Integral hoisting type power unit module of unmanned vehicle

Abstract

The invention relates to the technical field of power unit modules, in particular to an integral hoisting type power unit module of an unmanned vehicle, which comprises a hoisting module, a hoisting information storage module, an analysis module, a control module and a data processing module, the hoisting information storage module is used for storing hoisting related information and transmitting the hoisting related information to the control module; the analysis module is used for analyzing and obtaining related information of the hoisting wind speed and the hoisting environment temperature and transmitting the related information to the control module; the control module obtains a hoisting preset time index according to the related information of hoisting, the hoisting wind speed and the related information of the hoisting environment temperature, and transmits the hoisting preset time index to the data processing module. The hoisting power is optimized in real time, and the working efficiency, the resource utilization rate and the overall flexibility are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of power unit modules, and in particular to an integrally hoisted power unit module for an unmanned vehicle. Background Art

[0002] The application document with publication number CN117466156A discloses a power control system and method for a lifting device. The system obtains the activation instruction of the lifting device in real time by setting a remote throttle switch. Once a remote throttle switch signal is generated, it indicates that the lifting device needs to be activated and used. However, under normal circumstances, the truck is in a non-neutral gear, and the lifting device cannot be successfully activated when the non-neutral gear signal is directly transmitted to the engine lifting control unit by the neutral switch; and the neutral switch signal is reversed by the reverse switch to obtain a reversed neutral signal, that is, the current non-neutral gear signal of the truck is reversed to a neutral gear signal, so that the engine lifting control unit successfully activates the lifting device according to the reversed neutral gear signal, and because the truck is in a gear state, it can also provide power for the lifting device.

[0003] The static adjustment method used in the prior art has a fixed operation and lacks flexibility. Summary of the invention

[0004] The purpose of the present invention is to provide an integrally hoisted power unit module for an unmanned vehicle in view of the above-mentioned deficiencies.

[0005] The present invention adopts the following technical solution:

[0006] An integral hoisting power unit module for an unmanned vehicle, the module comprising a hoisting module, a hoisting information storage module, an analysis module, a control module and a data processing module; the hoisting module is used for hoisting; the hoisting information storage module is used to store relevant information about hoisting and transmit it to the control module; the analysis module is used to analyze and obtain relevant information about hoisting wind speed and hoisting ambient temperature, and transmit it to the control module; the control module obtains a hoisting preset time index based on relevant information about hoisting, hoisting wind speed and hoisting ambient temperature, and transmits the hoisting preset time index to the data processing module; the data processing module is used to compare the hoisting preset time index and the selection threshold range of the hoisting preset time indicator. When the hoisting preset time indicator is within the selection threshold range of the hoisting preset time indicator, no signal is sent, and the hoisting module works normally. When the hoisting preset time indicator is greater than the maximum value of the selection threshold range of the hoisting preset time indicator, a signal that the output power needs to be increased is sent to the hoisting module, and the hoisting module adjusts the output power of the hoisting module after receiving the signal that the output power needs to be increased. When the hoisting preset time indicator is less than the minimum value of the selection threshold range of the hoisting preset time indicator, a signal that the output power needs to be reduced is sent to the hoisting module, and the hoisting module adjusts the output power of the hoisting module after receiving the signal that the output power needs to be reduced.

[0007] Optionally, the hoisting information storage module is used to store the height to be lifted for hoisting, the distance between the hoisting module and the vehicle, the preset value of the hoisting speed, the weight of the hoisting module, the maximum load of the vehicle hoisting, the maximum value of the hoisting speed, the ideal value of the hoisting temperature and the ideal value of the hoisting temperature, and transmit them to the control module; the analysis module is used to analyze and obtain the correction factor of the hoisting wind speed and the measured value of the hoisting ambient temperature, and transmit them to the control module; the control module obtains the temperature adjustment factor according to the measured value of the hoisting ambient temperature, the ideal value of the hoisting temperature and the maximum value of the hoisting temperature. The wind speed adjustment factor is obtained according to the correction factor of the hoisting wind speed and the maximum value of the hoisting speed. The load adjustment factor is obtained according to the weight of the hoisting module and the maximum load of the vehicle hoisting. The hoisting preset time index is obtained according to the height required for hoisting, the distance between the hoisting module and the vehicle, the preset value of the hoisting speed, the load adjustment factor, the weight of the hoisting module, the maximum load of the vehicle hoisting, the wind speed adjustment factor, the correction factor of the hoisting wind speed, the maximum value of the hoisting speed, the temperature adjustment factor, the ideal value of the hoisting temperature, and the maximum value of the hoisting temperature.

[0008] Optionally, the analysis module includes a wind speed analysis submodule and a temperature detection submodule; the wind speed analysis submodule is used to analyze and obtain the correction factor of the hoisting wind speed, and transmit it to the control module; the temperature detection submodule is used to detect and obtain the actual measured value of the hoisting ambient temperature, and transmit it to the control module.

[0009] Optionally, when the control module calculates the preset hoisting time index, the following formula is satisfied: Among them, T opt is the preset time index for lifting, z is the height to be lifted, l is the distance between the lifting module and the vehicle, v avg is the preset value of the lifting speed, zl is the load adjustment factor, w mod is the weight of the hoisting module, w max is the maximum load of the vehicle hoisting, fs is the wind speed adjustment factor, v wind is the correction factor for the hoisting wind speed, v max is the maximum value of the lifting speed, wd is the temperature adjustment factor, t am is the measured value of the hoisting ambient temperature, t opt is the ideal value of the hoisting temperature, t max is the maximum value of the lifting temperature.

[0010] The beneficial effects achieved by the present invention are:

[0011] 1. Real-time optimization of lifting power is achieved, which improves work efficiency, resource utilization and overall flexibility;

[0012] 2. Dynamically adjust power to avoid operational risks caused by environmental changes or improper loads.

[0013] To further understand the features and technical contents of the present invention, please refer to the following detailed description and drawings of the present invention. However, the drawings provided are only for reference and description and are not intended to limit the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0015] Figure 2 It is a structural schematic diagram of the analysis module in the present invention;

[0016] Figure 3 It is the effect diagram of the present invention;

[0017] Figure 4 Schematic diagram of the structure of the wind speed analysis submodule in the second embodiment of the present invention;

[0018] Figure 5 Schematic diagram of the structure of the visual detection unit in the second embodiment of the present invention;

[0019] Figure 6 is a schematic diagram of the structure of a shape analysis unit in Embodiment 2 of the present invention;

[0020] Figure 7 This is a rendering of the second embodiment of the present invention. DETAILED DESCRIPTION

[0021] The following is an explanation of the embodiments of the present invention through specific embodiments. Those skilled in the art can understand the advantages and effects of the present invention from the contents disclosed in this specification. The present invention can be implemented or applied through other different specific embodiments, and the details in this specification can also be modified and changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. In addition, the drawings of the present invention are only simple schematic illustrations and are not depicted according to actual dimensions. It is stated in advance. The following embodiments will further explain the relevant technical contents of the present invention in detail, but the disclosed contents are not intended to limit the scope of protection of the present invention.

[0022] Embodiment 1: This embodiment provides an integrally mounted power unit module for an unmanned vehicle, combined with Figures 1 to 3 shown.

[0023] An integral hoisting power unit module for an unmanned vehicle, the module comprising a hoisting module, a hoisting information storage module, an analysis module, a control module and a data processing module; the hoisting module is used for hoisting; the hoisting information storage module is used to store relevant information about hoisting and transmit it to the control module; the analysis module is used to analyze and obtain relevant information about hoisting wind speed and hoisting ambient temperature, and transmit it to the control module; the control module obtains a hoisting preset time index based on relevant information about hoisting, hoisting wind speed and hoisting ambient temperature, and transmits the hoisting preset time index to the data processing module; the data processing module is used to compare the hoisting preset time index and the selection threshold range of the hoisting preset time indicator. When the hoisting preset time indicator is within the selection threshold range of the hoisting preset time indicator, no signal is sent, and the hoisting module works normally. When the hoisting preset time indicator is greater than the maximum value of the selection threshold range of the hoisting preset time indicator, a signal that the output power needs to be increased is sent to the hoisting module, and the hoisting module adjusts the output power of the hoisting module after receiving the signal that the output power needs to be increased. When the hoisting preset time indicator is less than the minimum value of the selection threshold range of the hoisting preset time indicator, a signal that the output power needs to be reduced is sent to the hoisting module, and the hoisting module adjusts the output power of the hoisting module after receiving the signal that the output power needs to be reduced.

[0024] Specifically, the selection threshold range of the hoisting preset time indicator is set by those skilled in the art.

[0025] Optionally, the hoisting information storage module is used to store the height to be lifted for hoisting, the distance between the hoisting module and the vehicle, the preset value of the hoisting speed, the weight of the hoisting module, the maximum load of the vehicle hoisting, the maximum value of the hoisting speed, the ideal value of the hoisting temperature and the ideal value of the hoisting temperature, and transmit them to the control module; the analysis module is used to analyze and obtain the correction factor of the hoisting wind speed and the measured value of the hoisting ambient temperature, and transmit them to the control module; the control module obtains the temperature adjustment factor according to the measured value of the hoisting ambient temperature, the ideal value of the hoisting temperature and the maximum value of the hoisting temperature. The wind speed adjustment factor is obtained according to the correction factor of the hoisting wind speed and the maximum value of the hoisting speed. The load adjustment factor is obtained according to the weight of the hoisting module and the maximum load of the vehicle hoisting. The hoisting preset time index is obtained according to the height required for hoisting, the distance between the hoisting module and the vehicle, the preset value of the hoisting speed, the load adjustment factor, the weight of the hoisting module, the maximum load of the vehicle hoisting, the wind speed adjustment factor, the correction factor of the hoisting wind speed, the maximum value of the hoisting speed, the temperature adjustment factor, the ideal value of the hoisting temperature, and the maximum value of the hoisting temperature.

[0026] Optionally, the analysis module includes a wind speed analysis submodule and a temperature detection submodule; the wind speed analysis submodule is used to analyze and obtain the correction factor of the hoisting wind speed, and transmit it to the control module; the temperature detection submodule is used to detect and obtain the actual measured value of the hoisting ambient temperature, and transmit it to the control module.

[0027] Optionally, when the control module calculates the preset hoisting time index, the following formula is satisfied: Among them, T opt is the preset time index for lifting, z is the height to be lifted, l is the distance between the lifting module and the vehicle, v avg is the preset value of the lifting speed, zl is the load adjustment factor, w mod is the weight of the hoisting module, w max is the maximum load of the vehicle hoisting, fs is the wind speed adjustment factor, v wind is the correction factor for the hoisting wind speed, v max is the maximum value of the lifting speed, wd is the temperature adjustment factor, t am is the measured value of the hoisting ambient temperature, t opt is the ideal value of the hoisting temperature, t max is the maximum value of the lifting temperature.

[0028] Optionally, the control module satisfies the following formula when calculating:

[0029] When the control module calculates the preset hoisting time index, refer to the following program code:

[0030]

[0031]

[0032]

[0033] Specifically, the unit of the hoisting preset time indicator is seconds. By calculating the hoisting preset time indicator, the time of the hoisting process can be predicted, the downtime and waiting operations during operation can be reduced, equipment can be arranged more reasonably, resource waste can be reduced, and customer experience can be improved.

[0034] In this embodiment, the value range of the correction factor of the hoisting wind speed is set to be greater than 0 and less than or equal to 50. The specific value of the correction factor of the hoisting wind speed is set by technical personnel in this field according to the hoisting wind speed. The greater the hoisting wind speed, the lower the hoisting stability, which affects the hoisting preset time index to a certain extent. Therefore, when the hoisting wind speed increases, the corresponding hoisting wind speed correction factor will also increase accordingly.

[0035] The unit of the lifting height required for hoisting is meter.

[0036] The unit of the distance between the lifting module and the vehicle is meter. The distance between the lifting module and the vehicle can be understood as the distance between the bottom of the hook of the lifting module and the center of the vehicle chassis before the lifting module is lifted. Before lifting, the hook is suspended but has not started to rise into the air. At this time, the staff can measure it on site.

[0037] The preset value of the hoisting speed is in meters per second, which is set by those skilled in the art.

[0038] The weight of the lifting module is measured in kilograms, which refers to the total weight of the entire module (including core components such as the power system, battery, drive device, cooling system, external structural components, etc.), which can be obtained by querying the relevant factory parameters.

[0039] The unit of the maximum load of vehicle hoisting is kilograms, which can be obtained by querying the relevant factory parameters.

[0040] The maximum value of the hoisting speed is expressed in meters per second, which can be understood as the maximum speed that the hoisting can reach without external interference (wind speed, temperature and load). It can be actually tested in a controlled environment to record the performance of the hoisting without external interference.

[0041] The units of the measured value of the hoisting ambient temperature, the ideal value of the hoisting temperature and the maximum value of the hoisting temperature are all in degrees Celsius. The ideal value of the hoisting temperature refers to the optimal operating temperature of the hoisting module, which can be obtained by querying the relevant factory parameters. The maximum value of the hoisting temperature refers to the maximum tolerable temperature of the hoisting module. Exceeding this temperature will cause safety hazards, which can be obtained by querying the relevant factory parameters.

[0042] This embodiment solves the problem of low flexibility of traditional power unit modules, realizes real-time optimization of lifting power, and improves work efficiency, resource utilization and overall flexibility.

[0043] The above units are only examples, and those skilled in the art may set different units according to actual needs when implementing this solution.

[0044] Embodiment 2: This embodiment includes all the contents of Embodiment 1, and provides an integral hoisting power unit module for an unmanned vehicle in order to further optimize the correction factor of the hoisting wind speed. Figures 4 to 7 shown.

[0045] An integrally hoisted power unit module for an unmanned vehicle, wherein the wind speed analysis submodule comprises an anemometer, an information setting unit, a visual detection unit, a shape analysis unit, a pollutant analysis unit and a calculation unit;

[0046] The anemometer is used to detect and obtain the actual value of the hoisting wind speed each time, and transmit it to the calculation unit;

[0047] The information setting unit is used to set the detection accuracy of the anemometer and the weight of the object to be hoisted, and transmit them to the calculation unit;

[0048] The visual detection unit is used to detect and obtain the maximum value of the height of the object to be hoisted, and transmit it to the calculation unit;

[0049] The shape analysis unit is used to analyze and obtain the shape factor of the object to be hoisted, and transmit it to the calculation unit;

[0050] The pollutant analysis unit is used to analyze and obtain the measured value of the environmental pollutant concentration and transmit it to the calculation unit;

[0051] The calculation unit obtains the hoisting environmental pollution factor according to the actual measured value of the environmental pollutant concentration, obtains the total number of wind speed detections according to the maximum value of the height of the objects to be hoisted and the weight of the objects to be hoisted, and obtains the correction factor of the hoisting wind speed according to the total number of wind speed detections, the actual measured value of the hoisting wind speed detected each time, the detection accuracy of the anemometer, the shape factor of the objects to be hoisted and the hoisting environmental pollution factor, and transmits it to the control module.

[0052] Optionally, the visual detection unit includes an image collector, an image preprocessor, a target identifier and a data processor;

[0053] The image collector is used to obtain multi-angle images of the objects to be hoisted;

[0054] The image preprocessor performs denoising on the image;

[0055] The object recognizer uses image processing algorithms to identify the objects to be hoisted and marks their bounding boxes in the image;

[0056] The data processor is used to obtain image data of the object to be hoisted, and convert the image data into height data in a three-dimensional coordinate system, and extract the maximum value in the height data and output it as the maximum value of the height of the object to be hoisted, and transmit the maximum value of the height of the object to be hoisted to the calculation unit.

[0057] Optionally, the shape analysis unit includes a scanner, a three-dimensional modeler, a feature extractor, and a shape factor analyzer;

[0058] The scanner is used to scan the objects to be hoisted and obtain point cloud data of the objects to be hoisted;

[0059] The 3D modeler generates a 3D model of the object to be hoisted based on the point cloud data;

[0060] The feature extractor calculates the volume and surface area of ​​the object to be hoisted through the point cloud data, and extracts the maximum length, maximum width, maximum height, minimum length, minimum width and minimum height of the object to be hoisted from the three-dimensional model;

[0061] The shape factor analyzer is used to calculate a first ratio based on the volume and surface area of ​​the object to be hoisted, and a second ratio based on the maximum length, maximum width, maximum height, minimum length, minimum width and minimum height of the object to be hoisted. The first ratio is equal to the surface area of ​​the object to be hoisted divided by the volume of the object to be hoisted, and the second ratio is equal to the product of the maximum length of the object to be hoisted multiplied by the maximum width of the object to be hoisted multiplied by the maximum height of the object to be hoisted divided by the product of the minimum length of the object to be hoisted multiplied by the minimum width of the object to be hoisted multiplied by the minimum height of the object to be hoisted. When the first ratio is less than or equal to 6 and the second ratio is less than or equal to 1.2, the value of the shape factor of the object to be hoisted is 1, and in other cases, the value of the shape factor of the object to be hoisted is 1.15, and the corresponding shape factor of the object to be hoisted is transmitted to the calculation unit.

[0062] Optionally, when the calculation unit calculates the correction factor of the hoisting wind speed, the following formula is satisfied:

[0063]

[0064] Where B is the total number of wind speed detections, ws b is the measured value of the hoisting wind speed detected for the bth time, wc is the detection accuracy of the anemometer, shape is the shape factor of the object to be hoisted, which has the following values: shape = 1 or shape = 1.15. When shape = 1, it means that the shape of the object to be hoisted is regular, and in other cases, shape = 1.15. wr is the hoisting environmental pollution factor;

[0065] h is the maximum height of the object to be hoisted, and dz is the weight of the object to be hoisted;

[0066] kl is the measured value of environmental pollutant concentration.

[0067] When calculating the calculation unit, refer to the following program code:

[0068]

[0069]

[0070] Specifically, the unit of the measured value of the hoisting wind speed each time is measured is meters per second; the detection accuracy of the anemometer can be obtained through query. For example, when the query shows that the corresponding accuracy is plus or minus 0.1 meters per second, the corresponding detection accuracy of the anemometer is 0.1; the purpose of adding the shape factor of the object to be hoisted is that when the object to be hoisted is of a special shape, it will have an asymmetric effect on the wind flow, resulting in local wind speed differences, thereby affecting the overall detection accuracy; the unit of the maximum value of the height of the object to be hoisted is meters; the unit of the weight of the object to be hoisted is kilograms; the measured value of the environmental pollutant concentration is for PM2.5 particles. When the environment When the measured value of the pollutant concentration is large, the data obtained by the anemometer will be smaller. The reasons are as follows: pollutants in the air will increase the overall density of the air. When the air density increases, the speed of the same volume of air flowing will slow down, resulting in a smaller wind speed measurement value; the presence of pollutants will change the viscosity of the air. The increase in the viscosity of the air means that the air flow becomes more difficult and the slip resistance of the airflow increases, which may slow down the wind speed; the distribution of air pollutants in the atmosphere is often uneven, which may form local airflow turbulence or eddies around the anemometer. This irregular flow may also cause the wind speed measured by the anemometer to be lower.

[0071] The above units are only examples, and those skilled in the art may set different units according to actual needs when implementing this solution.

[0072] This embodiment solves the problem of poor flexibility of the traditional power unit module, and ensures detection accuracy and operation safety by dynamically determining the number of wind speed detection times.

[0073] The contents disclosed above are only preferred feasible embodiments of the present invention, and do not limit the protection scope of the present invention. Therefore, all equivalent technical changes made using the contents of the present invention description and drawings are included in the protection scope of the present invention. In addition, the elements therein can be updated as technology develops.

Claims

1. An integrally hoisted power unit module for an unmanned vehicle, characterized in that: The module includes a hoisting module, a hoisting information storage module, an analysis module, a control module and a data processing module; The hoisting module is used for hoisting; The hoisting information storage module is used to store the relevant information of the hoisting and transmit it to the control module; The analysis module is used to analyze and obtain relevant information of the hoisting wind speed and the hoisting ambient temperature, and transmit it to the control module; The control module obtains a preset hoisting time index based on relevant information of the hoisting, the hoisting wind speed and the hoisting ambient temperature, and transmits the preset hoisting time index to the data processing module; The data processing module is used to compare the hoisting preset time indicator and the selection threshold range of the hoisting preset time indicator. When the hoisting preset time indicator is within the selection threshold range of the hoisting preset time indicator, no signal is sent and the hoisting module operates normally. When the hoisting preset time indicator is greater than the maximum value of the selection threshold range of the hoisting preset time indicator, a signal that the output power needs to be increased is sent to the hoisting module, and the hoisting module adjusts the output power of the hoisting module after receiving the signal that the output power needs to be increased. When the hoisting preset time indicator is less than the minimum value of the selection threshold range of the hoisting preset time indicator, a signal that the output power needs to be reduced is sent to the hoisting module, and the hoisting module adjusts the output power of the hoisting module after receiving the signal that the output power needs to be reduced.

2. The integrally hoisted power unit module of an unmanned vehicle as claimed in claim 1, characterized in that: The hoisting information storage module is used to store the height to be lifted for hoisting, the distance between the hoisting module and the vehicle, the preset value of the hoisting speed, the weight of the hoisting module, the maximum load of the vehicle hoisting, the maximum value of the hoisting speed, the ideal value of the hoisting temperature and the ideal value of the hoisting temperature, and transmit it to the control module; The analysis module is used to analyze and obtain the correction factor of the hoisting wind speed and the measured value of the hoisting ambient temperature, and transmit them to the control module; The control module obtains a temperature adjustment factor based on the measured value of the hoisting ambient temperature, the ideal value of the hoisting temperature and the maximum value of the hoisting temperature; obtains a wind speed adjustment factor based on the correction factor of the hoisting wind speed and the maximum value of the hoisting speed; obtains a load adjustment factor based on the weight of the hoisting module and the maximum load of the vehicle hoisting; and obtains a hoisting preset time indicator based on the height required for hoisting, the distance between the hoisting module and the vehicle, the preset value of the hoisting speed, the load adjustment factor, the weight of the hoisting module, the maximum load of the vehicle hoisting, the wind speed adjustment factor, the correction factor of the hoisting wind speed, the maximum value of the hoisting speed, the temperature adjustment factor, the ideal value of the hoisting temperature and the maximum value of the hoisting temperature.

3. The integrally hoisted power unit module of an unmanned vehicle as claimed in claim 2, characterized in that: The analysis module includes a wind speed analysis submodule and a temperature detection submodule; The wind speed analysis submodule is used to analyze and obtain the correction factor of the hoisting wind speed and transmit it to the control module; The temperature detection submodule is used to detect and obtain the actual value of the hoisting environment temperature, and transmit it to the control module.

4. The integrally hoisted power unit module of an unmanned vehicle as claimed in claim 3, characterized in that: When the control module calculates the preset hoisting time index, the following formula is satisfied: Among them, T opt is the preset time index for lifting, z is the height to be lifted, l is the distance between the lifting module and the vehicle, v avg is the preset value of the lifting speed, zl is the load adjustment factor, w mod is the weight of the hoisting module, w max is the maximum load of the vehicle hoisting, fs is the wind speed adjustment factor, v wind is the correction factor for the hoisting wind speed, v max is the maximum value of the lifting speed, wd is the temperature adjustment factor, t am is the measured value of the hoisting ambient temperature, t opt is the ideal value of the hoisting temperature, t max is the maximum value of the lifting temperature.

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