] In the present disclosure, terms such as "upper", "lower", "left", "right", "front", "back", "vertical", "horizontal", "side", "bottom" and the like indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings. They are relational words determined only for the convenience of describing the structural relationships of the various parts or elements of the present disclosure, and do not specifically refer to any part or element in the present disclosure and should not be understood as limitations on the present disclosure.

[0032] In the present disclosure, terms such as "fixed connection", "connected", "connection", etc. should be understood in a broad sense, indicating that it can be fixedly connected, integrally connected or detachably connected; it can be directly connected or indirectly connected through an intermediate medium. Relevant scientific research or technical personnel in this field can determine the specific meanings of the above terms in the present disclosure according to specific circumstances, and they cannot be understood as limitations on the present disclosure.

[0033] Example: Ginseng Figures 1 to 3As shown, the driving structure of the high-position picking vehicle includes a vehicle body 100, a first driving wheel 200, a second driving wheel 300 and a plurality of universal wheels 101. The first driving wheel 200, the second driving wheel 300 and the universal wheel 101 are located at the bottom of the vehicle body 100. The first driving wheel 200, the second driving wheel 300 and the universal wheel 101 are all wheel bodies. The first driving wheel 200 and / or the second driving wheel 300 rotate under the action of torque, and the wheel surface of the first driving wheel 200 and / or the second driving wheel 300 generates power to the vehicle body 100 through friction, pushing the vehicle body 100 to move. The universal wheel 101 supports the vehicle body 100. The universal wheel 101 is rotatably connected to the universal frame, and the universal frame is rotatably connected to the vehicle body 100. When the vehicle body 100 moves, according to the law of minimum potential energy, the universal wheel 101 turns to the position of minimum resistance. The universal wheel 101 can provide support for the vehicle body 100 and maintain the stability of the vehicle body 100 when the vehicle body 100 performs various motions and is in various motion postures.

[0034] The universal wheel 101, the first driving wheel 200 and the second driving wheel 300 are all tangent to the same plane. The plane is the ground. The first driving wheel 200 and the second driving wheel 300 have the same wheel diameter.

[0035] Ginseng Figure 2 , Figure 3 As shown, the projection of the vehicle body 100 on the horizontal plane is rectangular, and each universal wheel 101 is located at the corner point of the bottom of the vehicle body 100. In some embodiments, the vehicle body 100 is relatively long, and universal wheels 101 are arranged at several positions in the length direction and at both ends in the width direction of the vehicle body 100 to reduce the bending moment of the vehicle body 100.

[0036] In some embodiments, the first driving wheel 200 is located at a corner point of the vehicle body 100, the second driving wheel 300 is located at a diagonal position of the first driving wheel 200, and the universal wheel 101 of the vehicle body 100 of this shape is located at the other two corner points. Alternatively, the first driving wheel 200 is located at one end of the long side of the vehicle body 100, and the second driving wheel 300 is located at the other end of the long side of the vehicle body 100.

[0037] The first drive wheel 200 and the second drive wheel 300 can move independently, and the movement includes rotation and steering. The first drive wheel 200 can rotate and steer, and the second drive wheel 300 can rotate and steer. Rotation is the circumferential rotation of the first drive wheel 200 or the second drive wheel 300 along its axial direction; steering is the deflection of the axial direction of the first drive wheel 200 or the second drive wheel 300. A first drive structure is provided at one end of the frame, and a second drive structure is provided at the other end of the frame. The first drive structure drives the first drive wheel 200 to move, and the second drive structure drives the second drive wheel 300 to move.

[0038] The first driving wheel 200 and the second driving wheel 300 are located in the length direction of the vehicle body 100. One end of the vehicle body 100 is defined as the head, and the other end away from the head is defined as the tail. The first driving wheel 200 is located at the head, and the second driving wheel 300 is located at the tail.

[0039] In some embodiments, the first driving wheel 200 and the second driving wheel 300 are disposed on a central axis of the vehicle body 100 .

[0040] In other embodiments, the first drive wheel 200 is located on one side of the central axis of the vehicle body 100, and the second drive wheel 300 is located on the other side of the central axis of the vehicle body 100. Specifically, the first drive wheel 200 is located on the right side of the central axis of the vehicle body 100, and the second drive wheel 300 is located on the left side of the central axis of the vehicle body 100. In some possible solutions, the first drive wheel 200 is located on the left side of the central axis of the vehicle body 100, and the second drive wheel 300 is located on the right side of the central axis of the vehicle body 100, but it is not limited thereto.

[0041] Ginseng Figure 4 , 5 As shown, the first driving structure includes a power seat 410, a power motor 420 arranged on the power seat 410, a steering seat 440 and a steering motor 430 arranged on the steering seat 440. The power seat 410 and the steering seat 440 are rotatably connected, the steering motor 430 is transmission-connected to the power seat 410 and drives the power seat 410 to rotate, the steering seat 440 is elastically connected to the vehicle body 100 through the suspension part, and the power motor 420 drives the first driving wheel 200 to rotate.

[0042] The structure of the second driving structure is the same as that of the first driving structure. The second driving structure includes a power seat 410, a power motor 420 arranged on the power seat 410, a steering seat 440 and a steering motor 430 arranged on the steering seat 440. The power seat 410 and the steering seat 440 are rotatably connected. The steering motor 430 is transmission-connected to the power seat 410 and drives the power seat 410 to rotate. The steering seat 440 is elastically connected to the vehicle body 100 through a suspension part, and the power motor 420 drives the second driving wheel 300 to rotate.

[0043] Ginseng Figure 4 , Figure 5 As shown, a first drive structure and a second drive structure are respectively provided at the front and rear ends of the vehicle body 100 , and the first drive structure and the second drive structure have the same specific components and similar weights, which can improve the weight distribution of the vehicle body 100 and improve the maneuverability of the vehicle body 100 .

[0044] The suspension part elastically sets the first driving structure and the second driving structure on the vehicle body 100, and filters vibrations through its elasticity to improve the riding experience.

[0045] Specifically, the suspension part includes a slide rail 451, a guide rod 452 and a suspension spring 453. The guide rod 452 is arranged on the vehicle body 100 and along the height direction. The steering seat 440 is provided with a guide hole. The guide rod 452 is inserted in the guide hole. The suspension spring 453 is inserted on the guide rod 452 and the two ends are respectively abutted between the vehicle body 100 and the steering seat 440. The slide rail 451 is arranged on the vehicle body 100 and along the height direction. The steering seat 440 is provided with a slide groove, and the slide groove and the slide rail 451 are slidably connected.

[0046] Ginseng Figure 2 , 3 As shown, the structure in which the steering motor 430 drives the power base 410 to rotate is realized as follows: the top of the power base 410 is circular and the outer edge is provided with a gear ring 432, the steering motor 430 is connected to the driving gear 433, and the driving gear 433 is meshed with the gear ring 432. The steering motor 430 is also connected to the reducer 431, and the reducer 431 has a self-locking function. The realization of the self-locking function can be realized by a worm gear structure, but it is not limited to this. Those skilled in the art can choose to set other suitable implementation methods according to the teachings of the present invention and the actual use requirements.

[0047] Specifically, the teeth constituting the gear ring 432 are arranged outward, the gear ring 432 is an outer gear ring 432, the driving gear 433 is meshed with the gear ring 432, and the driving gear 433 rotates by driving the gear ring 432. The gear ring 432 drives the power seat 410 and the first driving wheel 200 to rotate, realizing the steering function.

[0048] A driven gear 434 is also rotatably connected to the steering seat 440 . The driven gear 434 and the driving gear 433 are arranged on both sides of the ring gear 432 . The centers of the driven gear 434 and the driving gear 433 are arranged on a straight line passing through the center of the ring gear 432 .

[0049] It is also feasible that the gear ring 432 is an inner gear ring 432, the ring constituting the gear ring 432 is arranged inwardly, and the driving gear 433 and the driven gear 434 are arranged inside the inner gear ring 432 and mesh with the inner gear ring 432. Since the gear ring 432 is arranged on the steering seat 440, a protruding ring arranged upward is arranged on the top of the steering seat 440, and the gear ring 432 is arranged inside the protruding ring. However, the specific driving structure is not limited to this.

[0050] A high-position picking vehicle is a type of low-speed storage and transportation vehicle, and has the driving structure of the aforementioned high-position picking vehicle. Technical personnel in this field can set the type of low-speed storage and transportation vehicle according to actual positioning requirements, such as a forklift.

[0051] A control system for a high-position picking vehicle has the driving structure of the high-position picking vehicle as described above. The high-position picking vehicle has a controller and a motion control module. The controller can perform human-computer interaction. The controller includes a mode switching controller and a motion controller. The mode switching controller is provided with three switching states. The motion control module switches the motion mode according to the switching state input by the mode switching controller.

[0052] Different from the controller, the motion control module is arranged in the high-position picking vehicle. According to the posture and motion state of the vehicle body 100 obtained by the motion sensor installed on the vehicle body 100, the rotation speed and steering angle of the first transmission wheel and the second transmission wheel are corrected to ensure the stability of the movement of the vehicle body 100.

[0053] The movement modes include normal mode, multi-directional movement mode and small turning radius mode.

[0054] The three switching states of the mode switching controller correspond to the three sports modes mentioned above respectively, and the mode switching controller has identification information corresponding to the three sports modes mentioned above.

[0055] In some embodiments, the mode switching controller includes three independent buttons corresponding to the above three motion modes. In other embodiments, the mode switching controller includes a knob with three gears. They are respectively a mode switch N601 of the sensing device 501 representing the normal mode, a mode switch C602 representing the multi-directional movement mode, and a mode switch Z603 representing the small turning radius mode. It can also be in other forms, and the present application is not limited thereto. In order to make it easier for the operator to identify the current mode, some embodiments set a prompt light at the corresponding mode switch.

[0056] Sport mode includes normal mode, which is similar to the driving mode of a conventional passenger car: In the normal mode, the motion controller controls one of the first driving wheel 200 and the second driving wheel 300 to turn, and the motion controller controls one or both of the first driving wheel 200 and the second driving wheel 300 to rotate.

[0057] In some embodiments, the motion controller controls the steering of the first drive wheel 200 at the bow, and the motion controller controls the rotation of the second drive wheel 300 at the tail. The movement form is similar to that of a rear-wheel drive vehicle, but is not limited to this. A control method similar to that of a front-wheel drive vehicle can also be adopted. The motion controller controls the steering of the first drive wheel 200 at the bow, and the motion controller controls the rotation of the first drive wheel 200 at the bow, or a control method similar to that of a four-wheel drive vehicle can be adopted. The motion controller controls the steering of the first drive wheel 200 at the bow, and the motion controller controls the rotation of the first drive wheel 200 at the bow and the second drive wheel 300 at the tail.

[0058] In some possible embodiments, the motion controller controls the second drive wheel 300 at the tail to turn, and the motion controller controls the first drive wheel 200 and / or the second drive wheel 300 to move. This application is not limited to this. Figure 6 As shown, in the normal mode, the motion controller controls the first drive wheel 200 to turn, wherein, during the turning process of the high-position picking vehicle, the motion control module controls the second drive wheel 300 to turn adaptively according to the turning angle of the first drive wheel 200, and the turning angle of the second drive wheel 300 is smaller than that of the first drive wheel 200. For the embodiment in which the motion controller controls the second drive wheel 300 to turn, the motion control module controls the first drive wheel 200 to turn adaptively according to the turning angle of the second drive wheel 300, and specifically, the turning angle of the first drive wheel 200 is smaller than that of the second drive wheel 300. In order to adapt to the above two situations, the mode switching controller has buttons or gears representing the first normal mode of the former situation and the second normal mode of the latter situation, so that a total of four buttons or gears are generated.

[0059] Ginseng Figure 7 As shown, in the multi-directional movement mode, the motion controller controls the first driving wheel 200 and the second driving wheel 300 to turn synchronously, the motion control module detects and adjusts the steering directions of the first driving wheel 200 and the second driving wheel 300 to be the same and the angles to be the same, and the motion controller controls one or both of the first driving wheel 200 and the second driving wheel 300 to rotate.

[0060] The multi-directional movement mode is also called the crab mode, which is used to control the vehicle body 100 to perform parallel movement of the vehicle body 100 in any direction. The multi-directional steering includes 30 degrees, 45 degrees to 90 degrees. Since the aforementioned steering can be turned in both the left and right directions, the steering range of the first driving wheel 200 and the second driving wheel 300 reaches 180 degrees, which supports the horizontal movement of the vehicle body 100. Since the steering angle of the first driving wheel 200 and the second driving wheel 300 can be linearly adjusted between -90 degrees and 90 degrees, the vehicle body 100 also supports vertical movement at an angle of 0 degrees.

[0061] In some embodiments, the motion controller controls the first drive wheel 200 to drive the vehicle body 100, and the second drive wheel 300 is driven; in other embodiments, the motion controller controls the second drive wheel 300 to drive the vehicle body 100, and the first drive wheel 200 is driven; in still other embodiments, the motion controller controls the first drive wheel 200 and the second drive wheel 300 to drive synchronously, and the linear speeds of the first drive wheel 200 and the second drive wheel 300 relative to the ground are consistent.

[0062] Ginseng Figure 8As shown, in the small turning radius mode, the motion controller controls the first driving wheel 200 and the second driving wheel 300 to turn synchronously, the turning angles are opposite and the angles are the same, and the motion controller controls one or both of the first driving wheel 200 and the second driving wheel 300 to rotate. Compared with the normal mode, the effective turning radius mode can reduce the turning radius of the vehicle body 100 for turning, especially for U-turns.

[0063] The small turning radius mode also includes a zero-position steering mode. In the zero-position steering mode, when the motion control module detects that the steering angle of the first driving wheel 200 and the second driving wheel 300 reaches a steering threshold, the motion control module limits the rotation speed of the first driving wheel 200 and the second driving wheel 300 to below a preset value.

[0064] In some embodiments, the zero-position steering mode is directly set in the mode switching controller as a switching mode, just like the normal mode, the multi-directional movement mode and the small turning radius mode. After entering this mode, the first drive wheel 200 and the second drive wheel 300 turn synchronously according to the signal input by the motion controller, and the turning directions are opposite to each other and turn to the travel limit, wherein the turning angle is 90 degrees. The motion control module limits the rotation speed of the first drive wheel 200 and the second drive wheel 300 to below a preset value. The vehicle body 100 responds to the signal input by the motion controller and starts to rotate.

[0065] Ginseng Fig. 9 As shown in the figure, the control logic of the high-level picking vehicle is: The mode switching controller is in communication connection with the motion control module and transmits information indicating the corresponding switching state to the motion control module; The motion control module responds to the information indicating the corresponding switching state and switches to the corresponding motion mode; The motion control module monitors the sensing devices 501 on the two handles 500, and receives the linear signal transmitted by the motion controller only when the signals transmitted by the sensing devices 501 on the two handles 500 are received at the same time; The motion control module receives a signal indicating a steering angle, and controls the rotation angle of the first driving wheel 200 and / or the second driving wheel 300 according to the signal; The motion control module receives the signal indicating the rotation speed and controls the rotation speed of the first driving wheel 200 and / or the second driving wheel 300 according to the signal.

[0066] When the mode switching controller on the high-position picking vehicle switches the switching state, the motion control module responds and switches to the corresponding motion mode. In some embodiments, after switching the motion mode, the first drive wheel 200 and the first drive wheel 300 return to the zero position, and the first drive wheel 200 and the first drive wheel 300 in the zero position state have a rotation speed of 0 and a steering angle of 0 degrees.

[0067] Ginseng Fig.10 As shown, the motion controller includes two handles 500, which receive a plurality of linear signal inputs to control the movement of the first drive wheel 200 and the second drive wheel 300, wherein the rotation speed output by the first drive wheel 200 and / or the second drive wheel 300 is controlled by one signal input, and the steering angle output by the first drive wheel 200 and / or the second drive wheel 300 is controlled by another signal input.

[0068] The axial directions of the two handles 500 are arranged on the same plane. The two handles 500 correspond to the hands of a person respectively, and the distance between the two handles 500 is slightly larger than the width of an adult's shoulders. The two handles 500 are horn-shaped. This structure is also suitable for the human body structure, reducing the fatigue caused by long-term contact with the two handles 500.

[0069] The signal input includes one or more of the push and pull forces exerted on the two handles 500 and the openings of the two handles 500 along the axial rotation of the handles 500 .

[0070] The handle 500 includes an inner handle 500 and an outer handle 500 that is rotatably connected and sleeved on the inner handle 500. The outer handle 500 and the inner handle 500 are elastically connected, and a zero position is generated by the elastic connection. When no external force is applied, the outer handle 500 is always at the zero position. The outer handle 500 and the inner handle 500 can be connected by an encoder or other sensor that records angles. The inner handle 500 is relatively fixed to the vehicle body, and the outer handle 500 rotates axially relative to the inner handle 500. The signal generated by the opening of the handle 500 along the axial rotation is generated by detecting the angle at which the outer handle 500 rotates relative to the inner handle 500. The signal input is linear. Among them, the opening generated by the rotation angle is positively correlated with the steering angle. The larger the opening, the larger the steering angle.

[0071] In some embodiments, the aforementioned zeroing operation is automatically performed after the operator releases both hands from the handle 500 or the handle 500 automatically returns to zero because the input signal of the handle 500 is zero.

[0072] The surface of the handle 500 is provided with a pressure sensor, which can be arranged in a dot matrix on the side wall of the handle 500. The corresponding input signal can be generated by pushing and pulling, and the direction of the force applied to the handle 500 is determined according to the input signal. Then, according to the magnitude of the thrust, the motion control module controls the first driving wheel 200 and / or the second driving wheel 300 to turn and rotate. Among them, the thrust magnitude and the rotation speed are positively correlated, and the greater the thrust, the greater the rotation speed.

[0073] Setting the signal input to linear can be more in line with human intuition, avoid errors, and reduce training costs.

[0074] A control button or a rotatable structure is also provided on the inner side of the handle 500 corresponding to the thumb area of ​​a person, and the control button or the rotatable structure can control other parts attached to the body through the controller of the body. Taking the high-position picking vehicle of the present application as an example, the controller can control the raising or lowering of the platform carrying people. However, this is not a limitation, and the lifting and lowering of the forklift's fork can also be controlled.

[0075] A handle 500 generates a signal through the opening degree and inputs it into the motion control module to control the rotation speed output by the first drive wheel 200 and / or the second drive wheel 300, and another handle 500 generates a signal through the opening degree and inputs it into the motion control module to control the steering angle output by the first drive wheel 200 and / or the second drive wheel 300.

[0076] In some embodiments, the motion control module receives signals generated by the rotation opening of the two handles 500 to control the steering angle output by the first drive wheel 200 and / or the second drive wheel 300; and controls the rotation speed output by the first drive wheel 200 and / or the second drive wheel 300 by receiving signals provided by pressure sensors on the surface of the handles 500.

[0077] In the above three motion modes, the functions corresponding to the two handles 500 are always the same. For example, the left handle 500 is always used to control the rotation output by the first driving wheel 200 and / or the second driving wheel 300, that is, the feeding of the vehicle body, and the right handle 500 is always used to control the steering of the first driving wheel 200 and / or the second driving wheel 300, that is, the steering of the vehicle body. The above settings can reduce the mental burden of the user and reduce the probability of error.

[0078] The handle 500 is also provided with a sensing device 501 for sensing whether the operator is holding the two handles 500. The sensing device 501 is communicatively connected to the motion control module. When the sensing device 501 confirms that the operator is holding the two handles 500, the motion control module allows the high-position picking vehicle to move.

[0079] In some embodiments, the sensing device 501 is the pressure sensor mentioned above, and the pressure sensor is used to detect whether the operator's hands are on the handle 500.

[0080] Operator controls the high-level order picker: The operator enters the platform of the high-level picking vehicle; Select the corresponding switching state through the mode switching controller; Place both hands on the two handles 500; Inputting control commands by controlling two handles 500; After completing the work, the vehicle is powered off.

[0081] The embodiments described above are only preferred solutions of the present invention and are not intended to limit the present invention in any form. Other variations and modifications are possible without exceeding the technical solutions described in the claims.

Claims

1. A control system for a high-position picking vehicle with dual drive wheels, characterized in that: The high-position picking vehicle comprises a vehicle body, a first driving wheel, a second driving wheel, a plurality of universal wheels and a motion control module, wherein the universal wheels are arranged near the outer edge of the vehicle body, the first driving wheel and the second driving wheel are arranged in the length direction of the vehicle body, a first driving structure is arranged at one end of the vehicle frame, and a second driving structure is arranged at the other end of the vehicle frame, the first driving structure drives the first driving wheel to move, and the second driving structure drives the second driving wheel to move, and the movement includes rotation and steering; the high-position picking vehicle has a plurality of motion modes, and the motion control module controls the movement of the first driving wheel and / or the second driving wheel according to the motion mode; Movement modes include normal mode, multi-directional movement mode and small turning radius mode; In the normal mode, the motion controller controls one of the first drive wheel and the second drive wheel to turn, and the motion controller controls one or both of the first drive wheel and the second drive wheel to rotate; In the multi-directional movement mode, the motion controller controls the first drive wheel and the second drive wheel to turn synchronously, with the same turning direction and the same angle, and the motion controller controls one or both of the first drive wheel and the second drive wheel to rotate; In the small turning radius mode, the motion controller controls the first drive wheel and the second drive wheel to turn synchronously, with opposite directions and the same angles, and the motion controller controls one or both of the first drive wheel and the second drive wheel to rotate.

2. The control system of a high-position picking vehicle with dual drive wheels according to claim 1 is characterized in that: The first driving structure includes a power seat, a power motor arranged on the power seat, a steering seat and a steering motor arranged on the steering seat. The power seat and the steering seat are rotatably connected. The steering motor is transmission-connected to the power seat and drives the power seat to rotate. The steering seat is elastically connected to the vehicle body through a suspension part, and the power motor drives the first driving wheel to rotate.

3. The control system of a high-position picking vehicle with dual drive wheels according to claim 2 is characterized in that: The structure of the second driving structure is the same as that of the first driving structure, wherein the driving motor of the second driving structure drives the second driving wheel to rotate.

4. The control system of a high-position picking vehicle with dual drive wheels according to claim 2 or 3, characterized in that: The suspension part includes a slide rail, a guide rod and a suspension spring. The guide rod is arranged on the car body and along the height direction. The steering seat is provided with a guide hole. The guide rod is inserted in the guide hole. The suspension spring is inserted on the guide rod and the two ends are respectively abutted between the car body and the steering seat. The slide rail is arranged on the car body and along the height direction. The steering seat is provided with a slide groove. The slide groove and the slide rail are slidably connected.

5. The control system of a high-position picking vehicle with dual drive wheels according to claim 2 is characterized in that: The top of the power seat is circular and a gear ring is provided on the outer edge. The steering motor is transmission-connected with a driving gear, and the driving gear is meshed with the gear ring.

6. The control system of a high-position picking vehicle with dual drive wheels according to claim 5 is characterized in that: A driven gear is also rotatably connected to the steering seat. The driven gear and the driving gear are arranged on both sides of the gear ring. The centers of the driven gear and the driving gear are arranged on a straight line passing through the center of the gear ring.

7. The control system of a high-position picking vehicle with dual driving wheels according to claim 1 is characterized in that: The first driving wheel is located on one side of the central axis of the vehicle body, and the second driving wheel is located on the other side of the central axis of the vehicle body.

8. The control system of a high-position picking vehicle with dual driving wheels according to claim 1 is characterized in that: The first driving wheel and the second driving wheel are arranged on the central axis of the vehicle body.

9. The control system of a high-position picking vehicle with dual driving wheels according to claim 1, characterized in that: In normal mode, the motion controller controls the first driving wheel to steer, and the second driving wheel steers synchronously following the steering angle of the first driving wheel, and the steering angle of the second driving wheel is smaller than the steering angle of the first driving wheel.

10. The control system of a high-position picking vehicle with dual driving wheels according to claim 1, characterized in that: In normal mode, the motion controller controls the second driving wheel to steer, and the first driving wheel steers synchronously following the steering angle of the second driving wheel, and the steering angle of the first driving wheel is smaller than the steering angle of the second driving wheel.

11. The control system of a high-position picking vehicle with dual driving wheels according to claim 1, characterized in that: The small turning radius mode also includes a zero-position steering mode. In the zero-position steering mode, when it is detected that the steering angles of the first driving wheel and the second driving wheel reach a steering threshold, the rotation speeds of the first driving wheel and the second driving wheel are limited to below a preset value.

12. The control system of a high-position picking vehicle with dual driving wheels according to claim 1, characterized in that: In normal mode, the motion controller controls the first drive wheel to turn, wherein, during the turning process of the high-level picking vehicle, the motion control module controls the second drive wheel to turn adaptively according to the steering angle of the first drive wheel, and the steering angle of the second drive wheel lags behind that of the first drive wheel.

13. A control system for a high-position picking vehicle with dual drive wheels, characterized in that: A high-level picking vehicle comprising any one of claims 1 to 12, further comprising a controller capable of human-computer interaction, the controller comprising a mode switching controller and a motion controller, the mode switching controller capable of inputting a switching state, and the motion control module switching the motion mode according to the switching state input by the mode switching controller.

14. The control system of the high-position picking vehicle with dual driving wheels according to claim 13, characterized in that: The motion controller includes two handles, which receive a number of linear signal inputs to control the movement of the first drive wheel and the second drive wheel, wherein the rotation speed of the first drive wheel and / or the second drive wheel output is controlled by one signal input, and the steering angle of the first drive wheel and / or the second drive wheel output is controlled by another signal input.

15. The control system of the high-position picking vehicle with dual driving wheels according to claim 14, characterized in that: The signal input includes one or more of the push and pull forces exerted on the two handles and the openings of the two handles along the axial rotation of the handles.

16. The control system of the high-position picking vehicle with dual driving wheels according to claim 15, characterized in that: One handle controls the rotation speed of the first drive wheel and / or the second drive wheel output through the signal input generated by the opening, and the other handle controls the steering angle of the first drive wheel and / or the second drive wheel output through the signal input generated by the opening.

17. The control system of the high-position picking vehicle with dual driving wheels according to claim 13, characterized in that: The handle is also provided with a sensing device for sensing whether the operator is holding the two handles. The sensing device is communicatively connected to the motion control module. When the sensing device confirms that the operator is holding the two handles, the motion control module allows the high-position picking vehicle to move.

18. The control system of a high-position picking vehicle with dual drive wheels according to claim 13, characterized in that: The normal mode includes a first normal mode and a second normal mode. In the first normal mode, the motion controller controls the first drive wheel to steer, and the second drive wheel steers synchronously following the steering angle of the first drive wheel, and the steering angle of the second drive wheel is smaller than the steering angle of the first drive wheel; in the second normal mode, the motion controller controls the second drive wheel to steer, and the first drive wheel steers synchronously following the steering angle of the second drive wheel, and the steering angle of the first drive wheel is smaller than the steering angle of the second drive wheel.

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