Carrying device control system

Abstract

The invention discloses a carrying device control system, and belongs to the field of carrying device control, the control system comprises a power supply module, a sensor module, a processing and control module and an execution module, the power supply module is connected with the sensor module, the processing and control module and the execution module, and power supplies with different voltages are provided for the modules; the sensor module is connected with the processing and control module and is used for monitoring environment and equipment states and transmitting data to the processing and control module; the processing and control module is connected with the execution module and is used for processing sensor information and sending a control instruction to the execution module; the execution module is configured to execute the carrying operation according to the control instruction. Through combination of various sensors, the angle sensor, the inertial sensor and the pressure sensor are used for providing comprehensive and accurate environment and operation feedback. And stable operation of the carrying device is ensured.

Description

Technical Field

[0001] The present invention relates to the field of transport control, and in particular to a transport device control system. Background Art

[0002] Handling devices are widely used in factories, warehouses, construction sites, and other locations where heavy objects need to be moved. In modern industry, automated control of handling devices has become a key means of improving efficiency and safety. Existing handling devices rely primarily on manual operation, which is labor-intensive, inefficient, and poses significant safety risks.

[0003] While some semi-automatic handling devices now offer partial mechanization, these systems still require significant manual intervention and control. Lacking the ability to independently determine and adjust feedback, they are prone to loss of control under non-ideal conditions. Furthermore, these semi-automatic handling devices are equipped with a single sensor and slow feedback, unable to process multi-sensor data in real time and make immediate adjustments. This results in motor control lag, impacting the smooth and safe operation of the handling device. Summary of the Invention

[0004] One of the purposes of the present invention is to provide a handling device control system to solve the shortcomings of the prior art in which the handling device is equipped with a single sensor, resulting in motor control lag and affecting the smooth and safe operation of the handling device.

[0005] The present invention is implemented through the following technical solution: a handling device control system, including a power supply module, a sensor module, a processing and control module, and an execution module, wherein the power supply module is connected to the sensor module, the processing and control module, and the execution module to provide power supplies of different voltages for each module; the sensor module is connected to the processing and control module to monitor the environment and equipment status and transmit data to the processing and control module; the processing and control module is connected to the execution module to be responsible for processing sensor information and sending control instructions to the execution module; the execution module is configured to perform handling operations according to the control instructions.

[0006] Furthermore, the power supply module includes a 48V lithium battery for providing basic power for the entire system; a 120V to 12V step-down submodule for reducing the 120V voltage to 12V to supply low-voltage equipment; and a 120V to 24V step-down submodule for reducing the 120V voltage to 24V to supply medium-voltage equipment.

[0007] Furthermore, the sensor module includes an angle sensor for measuring and providing feedback on the operating angle and rotation dynamics of the equipment; an inertial sensor for monitoring the operating speed and providing immediate feedback to stop the motor when there is a risk of overturning or falling; and a pressure sensor for monitoring the force applied to the armrest and sending the monitored data to the processing and control module to adjust the motor operating speed in real time. The angle sensor, inertial sensor and pressure sensor are connected to the processing and control module via a 485 communication line.

[0008] Furthermore, the core of the processing and control module is the STM32 single-chip microcomputer, which together constitutes the processing and control module. The sensor module is connected to the STM32 single-chip microcomputer through a 485 communication line, and the real-time data of the angle, inertia and pressure sensors are summarized to the STM32 single-chip microcomputer. The STM32 single-chip microcomputer judges the summarized real-time sensor data to achieve rapid response. The STM32 single-chip microcomputer processes the data fed back by the sensor module in real time and generates corresponding control instructions. The control instructions are transmitted to the execution module through the CAN communication line to manage and control the motor start, stop and speed adjustment of the execution module.

[0009] Furthermore, rapid response includes: when the angle sensor detects a dangerous inclination jump, or the inertial sensor detects a dangerous speed change, the STM32 microcontroller immediately issues a shutdown command; through pressure sensor feedback, the motor speed is adjusted according to the operator's intention; and the motor control is dynamically adjusted based on the real-time data of the sensor to avoid slipping or loss of control and improve handling stability.

[0010] Furthermore, the execution module consists of a motor driver and a motor, wherein the motor driver is used to receive instructions from the processing and control module and adjust the working state of the motor. The motor directly drives the track or traction system through a 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 encoder lines and control lines.

[0011] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0012] 1. The handling device control system of the present invention significantly improves the efficiency, safety, and reliability of handling operations through the integration of multiple sensors, efficient STM32 single-chip processing, precise motor control, modular design, high integration, powerful safety mechanisms, and optimized human-machine interaction. This design not only meets the modern industrial demand for efficient and safe handling, but also achieves green energy conservation through intelligent speed regulation and energy management.

[0013] 2. The present invention combines multiple sensors, including angle sensors, inertial sensors, and pressure sensors, to provide comprehensive and accurate environmental and operational feedback, ensuring the smooth operation of the handling device.

[0014] 3. The present invention uses STM32 single-chip microcomputer as core control unit, processes multi-sensor feedback, performs real-time data analysis and decision-making, ensures that sensor input can be processed in real time, fast feedback and adjustment motor operation, and uses dedicated power supply module to provide stable electric power for single-chip microcomputer and related components, ensures that it works normally. Simultaneously, by motor driver and motor, close coordination is achieved, real-time state monitoring and high-precision control are achieved by encoder line and control line. Accurate control of motor speed and position is achieved, avoiding too fast or too slow, improving equipment stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The drawings described herein are used to provide a further understanding of the embodiments of the present invention, constitute a part of this application, and do not constitute a limitation of the embodiments of the present invention. In the drawings:

[0016] Figure 1 This is a system structure diagram provided for Example 1 of the present invention. DETAILED DESCRIPTION

[0017] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations.

[0018] Example 1:

[0019] This embodiment discloses a control system for a transport device, such as Figure 1 As shown, the automatic gain control system includes a power supply module, a sensor module, a processing and control module, and an execution module.

[0020] The power supply module is connected to the sensor module, the processing and control module, and the execution module to provide power supplies of different voltages to each module.

[0021] Specifically, the power supply module includes a 48V lithium battery for providing basic power for the entire system; a 120V to 12V step-down submodule for reducing the 120V voltage to 12V to supply low-voltage equipment; and a 120V to 24V step-down submodule for reducing the 120V voltage to 24V to supply medium-voltage equipment.

[0022] The sensor module is connected to the processing and control module for monitoring the environment and equipment status and transmitting data to the processing and control module.

[0023] Specifically, the sensor module includes an angle sensor for measuring and providing feedback on the device's operating angle and rotational dynamics; an inertial sensor for monitoring operating speed and providing immediate feedback to stop the motor in the event of a tipping or falling risk; and a pressure sensor for monitoring the force applied to the armrest and transmitting this data to the processing and control module for real-time adjustment of the motor's operating speed. These sensors are connected to the processing and control module via a 485 communication line.

[0024] The processing and control module is connected to the execution module and is responsible for processing sensor information and sending control instructions to the execution module.

[0025] Specifically, the core of the processing and control module is the STM32 microcontroller. The STM32 microcontroller and the microcontroller power supply together constitute the processing and control module. The sensor module is connected to the STM32 microcontroller through a 485 communication line, and the real-time data of the angle, inertia and pressure sensors are summarized to the STM32 microcontroller. The STM32 microcontroller judges the summarized real-time sensor data to achieve rapid response.

[0026] It should be noted that judgments based on real-time sensor data include: when the angle sensor detects a dangerous inclination jump, or the inertial sensor detects a dangerous speed change, the STM32 microcontroller immediately issues a shutdown command; through pressure sensor feedback, the motor speed is adjusted according to the operator's intention; based on the real-time sensor data, the motor control is dynamically adjusted to avoid slipping or loss of control, thereby improving handling stability.

[0027] The STM32 microcontroller processes the data fed back by the sensor module in real time and generates corresponding control instructions. The control instructions are transmitted to the execution module via the CAN communication line to control the motor start, stop and speed adjustment of the execution module.

[0028] The execution module is configured to execute the transport operation according to the control instruction.

[0029] It should be noted that the execution module consists of a motor driver and a motor.

[0030] Among them, the motor driver is used to receive instructions from the processing and control module and adjust the working state of the motor. The motor directly drives the track or traction system through a mechanical connection. According to the output control signal of the motor driver, it performs specific driving actions to complete the handling operation. The motor and motor driver are connected by encoder lines and control lines.

[0031] It should be noted that in this embodiment, the transport device may include two design schemes, namely, a single drive track module to provide power, and a drive track and traction climbing module to provide power together.

[0032] The corresponding control system modes are as follows: a motor control system based on feedback from angle sensors, inertial sensors and pressure sensors, a drive track system directly driven by gears, and a traction climbing control system that uses a clutch structure to connect and disconnect the winch from the motor.

[0033] Angle / inertial sensors play a crucial role in the control systems of handling devices and other mobile platforms. Angle sensors measure and provide feedback on the device's operating angle and rotational dynamics, while inertial sensors monitor the device's speed. If a handling device tips over or risks falling on a stairway, the motor is stopped by signals indicating the instantaneous change in angle or speed, preventing the operator from losing control and ensuring operational safety.

[0034] Pressure sensors are key components in the handling device, responsible for adjusting the motor's operating speed in real time to ensure stable equipment operation. Pressure sensors are located at the handrails and corners. The force applied to the handrail by the rear operator creates a tiny deformation that squeezes the pressure sensor. The sensor then feeds pressure data back to the control system, which compares it with the target speed and adjusts the motor output to maintain vehicle balance. The control system combines user input and sensor data to optimize speed control, adapt to varying operating conditions, and improve operational accuracy and responsiveness. During handling operations, the control system adjusts the motor speed to maintain a smooth climb, reduce the risk of slipping, and enhance operational safety and stability.

[0035] Under normal circumstances, the transport device, which uses a drive track module controlled by angle / inertial sensors and pressure sensors, can control track speed on a 70-degree stairway when sufficient power and grip are maintained, smoothly and efficiently completing the patient transport task. During stairway transport, all systems are effectively operated and monitored, ensuring a safe and smooth process. The control handrail is located at the rear of the device and is operated by the operator at the rear during the stairway ascent. During ascent, if the operator can maintain safety and stability on the stairway, they can push the handrail firmly. This increases the pressure on the pressure sensor, transmitting a signal to the control board, which increases the motor speed and, in turn, increases the transport device's ascent speed. If the operator cannot maintain safety and stability, they reduce pressure on the handrail, reducing the device's ascent speed. During descent, if the operator can maintain stable control of the device, they can reduce pressure on the handrail, increase the motor speed, and accelerate the device's descent. If the device descends too quickly, the operator needs to increase force on the handrail to slow it down. The entire operation process is consistent with stairway operators' habits, allowing for control by personnel at the rear. During the transport process, personnel at the rear are responsible for monitoring and adjusting the operating status of the drive track module to ensure stable movement of the transport device on the stairway. This control is achieved by controlling the start, forward, and reverse rotation of the drive track module motor to enable the transport device to ascend and descend the stairway.

[0036] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A handling device control system, characterized in that: The control system includes a power supply module, a sensor module, a processing and control module and an execution module, wherein: The power module is connected to the sensor module, the processing and control module, and the execution module to provide power of different voltages to each module; The sensor module is connected to the processing and control module to monitor the environment and equipment status and transmit data to the processing and control module; The processing and control module is connected to the execution module and is responsible for processing sensor information and sending control instructions to the execution module; The execution module is configured to execute the transport operation according to the control instruction.

2. The handling device control system according to claim 1, characterized in that: The power supply module includes a 48V lithium battery for providing basic power for the entire system; The 120V to 12V step-down submodule is used to reduce the 120V voltage to 12V to supply low-voltage equipment; The 120V to 24V step-down submodule is used to reduce the 120V voltage to 24V to supply medium voltage equipment.

3. The handling device control system according to claim 1, characterized in that: The sensor module includes an angle sensor for measuring and feeding back the operating angle and rotation dynamics of the device; Inertial sensors to monitor operating speed and provide immediate feedback to stop the motors in the event of a tipping or falling risk; A pressure sensor is used to monitor the force applied to the handrail and send the monitored data to the processing and control module to adjust the motor speed in real time. The angle sensor, inertial sensor and pressure sensor are connected to the processing and control module via a 485 communication line.

4. The transport device control system according to claim 1, wherein: The core of the processing and control module is the STM32 single-chip microcomputer, which together with the single-chip microcomputer power supply constitutes the processing and control module. The sensor module is connected to the STM32 microcontroller via a 485 communication line, and the real-time data of the angle, inertia and pressure sensors are aggregated to the STM32 microcontroller. The STM32 microcontroller judges the aggregated real-time sensor data to achieve rapid response. The STM32 microcontroller processes the data fed back by the sensor module in real time and generates corresponding control instructions. The control instructions are transmitted to the execution module via the CAN communication line to control the motor start, stop and speed adjustment of the execution module.

5. The handling device control system according to claim 4, characterized in that: The rapid response includes that when the angle sensor detects a dangerous tilt jump, and the inertial sensor detects a dangerous speed change, the STM32 microcontroller immediately issues a shutdown command; Through pressure sensor feedback, the motor speed can be adjusted according to the operator's intention; Dynamically adjust motor control based on real-time sensor data to avoid slipping or loss of control and improve handling stability.

6. The handling device control system according to claim 1, characterized in that: The execution module is composed of a motor driver and a motor, wherein: The motor driver is used to receive instructions from the processing and control module and adjust the working state of the motor. The motor directly drives the crawler or traction system through a mechanical connection, and performs specific driving actions to complete the handling operation according to the output control signal of the motor driver. The motor and motor driver are connected by encoder line and control line.

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