Dual drive transport apparatus and method for underground logistics systems

Abstract

The present application relates to a kind of double drive transport devices and methods for underground logistics system, by setting up main drive device, backup drive device and microprocessor on logistics transport vehicle, by microprocessor, when the sudden power failure, heavy load climbing and speed-up in the logistics transport vehicle transport process, send enable instruction to backup drive device, so as to call backup drive device to run, ensure that logistics transport vehicle can still provide reliable transport system when encountering sudden power failure, heavy load climbing and speed-up, overcome the defects in the prior art.

Description

TECHNICAL FIELD

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

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

[0003] However, in the prior art, the logistics transportation vehicle in the underground logistics transportation system is driven by an electric motor, and lacks an emergency solution for the logistics transportation vehicle when encountering sudden power failure, heavy load climbing and starting speed-up. SUMMARY

[0004] The technical problem to be solved by the present application is how to overcome the technical defects of the prior art, i.e., the lack of an emergency solution for the logistics transportation vehicle when encountering sudden power failure, heavy load climbing and starting speed-up. To overcome the above technical defects of the prior art, the present application 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 application provides a dual-drive transportation device for an underground logistics system, which comprises a logistics transportation vehicle, and further comprises, disposed on the logistics transportation vehicle:

[0006] a transmission device for outputting power to the wheels of the logistics transportation vehicle to move the logistics transportation vehicle;

[0007] a main drive device for sending a drive signal to the transmission device to control the operation of the transmission device;

[0008] a backup drive device for sending a drive signal to the transmission device to control the operation of the transmission device after receiving an activation instruction;

[0009] a signal transceiver for acquiring a power-on signal of the main drive device in real time;

[0010] a force sensor for acquiring the output power of the transmission device in real time;

[0011] a speed sensor for acquiring the movement speed of the logistics transportation vehicle in real time;

[0012] A microprocessor is arranged to control the main driving device to operate and send an enabling instruction to the backup driving device when at least one of the following events occurs during the transportation of the logistics transportation vehicle: the main driving device is powered off; the output power of the transmission device is insufficient; the steady-state error of the speed of the logistics transportation vehicle exceeds a specified error; and the starting speed of the logistics transportation vehicle does not reach a specified stable operating speed.

[0013] wherein,

[0014] The microprocessor is electrically connected with the main driving device, the backup driving device, the signal transceiver, the force sensor and the speed sensor, and the main driving device is electrically connected with the signal transceiver.

[0015] The input end of the transmission device is connected with the output end of the main driving device and the output end of the backup driving device.

[0016] The double-driving transportation device for the underground logistics system disclosed in the application solves the above problems by arranging the main driving device, the backup driving device and the microprocessor on the logistics transportation vehicle, sending an enabling instruction to the backup driving device by the microprocessor when sudden power failure, heavy load climbing and speed-up occur during the transportation of the logistics transportation vehicle, calling the backup driving device to operate, and ensuring that the logistics transportation vehicle can still provide a reliable transportation system when sudden power failure, heavy load climbing and speed-up occur. The double-driving transportation device overcomes the defects in the prior art, has small computational complexity and low control cost.

[0017] In a possible implementation, the speed sensor is a linear Hall sensor, so that the speed information can be accurately and quickly collected, and the microprocessor can make a quick decision.

[0018] In a possible implementation, the double-driving transportation device further comprises a braking device connected with the transmission device and used for braking the output power of the transmission device, so that the transmission device can avoid outputting too much or unstable power to cause a transportation accident.

[0019] In a possible implementation, the method for the microprocessor to determine that the output power of the transmission device is insufficient comprises the following steps:

[0020] It is determined whether the output power currently acquired by the force sensor is less than the current load of the logistics transportation vehicle. If yes, it is determined that the output power is insufficient. If no, it is determined that the output power is sufficient.

[0021] In a possible implementation, the method for the microprocessor to determine that the steady-state error of the speed of the logistics transportation vehicle exceeds a specified error comprises the following steps:

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

[0023] A2: determining whether the specified error has been exceeded according to the speed steady-state error.

[0024] In a possible implementation, the microprocessor is configured to issue an enabling instruction to the backup driving device when it is determined that the speed steady-state error of the logistics transport vehicle exceeds the specified error, and issue a suspension instruction to the backup driving device when the speed steady-state error of the logistics transport vehicle does not exceed the specified error.

[0025] Another technical solution of the present application is to provide a dual-driving transport method for an underground logistics system, which comprises the following steps:

[0026] S1: starting the logistics transport vehicle by operating the main driving device through a microprocessor;

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

[0028] S3: determining whether one of the following events occurs through the microprocessor using the acquired power-on signal, output power, and motion speed in the step S2: one, the main driving device is powered off; two, the output power of the driving device is insufficient; three, the speed steady-state error of the logistics transport vehicle exceeds the specified error; four, the starting speed of the logistics transport vehicle does not reach the specified stable running speed;

[0029] If yes, an enabling instruction is issued to the backup driving device;

[0030] If no, the step S2 is executed again.

[0031] The disclosed method acquires the power-on signal of the main driving device through a signal transceiver, the output power of the driving device through a force sensor, and the motion speed of the logistics transport vehicle through a speed sensor, and then issues an enabling instruction to the backup driving device through a microprocessor when sudden power failure, heavy load climbing, and speed-up occur during the transport of the logistics transport vehicle, so as to call the backup driving device to run, thereby ensuring that the logistics transport vehicle can still provide a reliable transport system when encountering sudden power failure, heavy load climbing, and speed-up, overcoming the defects in the prior art, and reducing the computational complexity and control cost. BRIEF DESCRIPTION OF DRAWINGS

[0032] Figure 1A structure diagram of a double-drive transport device for an underground logistics system is disclosed in the embodiments of the present application.

[0033] Figure 2 A flow chart of a method is disclosed in the embodiments of the present application. DETAILED DESCRIPTION

[0034] First, those skilled in the art should understand that the embodiments 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 as needed to adapt to specific application occasions.

[0035] In the description of the embodiments of the present application, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected", "connected" should be understood broadly, for example, it can be fixedly connected, or detachably connected, or integrally connected; it can be mechanically connected, or electrically connected; it can be directly connected, or indirectly connected through an intermediate medium. For those skilled in the art, the specific meaning of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0036] In the description of the embodiments of the present application, it should be noted that, unless otherwise explicitly specified and limited, the terms "electrically connected", "electrically connected" should be understood broadly, that is, the connection mode with electrical relationship, for example, it can be through a conductive wire to realize circuit connection, or through a wireless signal channel (channel) to realize electrical connection, or a combination of the two. In addition, "electrically connected", "electrically connected" can be based on mechanical connection (such as conductive wire arranged in the connection key); it can be directly connected, or indirectly connected through an intermediate medium. For those skilled in the art, the specific meaning of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0037] In the embodiments of the present application, unless otherwise explicitly specified and limited, the first feature is "on" or "under" the second feature, which can be 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, the first feature "above", "above" and "above" the second feature can be that the first feature is directly above or obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" the second feature can be that the first feature is directly below or obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0038] The present application will be further described in detail below in conjunction with the drawings and specific embodiments.

[0039] Reference Figure 1 and Figure 2The embodiment of the application discloses a double-drive transport device for an underground logistics system, which comprises a logistics transport vehicle, a transmission device, a main drive device, a backup drive device, a signal transceiver, a force sensor, a speed sensor, a brake device and a microprocessor which are arranged on the logistics transport vehicle, wherein the microprocessor is electrically connected with the main drive device, the backup drive device, the signal transceiver, the force sensor and the speed sensor; the main drive device is electrically connected with the signal transceiver; the input end of the transmission device is connected with the output end of the main drive device and the output end of the backup drive device; the brake device is connected with the transmission device, and the brake device can be electrically connected with the microprocessor so as to control the operation of the brake device through the microprocessor.

[0040] In the double-drive transport device, the transmission device is used for outputting power to wheels of the logistics transport vehicle so as to move the logistics transport vehicle; the main drive device is used for sending a drive signal to the transmission device so as to control the operation of the transmission device; the backup drive device is used for sending a drive signal to the transmission device so as to control the operation of the transmission device after receiving an enabling instruction; the signal transceiver is used for acquiring a power-on signal of the main drive device in real time; the force sensor is used for acquiring output power of the transmission device in real time; the speed sensor is used for acquiring the moving speed of the logistics transport vehicle in real time; in the embodiment, the speed sensor is a linear Hall sensor; and the brake device is used for braking the power output by the transmission device.

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

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

[0043] Specifically, in the embodiment, the method for the microprocessor to determine that the output power of the transmission device is insufficient comprises the following steps: judging whether the output power currently acquired by the force sensor is less than the current load of the logistics transport vehicle; if yes, it is determined that the output power is insufficient; and if no, it is determined that the output power is sufficient.

[0044] Meanwhile, the method for the microprocessor to determine that the steady-state error of the speed of the logistics transport vehicle exceeds a specified error comprises the following steps:

[0045] A1: obtaining the steady-state error of the speed according to the difference between the moving speed currently acquired by the speed sensor and the specified speed of the logistics transport vehicle.

[0046] A2: determining whether the speed steady-state error has exceeded a specified error.

[0047] Further, the microprocessor is further configured to: when it is determined that the speed steady-state error of the logistics transport vehicle has exceeded the specified error, send an enabling instruction to the backup driving device; and when the speed steady-state error of the logistics transport vehicle has not exceeded the specified error, send a suspension instruction to the backup driving device.

[0048] When a sudden power failure occurs, the signal transceiver monitors the voltage signal of the electromagnetic driving system to be zero, and then the microprocessor automatically triggers the backup driving device. During the heavy load climbing process, if the force output by the force sensor exceeds the weight of the transport vehicle load, the microprocessor can respond in time to start the backup driving device to run. In the initial start-up speed-up phase, if the linear Hall sensor detects that the running speed of the logistics transport vehicle is lower than the normal driving speed, the speed signal is transmitted to the signal transceiver and the backup driving device is started by the microprocessor. At this time, the electromagnetic driving system and the backup driving device jointly provide thrust for the transport vehicle, thereby obtaining the acceleration required when the logistics transport vehicle speeds up. When the driving speed reaches the specified running speed, the backup driving device program is closed.

[0049] The following will further disclose the corresponding transport method of the double driving transport device for the underground logistics system in the embodiment, Figure 2 The flowchart of the method comprises the following steps:

[0050] S1: starting the logistics transport vehicle by controlling the main driving device to run through the microprocessor;

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

[0052] S3: determining whether one of the following events occurs through the microprocessor using the power-on signal, the output power, and the movement speed obtained in step S2: one, the main driving device is powered off; two, the output power of the transmission device is insufficient; three, the speed steady-state error of the logistics transport vehicle exceeds the specified error; four, the starting speed of the logistics transport vehicle does not reach the specified stable running speed;

[0053] If yes, an enabling instruction is sent to the backup driving device;

[0054] If no, the step S2 is executed.

[0055] The double drive transport device for underground logistics system disclosed in the embodiment, by setting the main drive device, the backup drive device and the microprocessor on the logistics transport vehicle, the backup drive device is called to run by the microprocessor sending the start instruction to the backup drive device in the sudden power failure, heavy load climbing and speed-up process of the logistics transport vehicle, so that the reliable transport system of the logistics transport vehicle can be ensured when the sudden power failure, heavy load climbing and speed-up occur, the defects in the prior art are overcome, and the microprocessor has low operation complexity and 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, the terms indicating the direction or position relationship are based on the direction or position relationship shown in the drawings, which is only for the convenience of description, and does not indicate or imply that the device or member must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0057] In the description of the present application, the description of the terms "one embodiment", "some embodiments", "in the embodiment", "specific examples" or "some examples" 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 the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, mechanisms, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. Furthermore, the skilled in the art can combine and combine the different embodiments or examples described in the specification and the features of the different embodiments or examples without contradiction.

[0058] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited thereto, any person skilled in the art can easily think of changes or replacements within the technical range disclosed in the present application, which should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A dual drive transport device for use in an underground logistics system, comprising a logistics transport vehicle, characterized in that, The double drive transport device further comprises a braking device connected with the transmission device, and used for braking the power output by the transmission device. The transmission device is used for outputting power to wheels of the logistics transport vehicle to move the logistics transport vehicle; The main drive device is used for sending a driving signal to the transmission device to control the transmission device to operate; The backup drive device is used for sending a driving signal to the transmission device to control the transmission device to operate after receiving an enabling instruction; The signal transceiver is used for acquiring the power-on signal of the main drive device in real time; The force sensor is used for acquiring the output power of the transmission device in real time; The speed sensor is used for acquiring the moving speed of the logistics transport vehicle in real time; The microprocessor is configured to control the main drive device to operate, and send an enabling instruction to the backup drive device when at least one of the following events occurs during the transportation of the logistics transport vehicle; one, the main drive device is powered off; Two, the output power of the transmission device is insufficient; three, the steady-state error of the speed of the logistics transport vehicle exceeds a specified error; four, the starting speed of the logistics transport vehicle does not reach a specified stable operating speed; The microprocessor is electrically connected with the main drive device, the backup drive device, the signal transceiver, the force sensor and the speed sensor, and the main drive device is electrically connected with the signal transceiver; The input end of the transmission device is connected with the output end of the main drive device and the output end of the backup drive device. The speed sensor is a linear Hall sensor.

2. The dual drive conveyance for use in an underground logistics system of claim 1, wherein, The double drive transport device further comprises a braking device connected with the transmission device, and used for braking the power output by the transmission device.

3. Double drive transport for an underground logistics system according to claim 1 or 2, characterized in that, The method for the microprocessor to determine that the output power of the transmission device is insufficient comprises the following steps:

4. The dual drive conveyance for use in an underground logistics system of claim 3, wherein, Determine whether the output power currently acquired by the force sensor is less than the current load of the logistics transport vehicle, if yes, it is determined that the output power is insufficient; if no, it is determined that the output power is sufficient. The method for the microprocessor to determine that the steady-state error of the speed of the logistics transport vehicle exceeds a specified error comprises the following steps:

5. The dual drive conveyance for use in an underground logistics system of claim 4, wherein, A1: Obtain the steady-state error of the speed according to the difference between the moving speed currently acquired by the speed sensor and the specified speed of the logistics transport vehicle; A2: Determine whether the steady-state error of the speed has exceeded a specified error. The microprocessor is configured to send an enabling instruction to the backup drive device after determining that the steady-state error of the speed of the logistics transport vehicle exceeds a specified error, and send a suspension instruction to the backup drive device when the steady-state error of the speed of the logistics transport vehicle does not exceed a specified error.

6. Double drive conveyance for underground logistic system according to claim 4 or 5, characterized in that, The double drive transport device for underground logistics system according to any one of claims 1-6 comprises the following steps:

7. A double drive transportation method for an underground logistics system, characterized by, S1: Control the main drive device to operate by the microprocessor to start the logistics transport vehicle; S2: Simultaneously, acquire the power-on signal of the main drive device by the signal transceiver, acquire the output power of the transmission device by the force sensor, and acquire the moving speed of the logistics transport vehicle by the speed sensor; ​ S3: judging whether one of the following events occurs by using the power-on signal, the output power and the moving speed obtained in the step S2 through the microprocessor: one, the main driving device is powered off; two, the output power of the transmission device is insufficient; three, the steady-state error of the speed of the logistic transport vehicle exceeds the specified error; four, the starting speed of the logistic transport vehicle does not reach the specified stable running speed; if yes, issuing an enabling instruction to the standby driving device; if no, returning to execute the step S2.

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