Carrying test vehicle and control method thereof

Abstract

A carrying test vehicle and a control method thereof relate to the field of elevator detection and automatic carrying, the carrying test vehicle comprises a power module and a counterweight module, the power module comprises a box body, a core control unit is arranged in the box body, a power motor is arranged at the bottom of the box body, the power motor is connected with power wheels, a man-machine interaction interface is arranged at the top of the box body, and an access hole is formed in one side of the box body. The box body is connected with a chassis; walking wheels are arranged on two sides of the chassis The balance weight module comprises a door frame, the door frame is installed on one side of the box body, a pallet fork is fixedly connected to the door frame, a tray is detachably connected to the pallet fork, and fixing holes are formed in the two sides of the tray. Compared with the prior art, the device has the advantages that an operator can complete weight loading without entering a lift car; the number of weights can be flexibly adjusted and the stability is improved; and the real-time performance and the accuracy of test data are ensured. In addition, the multi-modal design of the man-machine interaction interface further reduces the operation threshold, so that the equipment is suitable for diversified detection scenes.

Description

Technical Field

[0001] This application relates to the field of elevator testing and automated handling, and in particular to a transport test vehicle and its control method. Background Technology

[0002] With the rapid development of industrial automation and intelligent technologies, traditional manual inspection and handling methods are gradually being replaced by efficient and safe automated equipment. In the field of elevator inspection, testing of elevator braking performance (such as the 1.25 times rated load braking test) has long relied on manual handling of weights into the elevator car for loading. In early technologies, operators had to manually move weights weighing several tons to the target location via stairs or elevators, which was not only labor-intensive but also inefficient. With the introduction of electric handling equipment, electric forklifts or platform trucks are used to assist in handling in some scenarios, but their designs are mostly general-purpose equipment, lacking specialized adaptations for elevator load testing scenarios. In recent years, with the advancement of IoT, sensor, and remote control technologies, specialized handling equipment with positioning, weight monitoring, and automatic control functions has been gradually applied to specific industrial scenarios. However, existing technologies still suffer from problems such as limited functionality, insufficient safety, and poor adaptability, making it difficult to meet the combined requirements of efficiency, accuracy, and safety in elevator inspection.

[0003] The handling equipment and methods currently used in elevator load testing generally suffer from the following technical defects: traditional manual handling requires multiple people to work together, with an average daily completion rate of only 10 trips, and the labor cost is high; while general-purpose electric handling equipment can improve efficiency, its operational complexity and maintenance costs limit its large-scale application; operators need to frequently enter the elevator car to load and unload weights, facing the risk of mechanical accidents such as shearing and slippage, and the direct contact between the weights and the car floor is prone to displacement due to vibration or impact, affecting the stability of the test. Summary of the Invention

[0004] This application provides a transport test vehicle and its control method to solve the problems of low efficiency, safety hazards and insufficient functional adaptability of existing electric handling technology in elevator load testing.

[0005] This application provides a test vehicle and its control method, including a power module and a counterweight module. The power module includes a housing, a core control unit is provided inside the housing, a power motor is provided at the bottom of the housing and connected to the power wheels, a human-machine interface is provided at the top of the housing, an inspection port is provided on one side of the housing, the housing is connected to a chassis, and the chassis is provided with wheels on both sides. The counterweight module includes a mast, which is installed on one side of the box body. Forks are fixedly connected to the mast, and a pallet is detachably connected to the forks. Fixing holes are provided on both sides of the pallet.

[0006] As an improvement, the human-machine interface connects to the control handle, status display screen and control joystick. The human-machine interface is directly connected to the core control unit. External devices can control the vehicle's movement and raise / lower forks through the human-machine interface, and read data collected by various modules on the core control unit.

[0007] As an improvement, a support frame is installed on the walking wheels. The support frame has an H-shaped structure with a connecting shaft in the middle. The connecting shaft is embedded in the mounting groove on the chassis. The modular structure of the support frame makes it easy to disassemble and assemble. When the vehicle is not used as a test vehicle, the support frame and pallet can be removed to restore it to normal forklift use.

[0008] As an improvement, the traveling wheels are made of highly elastic plastic to avoid direct metal contact with the elevator car floor, thus preventing scratches and reducing friction.

[0009] As an improvement, the pallet is provided with support plates on both sides in the same direction as the forks, and auxiliary wheels are provided at the bottom of the support plates. The auxiliary wheels are used to share the weight of the counterweight and prevent damage caused by the vehicle's inability to bear the weight.

[0010] As an improvement, the core control unit includes a motherboard, which is equipped with a weight detection module, an acceleration detection module, a sound level recorder, and a speed sensor. The weight detection module self-detects the total weight of the vehicle, which is the sum of the preset vehicle weight, pallet weight, and weight of the weights. The actual weighing weight is the weight of the pallet and weights. The acceleration detection module is a triaxial accelerometer, and the sound level recorder is a microphone used to record the vibration and noise of the elevator and escalator. The speed sensor is used to measure the braking distance and deceleration during the downward braking test of the elevator at % of its rated load.

[0011] As an improvement, the core control unit is also equipped with a remote transmission module, which enables long-distance transmission of collected data and remote control of the vehicle.

[0012] As an improvement, the following steps are included: S1. Counterweighting stage: Adjust the number of trays and the number of weights in the trays according to actual needs; S2. Entering the elevator car: The operator drives the test vehicle to autonomously enter the elevator car. S3. Perform the test: The test vehicle is stably parked inside the elevator car, and the braking test is performed by the elevator testing equipment; S4. Exit the car: After the test, the operator drives the test vehicle out of the car and back to the initial position; S5. Cyclic Operation: The test vehicle moves to the next elevator to be tested and repeats the above process to achieve continuous operation.

[0013] As an improvement, the counterweight weight in step S1 is 1.25 times the rated load of the elevator, and the weight of the test vehicle itself needs to be added when adding the counterweight.

[0014] As an improvement, the driving method in steps S2 and S4 is to issue commands through a control handle or remote control.

[0015] Compared with existing technologies, the advantages of this invention are as follows: by introducing a modular power module and a counterweight module, combined with highly elastic plastic wheels, an H-shaped support frame, and a core control unit integrating multiple sensors, the aforementioned problems are solved. Specifically, the power module adopts remote control drive and autonomous positioning technology, enabling operators to load weights without entering the elevator car; the counterweight module, through its detachable tray and support plate design, supports flexible adjustment of the number of weights and improves stability; the core control unit integrates weight detection and remote transmission functions, ensuring the real-time nature and accuracy of test data. Furthermore, the multimodal design of the human-machine interface further lowers the operating threshold, making the equipment suitable for diverse testing scenarios. Attached Figure Description

[0016] The accompanying drawings are provided to further understand the technical solutions of the present invention and constitute a part of the specification. They are used together with the embodiments of this application to explain the technical solutions of the present invention and do not constitute a limitation on the technical solutions of the present invention.

[0017] Figure 1 Structural schematic diagrams provided for embodiments of this application; Figure 2 A front view provided for embodiments of this application; Figure 3 A perspective view provided for an embodiment of this application; Figure 4 Three-dimensional representations provided for embodiments of this application Figure 2 ; Figure 5 A top view provided for an embodiment of this application; Figure 6 A usage state diagram provided for embodiments of this application.

[0018] The components include: 1. Power module; 11. Housing; 12. Core control unit; 13. Power motor; 14. Power wheel; 15. Human-machine interface; 16. Inspection port; 17. Chassis; 171. Mounting slot; 18. Travel wheel; 19. Support frame; 191. Connecting shaft; 2. Counterweight module; 21. Mast; 22. Forklift; 23. Pallet; 24. Fixing hole; 25. Support plate; 26. Auxiliary wheel. Detailed Implementation

[0019] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0020] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0021] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0022] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "connected" and "linked" should be interpreted broadly, for example, as a fixed connection, a detachable connection, or an integral connection. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances. Furthermore, when describing pipelines, the terms "connected" and "linked" as used in this application have the meaning of establishing electrical connection. The specific meaning needs to be understood in conjunction with the context.

[0023] In the embodiments of this application, the terms "exemplary" or "for example" are used to indicate that something is an example, illustration, or description. Any embodiment or design that is described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design. Specifically, the use of the terms "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0024] like Figures 1-6 A test vehicle and its control method are disclosed, comprising a power module 1 and a counterweight module 2. The power module 1 includes a housing 11, a core control unit 12 is provided inside the housing 11, a power motor 13 is provided at the bottom of the housing 11, the power motor 13 is connected to the power wheel 14, a human-machine interface 15 is provided at the top of the housing 11, an inspection port 16 is provided on one side of the housing 11, the housing 11 is connected to a chassis 17, and the chassis 17 is provided with wheels 18 on both sides. The counterweight module 2 includes a mast 21, which is installed on one side of the housing 11. A fork 22 is fixedly connected to the mast 21, and a pallet 23 is detachably connected to the fork 22. Fixing holes 24 are provided on both sides of the pallet 23.

[0025] As an improvement, the human-machine interface 15 is connected to the control handle, status display screen and control joystick. The human-machine interface 15 is directly connected to the core control unit 12. External devices can control the vehicle's movement and raise and lower the forks 22 through the human-machine interface 15, and read the data collected by each module on the core control unit 12.

[0026] As an improvement, a support frame 19 is installed on the walking wheel 18. The support frame 19 has an H-shaped structure with a connecting shaft 191 in the middle. The connecting shaft 191 is embedded in the mounting groove 171 on the chassis 17. The modular structure of the support frame 19 makes it easy to disassemble and assemble. When the vehicle is not used as a test vehicle, the support frame 19 and pallet 23 can be removed to restore it to normal forklift use.

[0027] As an improvement, the traveling wheel 18 is made of highly elastic plastic to avoid direct metal contact with the elevator car floor, thus preventing scratches and reducing friction.

[0028] As an improvement, the pallet 23 is provided with support plates 25 on both sides in the same direction as the forks 22, and the bottom of the support plates 25 is provided with auxiliary wheels 26. The auxiliary wheels 26 are used to share the weight of the counterweight and prevent the vehicle itself from being damaged due to insufficient load-bearing capacity.

[0029] As an improvement, the core control unit 12 includes a motherboard, which is equipped with a weight detection module, an acceleration detection module, a sound level recorder, and a speed sensor. The weight detection module self-detects the total weight of the vehicle, which is the sum of the preset vehicle weight, the weight of the pallet 23, and the weight of the weights. The actual weighing weight is the weight of the pallet 23 and the weights. The acceleration detection module is a triaxial accelerometer, and the sound level recorder is a microphone used to record the vibration and noise of the elevator and escalator. The speed sensor is used to measure the braking distance and deceleration during the 125% rated load downward braking test of the elevator.

[0030] As an improvement, the core control unit 12 is also equipped with a remote transmission module, which enables long-distance transmission of collected data and remote control of the vehicle.

[0031] As an improvement, the following steps are included: S1. Counterweighting stage: Adjust the number of trays 23 and the number of weights in trays 23 according to actual needs; S2. Entering the elevator car: The operator drives the test vehicle to autonomously enter the elevator car. S3. Perform the test: The test vehicle is stably parked inside the elevator car, and the braking test is performed by the elevator testing equipment; S4. Exit the car: After the test, the operator drives the test vehicle out of the car and back to the initial position; S5. Cyclic Operation: The test vehicle moves to the next elevator to be tested and repeats the above process to achieve continuous operation.

[0032] As an improvement, the counterweight weight in step S1 is 1.25 times the rated load of the elevator, and the weight of the test vehicle itself needs to be added when adding the counterweight.

[0033] As an improvement, the driving method in steps S2 and S4 is to issue commands through a control handle or remote control.

[0034] Example: Specific workflow and principle of a test vehicle and its control method Overall structure and function description of the equipment This embodiment is based on the technical solution in the claims, and elaborates on the working process and principle of the equipment in detail to ensure that examiners can manufacture equipment with corresponding functions according to the following description.

[0035] 1. Coordinated operation of power module 1 and counterweight module 2 Power module 1 consists of a housing 11, a core control unit 12, a power motor 13, drive wheels 14, a human-machine interface 15, an inspection port 16, a chassis 17, and traveling wheels 18. The housing 11 serves as the main frame of the equipment, integrating the core control unit 12. A power motor 13 is bolted to its bottom. The power motor 13 drives the drive wheels 14 via a gear transmission mechanism, enabling the test vehicle to move autonomously.

[0036] The human-machine interface 15 is located on the top of the housing 11 and is electrically connected to the main board of the core control unit 12 via a data cable. It connects to an external control handle, status display screen, and control joystick. Operators send commands to the core control unit 12 via the control handle or remote control to control the start / stop of the power motor 13, its direction, and the raising / lowering of the forks 22. The status display screen shows real-time data collected by the weight detection module, acceleration detection module, and sound level recorder.

[0037] The chassis 17 is connected to the bottom of the housing 11 by welding or bolting, and symmetrical wheels 18 are installed on both sides of the chassis 17. The wheels 18 are made of high-elasticity plastic wheels, such as Trelleborg T3000, and are fixed to the chassis 17 by support frames 19. The support frames 19 have an H-shaped structure, and the central connecting shaft 191 is embedded in the mounting groove 171 of the chassis 17 to form a detachable connection, which facilitates modular maintenance.

[0038] The counterweight module 2 consists of a mast 21, forks 22, a pallet 23, and mounting holes 24. The mast 21 is bolted to one side of the housing 11, and the forks 22 are horizontally mounted on its top. The forks 22 are detachable and are connected to the mast 21 by pins or a hydraulic lifting device, which facilitates the loading and unloading of the pallet 23.

[0039] The pallet 23 is bolted to the forks 22 via fixing holes 24. Support plates 25 are provided on both sides of the pallet 23, and auxiliary wheels 26 (Nord-Lock N700) are mounted on the bottom of the support plates 25. The auxiliary wheels 26 are rotatably connected to the support plates 25 via bearings, and are used to share the counterweight, preventing structural damage due to insufficient weight of the test vehicle.

[0040] 2. Functional Implementation of Core Control Unit 12 The motherboard of the core control unit 12 integrates the following modules: Weight detection module: The total weight of tray 23 and weights is monitored in real time by pressure sensor model: HBMC12 to ensure that the total weight of S1 during the counterweight stage, including the weight of the test vehicle, reaches 1.25 times the rated load of the elevator.

[0041] Acceleration detection module: A triaxial accelerometer, model: Analog Devices ADXL355, is used to measure deceleration and vibration data during elevator braking tests.

[0042] Sound level recorder: Integrated microphone array model: Brüel & Kjær 4942, records the noise level of the elevator during operation.

[0043] Speed ​​sensor: The speed of the drive wheel 14 is measured by encoder model: MaxonEC-i40, and the braking distance is calculated in combination with the inertial navigation system.

[0044] Remote transmission module: The module uses a Wi-Fi 6 module, model number Qualcomm QCA9377, to upload the collected data to the cloud server and supports the issuance of remote control commands.

[0045] 3. Specific implementation process of the control method Step S1: Counterweight Stage The operator inputs the required weight of the weights based on the rated load of the target elevator through the human-machine interface 15. The weight detection module of the core control unit 12 automatically calculates the number of trays 23 and the weight ratio to ensure that the total weight, including the weight of the test vehicle, is 1.25 times the rated load.

[0046] The forks 22 are raised to the preset height, and the operator loads the weights into the pallet 23 and fixes them to the fixing holes 24 with bolts.

[0047] Step S2: Enter the car The operator sends a forward command via a control handle or remote control. The core control unit 12 drives the power motor 13 to rotate the power wheel 14, causing the test vehicle to move along the walking wheels 18 of the H-shaped support frame 19 toward the elevator car entrance.

[0048] When the test vehicle approaches the car, the acceleration detection module detects the low-speed mode and automatically switches to the precise positioning mode to ensure that the test vehicle stops at point A in the center of the car.

[0049] Step S3: Perform the experiment After the test vehicle came to a stable stop, the sound level recorder began recording the elevator's operating noise, the acceleration detection module collected deceleration data during the braking process, and the speed sensor simultaneously calculated the braking distance.

[0050] The core control unit 12 uploads real-time data to the detection terminal via a remote transmission module, allowing technicians to analyze the elevator's braking performance.

[0051] Step S4: Exit the car After the test, the operator sent a reverse command via the control handle, and the power motor 13 drove the test vehicle out of the car. The auxiliary wheels 26 rolled on the bottom of the support plate 25, reducing the friction between the tray 23 and the ground.

[0052] Step S5: Cyclic Operation After the test vehicle returns to its initial position, the above process is repeated until all elevators to be tested are completed.

[0053] 4. Manufacturing and adaptation of key components The traveling wheels 18 should be made of high-elasticity plastic Trelleborg T3000, with a Shore hardness of 70A and a diameter of 150mm, to ensure sufficient shock absorption and anti-slip properties on elevator car floors that are usually made of ceramic tiles or metal.

[0054] The motherboard of the core control unit 12 needs to reserve an expansion interface such as a CAN bus to allow for the future upgrade of more sensor modules such as temperature detection or image recognition.

[0055] The H-shaped structure of the support frame 19 must be made of aluminum alloy material, model: 6061-T6. The fit tolerance between the connecting shaft 191 and the mounting groove 171 must be controlled within ±0.02mm to ensure the reliability of modular assembly and disassembly.

[0056] Existing elevator load testing technologies suffer from low efficiency, safety hazards, and insufficient functional adaptability. This invention, "A Transport Test Vehicle and Its Control Method," belongs to the field of elevator testing and automated handling technology. Through specialized design and intelligent control, it solves the core pain points of traditional manual handling and general-purpose equipment in terms of efficiency, safety, and adaptability, providing an efficient, safe, and scalable solution for periodic elevator inspections.

[0057] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A test vehicle, comprising a power module (1) and a counterweight module (2), characterized in that: The power module (1) includes a housing (11), a core control unit (12) is provided inside the housing (11), a power motor (13) is provided at the bottom of the housing (11), the power motor (13) is connected to the power wheel (14), a human-machine interface (15) is provided at the top of the housing (11), an inspection port (16) is provided on one side of the housing (11), the housing (11) is connected to the chassis (17), and walking wheels (18) are provided on both sides of the chassis (17). The counterweight module (2) includes a mast (21), which is installed on one side of the box (11). A fork (22) is fixedly connected to the mast (21), and a pallet (23) is detachably connected to the fork (22). Fixing holes (24) are provided on both sides of the pallet (23).

2. The test vehicle according to claim 1, characterized in that: The human-machine interface (15) connects the control handle, the status display screen and the control joystick.

3. The test vehicle according to claim 1, characterized in that: The walking wheel (18) is mounted on a support frame (19), which has an H-shaped structure with a connecting shaft (191) in the middle. The connecting shaft (191) is embedded in the mounting groove (171) on the chassis (17).

4. The test vehicle according to claim 1, characterized in that: The walking wheels (18) are made of high-elasticity plastic.

5. The test vehicle according to claim 1, characterized in that: The pallet (23) has support plates (25) on both sides in the same direction as the forks (22), and auxiliary wheels (26) are provided at the bottom of the support plates (25).

6. The test vehicle according to claim 1, characterized in that: The core control unit (12) includes a motherboard, on which a weight detection module, an acceleration detection module, a sound level recorder, and a speed sensor are provided.

7. The test vehicle according to claim 6, characterized in that: The core control unit (12) is also equipped with a remote transmission module.

8. A control method for a transport test vehicle based on the above, characterized in that, Includes the following steps: S1, Counterweighting stage: Adjust the number of trays (23) and the number of weights in the trays (23) according to actual needs; S2. Entering the elevator car: The operator drives the test vehicle to autonomously enter the elevator car. S3. Perform the test: The test vehicle is stably parked inside the elevator car, and the braking test is performed by the elevator testing equipment; S4. Exit the car: After the test, the operator drives the test vehicle out of the car and back to the initial position; S5. Cyclic Operation: The test vehicle moves to the next elevator to be tested and repeats the above process to achieve continuous operation.

9. The control method for the transport test vehicle according to claim 8, characterized in that: In step S1, the counterweight weight is 1.25 times the rated load of the elevator, and the weight of the test vehicle itself needs to be added when adding the counterweight.

10. The control method for the transport test vehicle according to claim 8, characterized in that: In steps S2 and S4, the driving method is to issue commands through a control handle or remote control.

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