Dual-drive transportation device and method for underground logistics system

Abstract

The invention relates to a dual-drive transportation device and method for an underground logistics system. A main drive device, a standby drive device and a microprocessor are arranged on a logistics transportation vehicle; through the microprocessor, an enabling instruction is sent to the standby driving device when sudden power failure, heavy-load climbing and speed increasing occur in the transportation process of the logistics transportation vehicle, so that the standby driving device is called to operate, and it is guaranteed that the logistics transportation vehicle can still provide a reliable transportation system when encountering the situations of sudden power failure, heavy-load climbing and speed increasing. And the defects in the prior art are overcome.

Description

Technical Field

[0001] The present invention relates to the technical field of underground logistics transportation, and in particular to a dual-drive transportation device and method for an underground logistics system. Background Art

[0002] In recent years, the development of underground logistics systems has provided a new solution for urban logistics distribution. With the advantage of being able to effectively solve the problems of excessive road load, poor logistics environment and low transportation efficiency in large-scale urban logistics, underground logistics systems play an important role in the construction of urban logistics systems.

[0003] However, in the underground logistics transportation system in the prior art, logistics transportation vehicles are mostly driven by electric motors. When encountering sudden power outages, heavy-load climbing, and starting and accelerating, there is a lack of emergency solutions for logistics transportation vehicles. Summary of the invention

[0004] The technical problem to be solved by the present invention is how to overcome the technical defects in the existing underground logistics system, that is, the lack of emergency solutions for logistics transport vehicles when encountering sudden power outages, heavy-load climbing and starting and accelerating. In order to overcome the above defects of the prior art, the present invention provides a dual-drive transportation device and method for an underground logistics system, including a dual-drive transportation device for an underground logistics system and a dual-drive transportation method for an underground logistics system.

[0005] The present invention provides a dual-drive transport device for an underground logistics system, comprising a logistics transport vehicle, and further comprising:

[0006] A transmission device, used for outputting power to the wheels of the logistics transport vehicle to move the logistics transport vehicle;

[0007] A main driving device, used for sending a driving signal to the transmission device to control the operation of the transmission device;

[0008] A standby driving device, used for sending a driving signal to the transmission device to control the operation of the transmission device after receiving an activation instruction;

[0009] A signal transceiver, used for obtaining a power-on signal of the main drive device in real time;

[0010] A force sensor, used for obtaining the output power of the transmission device in real time;

[0011] A speed sensor, used to obtain the movement speed of the logistics transport vehicle in real time;

[0012] The microprocessor is configured to control the operation of the main drive device and send an activation instruction to the backup drive device when at least one of the following events occurs during the transportation of the logistics transport vehicle: first, the main drive device is powered off; second, the output power of the transmission device is insufficient; third, the speed steady-state error of the logistics transport vehicle exceeds a specified error; fourth, the starting speed of the logistics transport vehicle does not reach a specified stable operating speed;

[0013] in,

[0014] The microprocessor is electrically connected to the main drive device, the backup drive device, the signal transceiver, the force sensor and the speed sensor at the same time, and the main drive device is electrically connected to the signal transceiver;

[0015] The input end of the transmission device is connected to the output end of the main drive device and the output end of the backup drive device at the same time.

[0016] The dual-drive transport device for underground logistics systems disclosed in the present invention addresses the above problems by arranging a main drive device, a backup drive device and a microprocessor on the logistics transport vehicle. The microprocessor sends an activation instruction to the backup drive device when sudden power outages, heavy-load climbing and speed-up occur during the transportation of the logistics transport vehicle, thereby calling the backup drive device to operate, ensuring that the logistics transport vehicle can still provide a reliable transportation system when encountering sudden power outages, heavy-load climbing and speed-up situations, overcoming the defects existing in the prior art, with low computational complexity and low control cost.

[0017] In a possible implementation, the speed sensor is a linear Hall sensor; thereby, the speed information can be collected more accurately and quickly, thereby helping the microprocessor to make quick decisions.

[0018] In a possible implementation, the dual-drive transport device further includes a braking device, which is connected to the transmission device and is used to brake the power output by the transmission device; thereby preventing a transport accident caused by excessive or unstable power output by the transmission device.

[0019] In a possible implementation manner, the method in which the microprocessor determines that insufficient output power of the transmission device occurs comprises the following steps:

[0020] It is determined whether the output power currently obtained by the force sensor is less than the current load of the logistics transport vehicle. If so, it is determined that the output power is insufficient; if not, it is determined that the output power is sufficient.

[0021] In a possible implementation manner, the method in which the microprocessor determines that the steady-state speed error of the logistics transport vehicle exceeds a specified error comprises the following steps:

[0022] A1: obtaining a speed steady-state error according to the difference between the current movement speed acquired by the speed sensor and the specified speed of the logistics transport vehicle;

[0023] A2: Determine whether the speed steady-state error exceeds a specified error based on the speed steady-state error.

[0024] In a possible embodiment, the microprocessor is configured to: when it is determined that the steady-state speed error of the logistics transport vehicle exceeds a specified error, issue an enable command to the backup drive device; and when the steady-state speed error of the logistics transport vehicle does not exceed the specified error, issue a pause command to the backup drive device.

[0025] Another technical solution of the present invention is to provide a dual-drive transportation method for an underground logistics system, the method comprising the following steps:

[0026] S1: Control the main drive device through the microprocessor to start the logistics transport vehicle;

[0027] S2: acquiring the power-on signal of the main driving device through a signal transceiver, acquiring the output power of the transmission device through a force sensor, and acquiring the movement speed of the logistics transport vehicle through a speed sensor in parallel;

[0028] S3: The microprocessor uses the power-on signal, output power and movement speed obtained in step S2 to determine whether one of the following events occurs: first, the main drive device is powered off; second, the output power of the transmission device is insufficient; third, the speed steady-state error of the logistics transport vehicle exceeds the specified error; fourth, the starting speed of the logistics transport vehicle does not reach the specified stable operating speed;

[0029] If yes, an activation command is issued to the standby drive device;

[0030] If not, the process returns to step S2.

[0031] The method disclosed in the present invention, after obtaining the power-on signal of the main driving device through the signal transceiver, obtaining the output power of the transmission device through the force sensor and obtaining the movement speed of the logistics transport vehicle through the speed sensor, implements through the microprocessor to send an activation instruction to the backup driving device when sudden power outage, heavy-load climbing and speed-up occur during the transportation of the logistics transport vehicle, thereby calling the backup driving device to operate, ensuring that the logistics transport vehicle can still provide a reliable transportation system when encountering sudden power outage, heavy-load climbing and speed-up situations, overcoming the defects existing in the prior art, with low computational complexity and low control cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1It is a schematic structural diagram of a dual-drive transport device for an underground logistics system disclosed in an embodiment of the present invention;

[0033] Figure 2 It is a flow chart of the method disclosed in the embodiment of the present invention. DETAILED DESCRIPTION

[0034] First, those skilled in the art should understand that these implementations are only used to explain the technical principles of the embodiments of the present application, and are not intended to limit the protection scope of the embodiments of the present application. Those skilled in the art can make adjustments to them as needed to adapt to specific application scenarios.

[0035] In the description of the embodiments of the present application, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present application can be understood according to specific circumstances.

[0036] In the description of the embodiments of the present application, it should be noted that, unless otherwise clearly specified and limited, the terms "electrical connection" and "electrical connection relationship" should be understood in a broad sense, that is, referring to a connection method with an electrical relationship, for example, it can be a circuit connection through a conductive wire, or it can be an electrical connection through a radio signal channel (channel), or a combination of the two. In addition, "electrical connection" and "electrical connection relationship" can be based on mechanical connection (such as a conductive wire set in a connecting key); it can be a direct connection or an indirect connection through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to specific circumstances.

[0037] In the embodiments of the present application, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0038] The present application is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0039] See also Figure 1 and Figure 2The embodiment of the present application discloses a dual-drive transport device for an underground logistics system, including a logistics transport vehicle, and also includes a transmission device, a main drive device, a backup drive device, a signal transceiver, a force sensor, a speed sensor, a braking device and a microprocessor arranged on the logistics transport vehicle, wherein the microprocessor is electrically connected to the main drive device, the backup drive device, the signal transceiver, the force sensor and the speed sensor at the same time; the main drive device is electrically connected to the signal transceiver; the input end of the transmission device is simultaneously connected to the output end of the main drive device and the output end of the backup drive device, and the braking device is connected to the transmission device. In addition, the braking device can also be electrically connected to the microprocessor to control its operation through the microprocessor.

[0040] In the dual-drive transport device, the transmission device is used to output power to the wheels of the logistics transport vehicle to move the logistics transport vehicle; the main drive device is used to send a drive signal to the transmission device to control the operation of the transmission device; the backup drive device is used to send a drive signal to the transmission device after receiving an activation instruction to control the operation of the transmission device; the signal transceiver is used to obtain the power-on signal of the main drive device in real time; the force sensor is used to obtain the output power of the transmission device in real time; the speed sensor is used to obtain the movement speed of the logistics transport vehicle in real time; in this embodiment, the speed sensor is a linear Hall sensor. The braking device is used to brake the power output by the transmission device.

[0041] In this embodiment, the main driving device adopts an electromagnetic driving system, and the backup driving device adopts a driving module composed of a driving motor and a battery to drive the transmission device to output power to the wheels to move the wheels.

[0042] In the dual-drive transport device, the microprocessor is configured to control the operation of the main drive device and to send an activation instruction to the backup drive device when at least one of the following events occurs during the transportation of the logistics transport vehicle: first, the main drive device is powered off; second, the output power of the transmission device is insufficient; third, the steady-state error of the speed of the logistics transport vehicle exceeds the specified error; fourth, the starting speed of the logistics transport vehicle does not reach the specified stable operating speed.

[0043] Specifically in this embodiment, the method for the microprocessor to determine that the output power of the transmission device is insufficient includes the following steps: determining whether the output power currently obtained by the force sensor is less than the current load of the logistics transport vehicle. If so, it is determined that the output power is insufficient; if not, it is determined that the output power is sufficient.

[0044] At the same time, the method for the microprocessor to determine that the steady-state error of the speed of the logistics transport vehicle exceeds the specified error includes the following steps:

[0045] A1: The speed steady-state error is obtained based on the difference between the current movement speed obtained by the speed sensor and the specified speed of the logistics transport vehicle;

[0046] A2: Determine whether the speed steady-state error exceeds a specified error based on the speed steady-state error.

[0047] In addition, the microprocessor is further configured to: when it is determined that the steady-state speed error of the logistics transport vehicle exceeds the specified error, issue an enable command to the backup drive device, and when the steady-state speed error of the logistics transport vehicle does not exceed the specified error, issue a pause command to the backup drive device.

[0048] When a sudden power outage occurs, the signal transceiver detects that the voltage signal of the electromagnetic drive system is zero, and the microprocessor automatically triggers the backup drive device. During heavy-load climbing, if the force output by the force sensor exceeds the weight of the transport vehicle when loaded, the microprocessor can respond in time to start the backup drive device. During the initial startup and acceleration stage, if the linear Hall sensor detects that the running speed of the logistics transport vehicle is lower than the normal driving speed, it transmits the speed signal to the signal transceiver and starts the backup drive device through the microprocessor. At this time, the electromagnetic drive system and the backup drive device jointly provide thrust for the transport vehicle, thereby obtaining the acceleration urgently needed for the logistics transport vehicle to speed up. When the driving speed reaches the specified operating speed, the backup drive device program is shut down.

[0049] The following will further disclose the transportation method corresponding to the dual-drive transportation device for the underground logistics system in this embodiment. Figure 2 is a flow chart of the method, the method comprising the following steps:

[0050] S1: Control the main drive device through the microprocessor to start the logistics transport vehicle;

[0051] S2: acquiring a power-on signal of the main driving device through a signal transceiver, acquiring the output power of the transmission device through a force sensor, and acquiring the movement speed of the logistics transport vehicle through a speed sensor in parallel;

[0052] S3: The microprocessor uses the power-on signal, output power and movement speed obtained in step S2 to determine whether one of the following events occurs: first, the main drive device is powered off; second, the output power of the transmission device is insufficient; third, the speed steady-state error of the logistics transport vehicle exceeds the specified error; fourth, the starting speed of the logistics transport vehicle does not reach the specified stable operating speed;

[0053] If yes, an activation command is issued to the standby drive device;

[0054] If not, the process returns to step S2.

[0055] The dual-drive transport device for an underground logistics system disclosed in the present embodiment, by arranging a main drive device, a backup drive device and a microprocessor on the logistics transport vehicle, implements through the microprocessor to send an activation instruction to the backup drive device when sudden power outages, heavy-loaded climbing and speed-up occur during the transportation of the logistics transport vehicle, thereby calling the backup drive device to operate, ensuring that the logistics transport vehicle can still provide a reliable transportation system when encountering sudden power outages, heavy-loaded climbing and speed-up situations, overcoming the defects existing in the prior art, and the microprocessor arranged in the present solution has low computational complexity and has the technical advantage of low control cost.

[0056] In the description of the embodiments of the present application, it should be noted that in the description of the present application, terms such as "inside" and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings. This is only for the convenience of description, and does not indicate or imply that the device or component must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present application.

[0057] In the description of the present application, the description with reference to the terms "one embodiment", "some embodiments", "in the present embodiment", "specific example", or "some examples" etc. means that the specific features, mechanisms, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, mechanisms, materials or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0058] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A dual-drive transport device for an underground logistics system, comprising a logistics transport vehicle, characterized in that: The dual-drive transport device also includes: A transmission device, used for outputting power to the wheels of the logistics transport vehicle to move the logistics transport vehicle; A main driving device, used for sending a driving signal to the transmission device to control the operation of the transmission device; A standby driving device, used for sending a driving signal to the transmission device to control the operation of the transmission device after receiving an activation instruction; A signal transceiver, used for obtaining a power-on signal of the main drive device in real time; A force sensor, used for obtaining the output power of the transmission device in real time; A speed sensor, used to obtain the movement speed of the logistics transport vehicle in real time; The microprocessor is configured to control the operation of the main drive device and send an activation instruction to the backup drive device when at least one of the following events occurs during the transportation of the logistics transport vehicle: first, the main drive device is powered off; Second, the output power of the transmission device is insufficient; Third, the steady-state error of the speed of the logistics transport vehicle exceeds the specified error; Fourth, the starting speed of the logistics transport vehicle does not reach the specified stable operating speed; in, The microprocessor is electrically connected to the main drive device, the backup drive device, the signal transceiver, the force sensor and the speed sensor at the same time, and the main drive device is electrically connected to the signal transceiver; The input end of the transmission device is connected to the output end of the main drive device and the output end of the backup drive device at the same time.

2. The dual-drive transport device for underground logistics system according to claim 1, characterized in that: The speed sensor is a linear Hall sensor.

3. The dual-drive transport device for underground logistics system according to claim 1 or 2, characterized in that: The dual-drive transport device further comprises a braking device, which is connected to the transmission device and is used for braking the power output by the transmission device.

4. The dual-drive transport device for underground logistics system according to claim 3, characterized in that: The method for the microprocessor to determine that the output power of the transmission device is insufficient comprises the following steps: It is determined whether the output power currently obtained by the force sensor is less than the current load of the logistics transport vehicle. If so, it is determined that the output power is insufficient; if not, it is determined that the output power is sufficient.

5. The dual-drive transport device for underground logistics system according to claim 4, characterized in that: The method for the microprocessor to determine that the steady-state speed error of the logistics transport vehicle exceeds the specified error comprises the following steps: A1: obtaining a speed steady-state error according to the difference between the current movement speed acquired by the speed sensor and the specified speed of the logistics transport vehicle; A2: Determine whether the speed steady-state error exceeds a specified error based on the speed steady-state error.

6. The dual-drive transport device for underground logistics system according to claim 4 or 5, characterized in that: The microprocessor is configured to: send an enable command to the backup drive device when it is determined that the steady-state speed error of the logistics transport vehicle exceeds the specified error, and send a pause command to the backup drive device when the steady-state speed error of the logistics transport vehicle does not exceed the specified error.

7. A dual-drive transportation method for underground logistics system, characterized in that: The dual-drive transport device for an underground logistics system according to any one of claims 1 to 6 comprises the following steps: S1: Control the main drive device through the microprocessor to start the logistics transport vehicle; S2: acquiring the power-on signal of the main driving device through a signal transceiver, acquiring the output power of the transmission device through a force sensor, and acquiring the movement speed of the logistics transport vehicle through a speed sensor in parallel; S3: The microprocessor uses the power-on signal, output power and movement speed obtained in step S2 to determine whether one of the following events occurs: first, the main drive device is powered off; second, the output power of the transmission device is insufficient; third, the speed steady-state error of the logistics transport vehicle exceeds the specified error; fourth, the starting speed of the logistics transport vehicle does not reach the specified stable operating speed; If yes, an activation command is issued to the standby drive device; If not, the process returns to step S2.

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