A multi-vehicle synchronous travel system and method based on combined modular vehicles

Abstract

The present invention provides a multi-vehicle synchronous walking system based on a modular vehicle, the system comprising: a modular vehicle, including a plurality of inner modular vehicles and a plurality of outer modular vehicles, and the number of the inner vehicles is equal to the number of the outer vehicles, each modular vehicle comprises four rotary motors, the modular vehicle is used to transport goods, and the rotary angle and radius are calculated by the following function according to the sensor data obtained by the sensor, so that each modular vehicle can walk synchronously; the sensor is arranged on the modular vehicle, and is used to obtain the sensor data for calculation by the modular vehicle. The present invention is used to solve the problem that the prior art cannot perform small radius turns.

Description

Technical Field

[0001] The present application relates to the technical field of modular vehicle, and in particular to a multi-vehicle synchronous travel system and method based on modular vehicle. Background Art

[0002] With the development of the photovoltaic industry, the transportation of large-scale photovoltaic panels is a difficult problem. Since small-radius turns may occur during transportation, the existing technology uses a rigid connection between the front and rear vehicles, which makes it difficult to turn. This is especially true when transporting flexible goods such as photovoltaic brackets. The problem of small-radius turns is particularly serious. In addition, the existing technology has higher requirements for the hardening and flatness of the site, and cannot meet the requirements of flexible connections. Especially during the uphill process, the entire bracket will be bent due to stress. Therefore, in existing photovoltaic projects, such as offshore photovoltaic projects, the transportation routes are basically straight lines, the on-site turns are basically large bends, and the site is well hardened. Summary of the invention

[0003] In view of this, the present invention provides a multi-vehicle synchronous travel system and method based on a combined modular vehicle to solve the technical problems in the prior art that when transporting flexible and large items such as photovoltaic panels and photovoltaic brackets, small radius turns cannot be made and high requirements are placed on site hardening and flatness.

[0004] The present invention provides a multi-vehicle synchronous walking system based on a modular vehicle, the system comprising: a modular vehicle, including a plurality of inner modular vehicles and a plurality of outer modular vehicles, and the number of the inner vehicles is equal to the number of the outer vehicles, each modular vehicle comprises four rotary motors, the modular vehicle is used to transport goods, and the rotary angle and radius are calculated by the following function according to the sensor data obtained by the sensor, so that each modular vehicle can walk synchronously, Y 内 = ±0.5L,

[0005] X 外 =X 内 +B,Y 外 = ±0.5L, x 内 =X 内 ±0.5b,y 内 =Y 内 = ±0.5l, x 外 =X 外 ±0.5b,

[0006] y 外 =Y 外 = ±0.5l, Among them, (X

[0007] 内 , Y 内) is the center coordinate of the inner car, (X 外 , Y 外 ) is the center coordinate of the outer car, (x 内 ,y 内 ) is the coordinate of the inner car rotary motor, (x 外 ,y 外 ) is the coordinate of the outer car rotary motor, RR i is the radius of gyration, α i is the rotation angle, V i is the speed of the rotary motor, R is the preset rotary radius, L is the center length of the vehicle body, B is the center width of the vehicle body, b is the rotary bearing distance, l is the wheelbase, and V is the walking speed of the inner vehicle; the sensor is arranged on the combined module vehicle, and is used to obtain sensor data for the combined module vehicle to calculate the module vehicle connection, and is used to connect the front and rear combined module vehicles on the same side and provide them with oil pressure for driving.

[0008] Furthermore, the system also includes: a connecting frame connected to the combined modular vehicle to protect the goods from being damaged due to the asynchronism of the combined modular vehicle.

[0009] Furthermore, the connecting frame includes a transverse connecting frame for correspondingly connecting the inner and outer combined module vehicles to prevent the inner and outer combined module vehicles from being squeezed inwards or pulled outwards, causing damage to the goods.

[0010] Furthermore, the connecting frame includes an oblique connecting frame for connecting the oil pipe and the transverse connecting frame to prevent the inner and outer combined module vehicles from being squeezed inwards or pulled outwards, causing damage to the goods.

[0011] Furthermore, the system also includes: an oil pipe connected to the combined module vehicle, used to connect the front and rear combined module vehicles on the same side and provide oil pressure therefor for driving.

[0012] Furthermore, the system also includes: a driving system, which is arranged on the combined modular vehicle and connected to the oil pipe, including an engine, a hydraulic pump and a hydraulic motor. The hydraulic pump inputs the pressure oil in the oil pipe into the hydraulic motor through the engine to complete the driving.

[0013] Furthermore, the engine is arranged on the first vehicle of the inner and outer combined modular vehicles.

[0014] Furthermore, the combined modular vehicle includes two inner vehicles and two outer vehicles, the two inner vehicles are arranged front to back to form a first train, and the two outer vehicles are arranged front to back to form a second train.

[0015] The present invention also provides a method for synchronously traveling multiple vehicles based on a modular vehicle, characterized in that the method comprises: step 1, a sensor acquires sensing data; step 2, multiple modular vehicles calculate a rotation angle and a radius according to the sensing data by the following function: Y 内 = ±0.5L, X 外 =X 内 +B,Y 外 = ±0.5L, x 内 =X 内 ±0.5b,y 内 =Y 内 = ±0.5l, xouter = Xouter ±0.5b, youter = Youter = ±0.5l, Among them, (X 内 , Y 内 ) is the center coordinate of the inner car, (X 外 , Y 外 ) is the center coordinate of the outer car, (x 内 ,y 内 ) is the coordinate of the inner car rotary motor, (x 外 ,y 外 ) is the coordinate of the outer car rotary motor, RR i is the radius of gyration, α i is the rotation angle, V i is the speed of the slewing motor, R is the preset slewing radius, L is the center length of the vehicle body, B is the center width of the vehicle body, b is the slewing bearing distance, l is the wheelbase, and V is the walking speed of the inner vehicle; Step 3, the combined modular vehicle is driven by the oil pressure in the oil pipe to achieve synchronous walking according to the calculated slewing angle and radius to prevent damage to the goods during transportation and turning.

[0016] Furthermore, the method of driving the modular vehicle by the oil pressure in the oil pipe includes: step 31, the engine drives the hydraulic pump so that the pressure oil in the oil pipe enters the hydraulic pump; step 32, the hydraulic pump inputs the pressure oil into the hydraulic motor; step 33, the hydraulic motor drives the modular vehicle to move.

[0017] The present invention provides a multi-vehicle synchronous walking system and method based on a combined modular vehicle. The technical solution obtains sensor data through sensors on the combined modular vehicle, and then calculates a turning angle and a radius according to the sensor data. The combined modular vehicle realizes synchronous straight driving and turning of the multiple vehicles according to the calculated turning angle and radius, thereby solving the technical problems that the prior art cannot make small-radius turns when transporting goods, especially when transporting flexible and large items such as photovoltaic panels and photovoltaic brackets, and has high requirements for site hardening and flatness. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the framework of a multi-vehicle synchronous travel system based on a combined modular vehicle provided by the present invention;

[0019] Figure 2 It is a schematic diagram of a photovoltaic panel and a photovoltaic bracket provided by the present invention;

[0020] Figure 3 This is a schematic diagram of a multi-vehicle synchronous walking system based on a combined modular vehicle provided by the present invention when making a small radius turn;

[0021] Figure 4 It is a schematic diagram of a train provided by the present invention;

[0022] Figure 5 It is the coordinate calculation diagram of the rotary motor provided by the present invention;

[0023] Figure 6 The present invention provides a flowchart of a method for synchronously moving multiple vehicles based on a combined modular vehicle. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0025] Device Item Embodiment

[0026] The present invention provides a multi-vehicle synchronous travel system based on a combined modular vehicle. Figure 1 , 2 As shown, the system includes a combined module vehicle, a sensor, an oil pipe 4, a connecting frame and a driving system.

[0027] The modular vehicle comprises a plurality of inner modular vehicles 1, i.e., modular vehicles on the side closer to the center of a circle when turning, and a plurality of outer modular vehicles 2, i.e., modular vehicles on the side farther from the center of a circle when turning, and the number of the inner modular vehicles 1 and the outer modular vehicles 2 is equal, and each modular vehicle comprises four rotary motors (such as Figure 1 The modular vehicle is used to transport goods, such as photovoltaic brackets 5 and photovoltaic panels 6. According to the sensor data obtained by the sensor, the rotation angle and radius are calculated by the following function, so that each modular vehicle can walk synchronously when making a small radius turn, as shown in the circle marked with a number. Figure 3 As shown, Y 内 = ±0.5L, X 外=X 内 +B,Y 外 = ±0.5L, x 内 =X 内 ±0.5b,y 内 =Y 内 = ±0.5l, x 外 =X 外 ±0.5b,y 外 =Y 外 = ±0.5l, Among them, (X 内 , Y 内 ) is the center coordinate of the inner car, (X 外 , Y 外 ) is the center coordinate of the outer car, (x 内 ,y 内 ) is the coordinate of the inner car rotary motor, (x 外 ,y 外 ) is the coordinate of the outer car rotary motor, RR i is the radius of gyration, α i is the rotation angle, V i is the speed of the rotary motor, R is the preset rotary radius, L is the center length of the vehicle body, B is the center width of the vehicle body, b is the rotary bearing distance, l is the wheelbase, and V is the inner vehicle travel speed. Usually, there are four modular vehicles, which are located at the four corners of the transported goods, including two inner modular vehicles 1 and two outer modular vehicles 2. Figure 4 As shown by the middle long arrow, the two inner modular cars are arranged front and back to form the first train, and the two outer cars are arranged front and back to form the second train. Since each modular car has four rotary motors, the four modular cars have 16 rotary motors. Figure 1 As shown, the center coordinates of inner car points 1 to 4 are: Y 14 =0.5L; Center coordinates of inner car points 5 to 8: Y 58 =-0.5L; Center coordinates of outer car points 9 to 12: X 912 =X14+B,Y 912 =0.5L; Center coordinates of inner car points 13-16: X 1316 =X14+B,Y 1316 =-0.5L. Among them, the center width of the vehicle body B = 22.5m, the center length of the vehicle body L = 35.04m, the wheelbase l = 1.5m, the slewing bearing distance b = 1.8m, and the preset slewing radius (based on the center of the front and rear vehicles) R = 35m. The coordinates of each slewing motor are as follows Figure 5 As shown, i = 1, 2, ..., 16, the travel speed of the inner modular vehicle is V = 5m / min,

[0028] The speed of each rotary motor is These data are the parameters of the modular vehicle, which are preset according to the structural design of the modular vehicle and the requirements of the on-site route. These parameters can be adjusted according to the actual cargo to be transported. Moreover, when there is no need for the two trains to move synchronously, they can run independently, not only transporting photovoltaic panels and photovoltaic brackets, but also combining multiple vehicles to transport other cargoes.

[0029] The sensor is arranged on the modular vehicle and is used to obtain sensor data for calculation by the modular vehicle. Since the modular vehicle is provided with various sensors, such as distance sensors, visual sensors, etc., a large amount of sensor data can be obtained for the modular vehicle to calculate the turning angle and radius, so that multiple modular vehicles can perform small radius turns synchronously.

[0030] The oil pipe 4 is connected to the modular vehicle and is used to connect the front and rear modular vehicles on the same side and provide them with oil pressure for driving. Figure 1 As shown. The drive system is arranged on the combined module vehicle, connected to the oil pipe 4, and includes an engine 7, a hydraulic pump and a hydraulic motor. The hydraulic pump inputs the pressure oil in the oil pipe 4 to the hydraulic motor through the engine 7 to complete the drive. The engine 7 is arranged on the first vehicle of the inner and outer combined module vehicles. The hydraulic drive mode mentioned here is only one of the preferred modes. In actual application, other drive modes such as electric drive can also be used.

[0031] The connecting frame is connected to the modular vehicle and is used to protect the cargo and prevent the photovoltaic panel 6 from being damaged due to the asynchronous modular vehicle. The connecting frame includes a transverse connecting frame 31, which is used to connect the inner and outer modular vehicles to each other to prevent the inner and outer modular vehicles from being squeezed inward or pulled outward, causing damage to the photovoltaic panel 6. The connecting frame includes an oblique connecting frame 32, which is used to connect the oil pipe 4 and the transverse connecting frame 31 to prevent the inner and outer modular vehicles from being squeezed inward or pulled outward, causing damage to the photovoltaic panel 6. When a control abnormality occurs and the modular vehicles cannot perform synchronous turning and walking through the functions described above, the connecting frame can also ensure that the relative positions of the two trains remain unchanged and the cargo loaded on the modular vehicle will not be damaged.

[0032] The present invention provides a multi-vehicle synchronous travel system and method based on a modular modular vehicle. The technical solution obtains sensor data through sensors on the modular modular vehicle, and then calculates a turning angle and a radius according to the sensor data. The modular modular vehicle realizes synchronous straight travel and turning of the multiple vehicles according to the calculated turning angle and radius, thereby solving the technical problems of the prior art that, when transporting goods, small-radius turns cannot be made and high requirements are placed on the hardening and flatness of the site.

[0033] Method Item Embodiment

[0034] The present invention also provides a method for a multi-vehicle synchronous travel system based on a combined modular vehicle, such as Figure 6 As shown, the method includes:

[0035] Step 1, the sensor acquires sensing data;

[0036] Since the modular vehicle is equipped with various sensors, such as distance sensors, visual sensors, etc., a large amount of sensor data can be obtained for the modular vehicle to calculate the turning angle and radius, so as to complete the small-radius turning of multiple modular vehicles simultaneously.

[0037] Step 2: Multiple modular vehicles calculate the rotation angle and radius based on the sensor data through the following function:

[0038] Y 内 = ±0.5L,

[0039] X 外 =X 内 +B,Y 外 = ±0.5L,

[0040] x 内 =X 内 ±0.5b,y 内 =Y 内 = ±0.5l,

[0041] x 外 =X 外 ±0.5b,y 外 =Y 外 = ±0.5l,

[0042]

[0043] Among them, (X 内 , Y 内 ) is the center coordinate of the inner car, (X 外 , Y 外 ) is the center coordinate of the outer car, (x 内 ,y 内 ) is the coordinate of the inner car rotary motor, (x 外 ,y 外 ) is the coordinate of the outer car rotary motor, RR i is the radius of gyration, α i is the rotation angle, V iis the speed of the slewing motor, R is the preset slewing radius, L is the center length of the vehicle body, B is the center width of the vehicle body, b is the slewing bearing distance, l is the wheelbase, and V is the walking speed of the inner vehicle;

[0044] Step 3: The combined modular vehicle is driven by the oil pressure in the oil pipe to achieve synchronous small-radius turning of multiple vehicles based on the calculated turning angle and radius, thereby preventing damage to the goods during transportation and turning.

[0045] The method of driving the combined modular vehicle by the oil pressure in the oil pipe includes:

[0046] Step 31, the engine drives the hydraulic pump so that the pressure oil in the oil pipe enters the hydraulic pump;

[0047] Step 32, the hydraulic pump inputs the pressure oil into the hydraulic motor;

[0048] Step 33, the hydraulic motor drives the combined modular vehicle to move.

[0049] like Figure 1 As shown, the oil pipe 4 is connected to the modular vehicle, and is used to connect the front and rear modular vehicles on the same side and provide oil pressure for them to drive. The drive system is arranged on the modular vehicle, connected to the oil pipe 4, and includes an engine 7, a hydraulic pump and a hydraulic motor. The hydraulic pump inputs the pressure oil in the oil pipe 4 to the hydraulic motor through the engine 7 to complete the driving. The engine 7 is arranged on the first vehicle of the inner and outer modular vehicles.

[0050] The present invention provides a multi-vehicle synchronous travel system and method based on a modular modular vehicle. The technical solution obtains sensor data through sensors on the modular modular vehicle, and then calculates a turning angle and a radius according to the sensor data. The modular modular vehicle realizes synchronous straight travel and turning of the multiple vehicles according to the calculated turning angle and radius, thereby solving the technical problems of the prior art that, when transporting goods, small-radius turns cannot be made and high requirements are placed on the hardening and flatness of the site.

[0051] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A multi-vehicle synchronous travel system based on a combined modular vehicle, characterized in that: The system comprises: The modular vehicle comprises a plurality of inner modular vehicles and a plurality of outer modular vehicles, and the number of the inner vehicles is equal to the number of the outer vehicles. Each modular vehicle comprises four rotary motors. The modular vehicle is used to transport goods. According to the sensor data obtained by the sensor, the rotary angle and radius are calculated by the following function so that each modular vehicle can synchronously turn with a small radius. X 外 =X 内 +B,Y 外 =±0.5L, x 内 =X 内 ±0.5b,y 内 =Y 内 =±0.5l, x 外 =X 外 ±0.5b,y 外 =Y 外 =±0.5l, Among them, (X 内 , Y 内 ) is the center coordinate of the inner car, (X 外 , Y 外 ) is the center coordinate of the outer car, (x 内 ,y 内 ) is the coordinate of the inner car rotary motor, (x 外 ,y 外 ) is the coordinate of the outer car rotary motor, RR i is the radius of gyration, α i is the rotation angle, V i is the speed of the slewing motor, R is the preset slewing radius, L is the center length of the vehicle body, B is the center width of the vehicle body, b is the slewing bearing distance, l is the wheelbase, and V is the travel speed of the inner vehicle; The sensor is arranged on the modular vehicle and is used to obtain sensing data for calculation by the modular vehicle.

2. According to claim 1, a multi-vehicle synchronous travel system based on a combined modular vehicle is characterized in that: The system further comprises: The connecting frame is connected to the modular vehicle and is used to protect the goods and prevent the goods from being damaged due to the asynchronous movement of the modular vehicle.

3. According to claim 2, a multi-vehicle synchronous travel system based on a combined modular vehicle is characterized in that: The connecting frame includes a transverse connecting frame, which is used to connect the inner and outer combined module vehicles correspondingly to prevent the inner and outer combined module vehicles from being squeezed inwards or pulled outwards, causing damage to the goods.

4. According to claim 3, a multi-vehicle synchronous travel system based on a combined modular vehicle is characterized in that: The connecting frame includes an oblique connecting frame, which is used to connect the oil pipe and the transverse connecting frame to prevent the inner and outer combined module vehicles from being squeezed inwards or pulled outwards, resulting in damage to the goods.

5. According to claim 1, a multi-vehicle synchronous travel system based on a combined modular vehicle is characterized in that: The system also includes: an oil pipe connected to the combined module vehicle, used to connect the front and rear combined module vehicles on the same side and provide oil pressure for driving.

6. The multi-vehicle synchronous travel system based on the combined modular vehicle according to claim 5, characterized in that: The system further comprises: The driving system is arranged on the combined module vehicle and connected to the oil pipe, and comprises an engine, a hydraulic pump and a hydraulic motor. The hydraulic pump inputs the pressure oil in the oil pipe into the hydraulic motor through the engine to complete the driving.

7. The multi-vehicle synchronous travel system based on the combined modular vehicle according to claim 6, characterized in that: The engine is arranged on the first vehicle of the inner and outer combined module vehicles.

8. The multi-vehicle synchronous travel system based on the combined modular vehicle according to claim 1, characterized in that: The combined modular vehicle comprises two inner vehicles and two outer vehicles, wherein the two inner vehicles are arranged front to back to form a first train, and the two outer vehicles are arranged front to back to form a second train.

9. A method for a multi-vehicle synchronous travel system based on a combined modular vehicle according to claims 1 to 8, characterized in that: The method comprises: Step 1, the sensor acquires sensing data; Step 2: Multiple modular vehicles calculate the rotation angle and radius based on the sensor data through the following function: X 外 =X 内 +B,Y 外 =±0.5L, x 内 =X 内 ±0.5b,y 内 =Y 内 =±0.5l, xoutside = xoutside ± 0.5b, youtside = youtside = ± 0.5l, Among them, (X 内 , Y 内 ) is the center coordinate of the inner car, (X 外 , Y 外 ) is the center coordinate of the outer car, (x 内 ,y 内 ) is the coordinate of the inner car rotary motor, (x 外 ,y 外 ) is the coordinate of the outer car rotary motor, RR i is the radius of gyration, α i is the rotation angle, V i is the speed of the slewing motor, R is the preset slewing radius, L is the center length of the vehicle body, B is the center width of the vehicle body, b is the slewing bearing distance, l is the wheelbase, and V is the travel speed of the inner vehicle; Step 3: The combined modular vehicle is driven by the oil pressure in the oil pipe to achieve synchronous small-radius turning of multiple vehicles based on the calculated turning angle and radius, thereby preventing damage to the goods during transportation and turning.

10. The method for synchronously traveling multiple vehicles based on a modular vehicle according to claim 9, characterized in that: The method of driving the combined modular vehicle by the oil pressure in the oil pipe includes: Step 31, the engine drives the hydraulic pump so that the pressure oil in the oil pipe enters the hydraulic pump; Step 32, the hydraulic pump inputs the pressure oil into the hydraulic motor; Step 33, the hydraulic motor drives the combined modular vehicle to move.

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