Carrying device control method and circuit

Abstract

The invention discloses a carrying device control method and circuit, and belongs to the field of carrying device control. The control method comprises the steps that the state of a carrying device is monitored in real time through a sensor, the state is detected, and when an angle sensor and an inertial sensor detect that equipment overturns or falls on a stairway, the carrying device is started; the control system stops working of the motor; the control system judges control of an operator according to data of the sensor, and controls starting, forward rotation or reverse rotation of the motor according to a judgment result; and the control system performs real-time optimization control on the speed of the motor according to the input of an operator and the data of the sensor. Through comprehensive analysis of sensor data, the speed of the motor is accurately adjusted, more personalized control experience is provided, and the operation flexibility and adaptability of equipment are enhanced.

Description

Technical Field

[0001] The present invention relates to the field of handling control, and particularly to a method and circuit for controlling a handling device. Background Art

[0002] Existing handling devices, especially automated handling equipment used in complex environments (such as stairways, slopes, etc.), generally rely on traditional control systems to monitor and adjust the working state of the equipment. However, these traditional systems have some disadvantages and deficiencies in practical applications. Especially when dealing with equipment overturning, out-of-control situations or operator interventions, they cannot provide timely and accurate responses, resulting in potential operation safety hazards.

[0003] Existing handling devices usually rely on fixed control programs and simple sensor feedback to monitor the device state. When the device operates in an uneven environment such as a ramp or a stairway, there is a risk of overturning or falling. However, most traditional systems lack sufficient real-time response capabilities and cannot stop the motor operation in time when the device overturns or is about to overturn, resulting in the device getting out of control and increasing the risks for operators and the device. Existing control systems mostly rely on preset control logics and fixed operating parameters and cannot flexibly adjust the running speed or direction of the motor according to the real-time state of the handling device. For example, when the device encounters a change in slope, too fast running speed or a change in the force applied by the operator during the handling process, the traditional system cannot quickly adjust the motor to adapt to these changes, resulting in inaccurate or unstable operation, thereby affecting work efficiency and safety.

[0004] Therefore, there are still certain technical bottlenecks in the existing handling device control methods in terms of improving operation safety, response speed and adaptability, and a more intelligent, real-time and accurate control system is needed to ensure the safety of the device and the flexibility of operation. Summary of the Invention

[0005] One object of the present invention is to provide a method for controlling a handling device to solve the disadvantages of slow response speed and poor adaptability of the handling device in the prior art.

[0006] The present invention is implemented by the following technical scheme: a method for controlling a transport device, S100, monitoring the state of the transport device in real time through a sensor and sending the detected state to a control system, wherein the angle and rotation dynamics of the transport device are monitored through an angle sensor, the running speed of the transport device is monitored through an inertial sensor, the force applied to the handrail is monitored through a pressure sensor, and the pressure change is fed back through the monitored small deformation to adjust the running speed of the motor; S200, when the angle sensor and the inertial sensor detect that the device is overturned or at risk of falling on the stairway, the control system will stop the motor, and according to the right, the stopping of the motor in step S200 includes, according to the sensor data, when the angle change or speed change of the device is detected to be too large, it is determined that there is a risk of overturning or falling, and the control system stops the motor, thereby preventing the operator from losing control of the device and ensuring the safety of operation. S300, the control system judges the control of the operator according to the sensor data, and controls the start, forward or reverse rotation of the motor according to the judgment result; S400, the control system optimizes the motor speed in real time according to the input of the operator and the sensor data.

[0007] Furthermore, the control method also includes a safety protection step. When the system detects that the equipment may overturn or become unstable, the control system automatically stops the motor operation or adjusts the motor speed to prevent accidents and ensure the safe operation of the equipment. By monitoring the pressure sensor and sensor feedback control, the control system adjusts the motor speed in real time to ensure that the equipment remains stable during climbing or descending, reducing the risk of slipping or loss of control.

[0008] Furthermore, stopping the motor in step S200 includes, based on sensor data, when it is detected that the angle change or speed change of the equipment is too large, it is determined that there is a risk of overturning or falling. The control system stops the motor to prevent the operator from losing control of the equipment and ensure operational safety.

[0009] Furthermore, in step S300, the control system determines the control of the operator based on the sensor data, including comparing the received pressure data with a preset pressure value, and adjusting the power output by the motor in combination with the data from the inertial sensor, thereby achieving stairway ascent control and stairway descent control.

[0010] Furthermore, the stairway ascent control includes, when it is detected that the pressure applied by the operator pushing the handrail is greater than the preset pressure value, feeding back the greater pressure signal to the control system, and the control system responds to the signal, increases the motor speed, and increases the climbing speed; when it is detected that the operator reduces the pressure applied by the handrail and it is smaller than the preset pressure value, the control system will reduce the motor speed according to the feedback and slow down the climbing speed.

[0011] Furthermore, the control of the stairway descent includes the system determining whether it is in the stairway descent state by combining the data of the inertial sensor. When the data of the inertial sensor is stable and the data of the pressure sensor becomes smaller, it is determined that the operator can stably control the device to descend, and the control system increases the motor speed to accelerate the descent. When the data of the inertial sensor becomes larger and the data of the pressure sensor becomes larger, it is determined that the operator cannot stably control the device to descend, and the control system reduces the motor speed to slow down the descent speed.

[0012] On the other hand, the present invention provides a control circuit for a handling device. The control circuit includes a power supply sub-circuit, a sensor sub-circuit, and a processing and control sub-circuit. Among them, the power supply sub-circuit is connected to the sensor sub-circuit, the processing and control sub-circuit, and the step execution sub-circuit to provide power supplies with different voltages for each sub-circuit. The sensor sub-circuit is connected to the processing and control sub-circuit and is used to monitor the environment and the device state and transmit the data to the processing and control sub-circuit. The processing and control sub-circuit is configured to process the sensor information and generate control instructions according to the handling device control method described above to control the motor to complete the handling operation.

[0013] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0014] 1. By using an angle sensor, an inertial sensor, and a pressure sensor to monitor the device state in real time, the present invention can immediately sense the tipping risk, running speed, and changes in the force applied by the operator of the device, thereby dynamically adjusting the motor running speed or stopping working, greatly improving the safety of the device. When the angle change or speed change exceeds the safe range, the control system automatically stops the motor to avoid the device from tipping over or falling. This intelligent risk warning mechanism effectively reduces the possibility of the device getting out of control and ensures the safety of the operator.

[0015] 2. By detecting and judging the actual control actions of the operator (such as pushing or reducing the pressure on the handrail) through sensors and through comprehensive analysis of the sensor data, the present invention precisely adjusts the motor speed, provides a more personalized control experience, and enhances the operation flexibility and adaptability of the device. By combining multi-dimensional data feedback such as angle, speed, and pressure, the device can achieve stable operation in different working environments, avoiding the influence of too fast or too slow speed on work efficiency or safety. The method provided by the present invention can accurately identify risks and make timely responses in complex environments through integrating multiple sensors and intelligent judgment mechanisms, effectively avoiding device failures and personnel injuries, and ensuring the smooth progress of the handling task. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The drawings described herein are used to provide a further understanding of the embodiments of the present invention, form a part of this application, and do not limit the embodiments of the present invention. In the drawings:

[0017] Figure 1 This is the flowchart of the method provided in Embodiment 1 of the present invention.

[0018] Figure 2 This is the circuit structure diagram provided in Embodiment 2 of the present invention. Detailed implementation manners

[0019] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are some but not all of the embodiments of the present invention. Generally, the components of the embodiments of the present invention described and illustrated in the accompanying drawings here can be arranged and designed in various different configurations.

[0020] Embodiment 1:

[0021] This embodiment discloses a control method for a handling device. It can be seen from Figure 1 that this embodiment includes the following steps:

[0022] Step 1: First, the state of the handling device is monitored in real time through sensors and the detected state is sent to the control system.

[0023] In this embodiment, the angle and rotational dynamics of the handling device are monitored through an angle sensor, the running speed of the handling device is monitored through an inertial sensor, the force applied at the handrail is monitored through a pressure sensor, and the pressure change is feedback through the detected slight deformation to adjust the running speed of the motor.

[0024] It should be noted that based on the feedback of the above sensors, the electric control system and the angle / inertial sensors play an important role in the control systems of handling devices and other mobile platforms. The angle sensor is responsible for measuring and feedback the angle and rotational dynamics of the device operation, and the inertial sensor is responsible for monitoring the running speed of the device. When the handling device overturns or has a risk of falling on the stairway, the motor is stopped through the signal of the detected instantaneous change degree of the angle or speed, preventing the operator from losing control of the handling device, thereby ensuring the safety of the operation process.

[0025] Step 2: When the angle sensor and the inertial sensor detect that the device overturns or has a risk of falling on the stairway, the control system will stop the motor. Specifically, according to the sensor data, when it is detected that the angle change or speed change of the device is too large, it is determined that there is a risk of overturning or falling, and the control system stops the motor to prevent the operator from losing control of the device and ensuring the operation safety.

[0026] Step 3: The control system judges the control of the operator according to the sensor data and controls the start, forward rotation, or reverse rotation of the motor according to the judgment result.

[0027] Specifically, the judgment includes that the control system compares the received pressure data with the preset pressure value and adjusts the power output by the motor in combination with the data of the inertial sensor, thereby realizing stairway ascent control and stairway descent control.

[0028] Stairway ascent control includes, when it is detected that the pressure applied by the operator pushing the handrail is greater than the preset pressure value, the greater pressure signal is fed back to the control system, and the control system responds to the signal, increases the motor speed, and increases the climbing speed; when it is detected that the operator reduces the pressure applied by the handrail and it is smaller than the preset pressure value, the control system will reduce the motor speed according to the feedback and slow down the climbing speed.

[0029] The stair descent control includes that the system combines the data from the inertial sensor to determine whether it is in a stair descent state. When the inertial sensor data is stable and the pressure sensor data becomes smaller, it is determined that the operator can stably control the descent of the equipment, and the control system increases the motor speed to accelerate the descent; when the inertial sensor data becomes larger and the pressure sensor data becomes larger, it is determined that the operator cannot stably control the descent of the equipment, and the control system reduces the motor speed to slow down the descent.

[0030] It should be noted that the pressure sensor, as a key component in the handling device, is responsible for adjusting the running speed of the motor in real time to ensure stable operation of the equipment. In this embodiment, the pressure sensor is located at the handrail and the corner. The pressure sensor is squeezed by the slight deformation generated by the force applied to the handrail by the rear operator. The sensor feeds back the pressure data to the control system so as to compare it with the target speed and adjust the motor output to maintain the balance of the vehicle body. The control system combines user input and sensor data to optimize speed control, adapt to different operating conditions, and improve operational accuracy and responsiveness. During the handling operation, the motor speed is adjusted through the control system to maintain a steady climb, reduce the risk of slipping, and enhance operational safety and stability.

[0031] Under normal circumstances, when the power and grip are sufficient, the handling device with a driving crawler module controlled by an angle / inertia sensor and a pressure sensor can adjust the speed of the crawler on a 70° ramp and smoothly and efficiently complete the handling operation task. During the ramp handling process, each system can be effectively operated and monitored, ensuring the safe and smooth progress of the entire handling process. The operating handrail is located at the rear of the entire device and is operated by the rear operator during the ramp climbing process. During the ramp ascent of the device, when the rear personnel can ensure their own safety and stability on the ramp, they can push the handrail forcefully. The pressure sensor is squeezed and the signal is transmitted back to the control board, which increases the motor speed and thus the climbing speed of the handling device; if the operator cannot ensure their own safety and stability, the squeezing of the handrail is reduced and the climbing speed of the device decreases; during the ramp descent, when the rear personnel can stably control the device, they can reduce the squeezing of the handrail and increase the motor speed to accelerate the descent of the device on the ramp. When the device descends too fast, the operator needs to increase the force applied to the handrail to reduce its descent speed. The entire operation process conforms to the operating habits of personnel on the ramp, and such a design enables the rear personnel to control. The rear personnel are responsible for monitoring and adjusting the operating state of the driving crawler module during the handling process, enabling the handling device to move forward stably on the ramp. The purpose of moving the handling device up and down the ramp is achieved by controlling the start, forward rotation, and reverse rotation of the motor of the driving crawler module.

[0032] Step 4, finally, the control system performs real-time optimization control on the motor speed according to the operator's input, such as pushing the handrail or reducing the handrail pressure, and sensor data (such as angle, speed, pressure feedback).

[0033] Step 5, safety protection step. When the system detects that the equipment may tip over or become unstable, the control system automatically stops the motor operation or adjusts the motor speed to prevent accidents and ensure the safe operation of the equipment. Through monitoring the pressure sensor and sensor feedback control, the control system adjusts the motor speed in real time to ensure that the equipment remains stable during climbing or descending and reduces the risk of slipping or getting out of control.

[0034] Embodiment 2

[0035] In this embodiment, a control circuit for a handling device is disclosed. The structural diagram of the circuit is as Figure 2 shown. The circuit includes a power supply sub-circuit, a sensor sub-circuit, and a processing and control sub-circuit.

[0036] Among them, the power supply sub-circuit is connected to the sensor sub-circuit, the processing and control sub-circuit, and the step execution sub-circuit to provide power supplies with different voltages for each sub-circuit.

[0037] Specifically, the 48V lithium battery in the power supply circuit is used to provide the basic power supply for the entire handling circuit; the 120V to 12V step-down sub-module is used to step down the 120V voltage to 12V for supplying low-voltage devices; the 120V to 24V step-down sub-module is used to step down the 120V voltage to 24V for supplying medium-voltage devices.

[0038] The sensor sub-circuit is connected to the processing and control sub-circuit, and is used to monitor the environment and device status and transmit data to the processing and control sub-circuit.

[0039] Specifically, the sensor sub-circuit includes

[0040] an angle sensor for monitoring the angle and rotation dynamics of the handling device, an inertial sensor for monitoring the running speed of the handling device, and a pressure sensor for monitoring the force applied at the handrail and adjusting the motor running speed by feeding back the pressure change through the detected minute deformation.

[0041] The above sensors can be connected to the processing and control sub-circuit through a 485 communication line.

[0042] The processing and control sub-circuit is configured to receive and process the information sent by the sensor sub-circuit and generate control instructions according to the handling device control method described in Embodiment 1 to control the motor to complete the handling operation.

[0043] In this embodiment, the core of the processing and control sub-circuit is an STM32 single-chip microcomputer, and the STM32 single-chip microcomputer and the single-chip microcomputer power supply together constitute the processing and control sub-circuit.

[0044] The data monitored by the sensor sub-circuit is transmitted to the STM32 single-chip microcomputer through a 485 communication line. The STM32 single-chip microcomputer aggregates the real-time data of the angle, inertial, and pressure sensors and judges the real-time data to achieve a fast response.

[0045] The STM32 single-chip microcomputer processes the data fed back by the sensor module in real time and generates corresponding control instructions according to the method in Embodiment 1. The control instructions are transmitted to the control module of the motor through a CAN communication line, and the control module of the motor controls the motor to start, stop, and adjust the speed.

[0046] The control module of the motor consists of a motor driver and a motor.

[0047] Among them, the motor driver is used to receive the instructions issued by the STM32 single-chip microcomputer and adjust the working state of the motor. The motor directly drives the track or traction system through mechanical connection, and executes specific driving actions to complete the handling operation according to the output control signal of the motor driver. The motor and the motor driver are connected by an encoder line and a control line.

[0048] The specific embodiments described above further elaborate on the objective, technical solution, and beneficial effects of the present invention. It should be understood that the above description is only for the specific embodiments of the present invention and is not intended to limit the protection scope of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A control method for a handling device, characterized in that, The control method comprises: S100, monitoring the status of the handling device in real time through sensors and sending the detected status to the control system, wherein: The angle and rotation dynamics of the handling device are monitored through an angle sensor, the running speed of the handling device is monitored through an inertial sensor, and the force applied to the handrail is monitored through a pressure sensor. The pressure change is fed back through the monitored slight deformation to adjust the running speed of the motor; S200, when the angle sensor and the inertial sensor detect that the equipment is overturned or at risk of falling on the stairway, the control system stops the motor from working; S300, the control system judges the operator's control according to the sensor data, and controls the start, forward rotation or reverse rotation of the motor according to the judgment result; S400, the control system performs real-time optimization control of the motor speed based on the operator's input and sensor data.

2. The control method of the handling device according to claim 1, wherein The control method further comprises a safety protection step, When the system detects that the equipment may overturn or become unstable, the control system automatically stops the motor or adjusts the motor speed to prevent accidents and ensure the safe operation of the equipment. By monitoring the pressure sensor and sensor feedback control, the control system adjusts the motor speed in real time to ensure that the equipment remains stable during climbing or descending, reducing the risk of slipping or loss of control.

3. The control method of the handling device according to claim 1, wherein Stopping the motor in step S200 includes, based on sensor data, when it is detected that the angle change or speed change of the equipment is too large, it is determined that there is a risk of overturning or falling. The control system stops the motor to prevent the operator from losing control of the equipment and ensure operational safety.

4. The control method of the handling device according to claim 1, characterized in that, In step S300, the control system determines the control of the operator based on the sensor data, including: The control system compares the received pressure data with the preset pressure value and adjusts the power output by the motor in combination with the data from the inertial sensor, thereby achieving stairway ascent control and stairway descent control.

5. The handling device control method according to claim 4, characterized in that The stairway ascending control includes: When it is detected that the pressure exerted by the operator pushing the handrail is greater than the preset pressure value, the greater pressure signal is fed back to the control system, and the control system responds to the signal, increases the motor speed, and improves the climbing speed; When it is detected that the operator reduces the pressure applied by the handrail to a value smaller than the preset pressure value, the control system reduces the motor speed based on the feedback and slows down the climbing speed.

6. The control method of the handling device according to claim 4, wherein The stairway descent control includes: The system combines the data from the inertial sensor to determine whether the vehicle is in the state of descending the stairs. When the inertial sensor data is stable and the pressure sensor data becomes smaller, it is determined that the operator can stably control the descent of the equipment, and the control system increases the motor speed to accelerate the descent; When the inertial sensor data increases and the pressure sensor data increases, it is determined that the operator cannot stably control the descent of the equipment, and the control system reduces the motor speed to slow down the descent speed.

7. A control circuit for a handling device, characterized in that, The control circuit includes a power supply subcircuit, a sensor subcircuit and a processing and control subcircuit, wherein: The power supply subcircuit is connected to the sensor subcircuit, the processing and control subcircuit and the step execution subcircuit to provide power supplies of different voltages to each subcircuit; The sensor sub - circuit is connected to the processing and control sub - circuit, and is used to monitor the environment and the device status and transmit data to the processing and control sub - circuit; The processing and control sub - circuit is configured to process the sensor information and generate control instructions according to the handling device control method described in any one of claims 1 to 5 to control the motor to complete the handling operation.

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