Material transportation cart and transportation elevator control system and control method
By combining obstacle recognition and scanning devices with guide groups and RFID tags, the problem of collisions between the trolley and the elevator door was solved, achieving safe and reliable elevator transportation control and reducing safety hazards.
Patent Information
- Application Number
- CN202511602706.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-11-04
- Publication Date
- 2026-01-13
AI Technical Summary
During the construction of large hydropower stations, trolleys used to transport materials are prone to colliding with elevator doors due to improper operation or obstructed visibility, causing the elevator doors to deform, affecting the normal operation of the elevator and posing a safety hazard.
The system employs an obstacle recognition device and a scanning device combined with a guide group. The opening of the elevator door and the extension of the guide group are controlled by an electronic control module to prevent the trolley from colliding with the elevator door. RFID passive tags are used to ensure accurate elevator identification, and deformation sensors and brakes are installed to prevent collisions.
It achieves dual anti-collision protection for both the trolley and the elevator door, ensuring elevator operation safety, improving the scheduling order and reliability of multiple elevator scenarios, and reducing the probability of safety accidents.
Smart Images
Figure CN121317482A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application belongs to the technical field of trolleys, and particularly relates to a material transportation trolley and a transportation elevator control system and method. BACKGROUND
[0002] In the daily project construction of large hydropower stations, the transportation of materials and waste is often completed by trolleys through elevators. However, the trolleys for transporting materials are usually large in size and close in width to the size of the elevator door frame. Due to improper operation by the operator, blocked vision, and other reasons, the existing trolleys may deviate from the advancing route during entry and exit of the elevator car, thereby causing the trolley and the elevator door frame to collide. There are also cases where the staff do not enter the elevator in time due to blocked vision, causing the trolley to collide with the elevator hall door when the elevator door is closed.
[0003] Since the trolleys for transporting materials are usually heavy, the collision may cause the elevator door to deform, affecting the normal operation of the elevator, causing the elevator to stop working, affecting the construction progress, and possibly causing safety accidents, which poses a great safety hazard. SUMMARY
[0004] The present application provides a material transportation trolley and a transportation elevator control system and method to solve the problem of collision between the trolley for transporting materials and the elevator when entering and exiting the elevator.
[0005] To solve the above technical problems, the technical solution adopted by the present application is as follows: On the one hand, the present application provides a material transportation trolley and a transportation elevator control system, comprising: a trolley body; a first anti-collision system comprising an obstacle recognition device and an electric control module, the obstacle recognition device being used to recognize whether there is an obstacle within a distance S in front of the trolley body, and the electric control module being used to send a "long door opening" signal to the corresponding elevator door; a second anti-collision system comprising a scanning device and a guide group, the scanning device being installed on the front side wall of the trolley body and being used to scan the size of the elevator door, and the guide group being installed on the bottom of the trolley body and being used to realize the guidance of the trolley body's advancing track by controlling the extension distance of the guide group from the side wall of the trolley body; a control module connected with the first anti-collision system, the second anti-collision system, and the elevator control system, respectively; the control module receives the recognition signal of the obstacle recognition device and sends an elevator door opening and closing request to the elevator control system based on the recognition signal; the control module is also used to receive the scanning signal of the scanning device and control the action of the driving member based on the scanning signal to adjust the extension distance of the guide group.
[0006] Further, the electric control module comprises a card reader and a control transmitting module installed on the bottom of the vehicle body, the card reader is used to locate the number of the corresponding elevator, and the control transmitting module is used to send a "long open door" control signal to the corresponding elevator.
[0007] Further, the elevator control system comprises an RFID passive tag attached to each elevator, the RFID passive tag is internally provided with a unique identification code of each elevator door, and the card reader can identify the identification code in the RFID passive tag; the elevator control system further comprises a receiving module, which is used to receive the "long open door" signal sent by the control transmitting module.
[0008] Further, the bottom of the vehicle body is provided with a steering wheel near the side of the staff and a driving wheel arranged at the front end of the vehicle body, and the bottom of the vehicle body is provided with a brake for temporarily braking the driving wheel, the brake is connected with the control module, and the brake only controls the temporary braking of the driving wheel.
[0009] Further, the guide group is arranged at the corner area on both sides of the front part of the vehicle body, and comprises a plurality of guide pushing pieces, the guide pushing piece comprises a driving track fixed to the bottom of the vehicle body and a guide piece sliding on the driving track, and the driving track is provided with a driving push rod for driving the guide piece to extend or retract.
[0010] Further, the guide piece comprises a sliding section and a contact section, the sliding section is slidingly arranged on the driving track, and the contact section is perpendicular to the sliding section.
[0011] Further, the contact section is made of polyurethane elastomer, and one side of the contact section for contacting the elevator door is an arc surface; The contact section is internally embedded with a thin steel plate arc skeleton, and the thin steel plate arc skeleton is provided with a deformation sensor, and the deformation sensor is connected with the control module.
[0012] Further, the plurality of guide pieces arranged on the side of the vehicle body extend out of the side wall of the vehicle body by different distances, and the outer surfaces of the contact sections of the plurality of guide pieces are formed with inclined guide surfaces.
[0013] On the other hand, the application also provides a material transportation cart and a transportation elevator control method, comprising the following steps: Step one, the cart waits at the elevator entrance until the elevator door is opened, and then pushes the cart into the elevator, if the obstacle recognition device recognizes that there is an obstacle in front, the electric control module sends a "long open door" instruction to the elevator, so that the elevator door remains in a long open state; Step two, the scanning device scans the size of the elevator entrance, and calculates the distance S between the two sides of the vehicle body and the elevator door according to the width of the vehicle body. Step three, the control module controls the guide group to extend to both sides of the vehicle body, and the extension distance is less than S; Step four, the cart is pushed forward, if the cart advancing path deviates to cause one side of the guide group to collide with the elevator door, when the deformation sensor receives a deformation greater than the threshold value, a signal is transmitted to the control module, the control module controls the brake to brake the drive wheel, and the position of the cart is adjusted until it can smoothly enter the elevator; Step five, the "long open door" instruction sent by the electric control module is closed, and the elevator returns to normal operation; the above steps are repeated when the cart exits the elevator.
[0014] Further, the process of controlling the elevator to open the door for a long time and restoring the normal operation of the elevator by the electric control module specifically comprises: The cart drives to any elevator door and approaches the elevator door; The card reader on the cart reads the unique identification code of the elevator through the RFID passive tag; The self-locking button on the cart is pressed, and the control transmitting module transmits a long open signal containing the unique identification code of the elevator; The receiving module corresponding to the elevator checks whether the identification code matches, and if it matches, the elevator door is opened for a long time; After the cart enters the elevator, the self-locking button is pressed again to disconnect the control, and the elevator door returns to normal operation.
[0015] The present application can achieve the following beneficial effects: 1. The first anti-collision system, the second anti-collision system and the control module connected with both and the elevator control system are provided, which can produce double anti-collision protection and effectively avoid the collision between the cart and the elevator door. The first anti-collision system monitors the obstacles in front of the vehicle body in real time through the obstacle recognition device, sends a "long open door" signal to the corresponding elevator through the electric control module, prevents the collision between the cart and the elevator door caused by the cart not entering the elevator in time, and the second anti-collision system obtains the size of the elevator door through the scanning device, and the control module adjusts the extension distance of the guide group based on the size, and guides the cart to travel along the track by means of the guide group, so as to avoid the collision between the cart and the elevator door.
[0016] 2. The electric control module provided with the card reader and the RFID passive tag with the built-in unique identification code can accurately control the corresponding elevator and avoid interfering with the operation of other elevators. The card reader on the cart can determine the current corresponding elevator by identifying the RFID passive tag, the control transmitting module only sends a "long open door" signal containing the unique identification code to the elevator, and the receiving module of the elevator needs to check the matching of the identification code before responding, so as to ensure that each cart can only control the current elevator, and will not cause false triggering of other elevators on the same floor or elevators on other floors, especially suitable for large hydropower stations and other multi-elevator scenes, and improves the orderliness and reliability of multi-elevator scheduling.
[0017] 3、The application sets a guide group with a deformation sensor and a brake that only controls the driving wheel, which can respond to the collision risk in time and quickly realize emergency braking. When the contact section of the guide group collides with the elevator door, the internal deformation sensor can detect the deformation amount, and when the deformation amount exceeds the threshold value, the signal is immediately transmitted to the control module, and the control module controls the brake to temporarily brake the driving wheel, avoiding further increase of the collision force to cause damage to the elevator door or the cart; at the same time, the brake only controls the driving wheel, without affecting the flexibility of the steering wheel, so that the staff can quickly adjust the position of the cart, which not only ensures the safety of the equipment, but also improves the convenience of adjusting the cart, and reduces the probability of safety accidents. BRIEF DESCRIPTION OF DRAWINGS
[0018] The application will be further described below in conjunction with the drawings and examples: Figure 1 It is a structural schematic diagram of the cart in the material transportation cart and transportation elevator control system of the application; Figure 2 It is a partial structural schematic diagram of the cart from another perspective of the application; Figure 3 It is Figure 2 An enlarged view of A in FIG. 4.
[0019] In the drawings, the components represented by each reference numeral are listed as follows: 1, cart body; 11, steering wheel; 12, driving wheel; 2, guide pushing piece; 21, driving rail; 22, guide piece; 221, sliding section; 222, contact section; 23, driving push rod. DETAILED DESCRIPTION
[0020] In order to facilitate the understanding of the application, the application will be described more fully below with reference to the related drawings. The embodiments of the application are shown in the drawings. However, the application can be realized in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the application more thorough and comprehensive.
[0021] As Figures 1 to 3 shown, in one aspect, the application provides a material transportation cart and transportation elevator control system, which comprises a cart body 1 and a control module, the cart body 1 is used to carry the materials or waste required for the construction of a hydropower station, the bottom of the cart body 1 near the side of the staff is provided with a steering wheel 11, and the front end of the cart body 1 is provided with a driving wheel 12; the steering wheel 11 can assist the staff to adjust the direction of travel of the cart, and the driving wheel 12 provides power for the movement of the cart. The bottom of the cart body 1 is also provided with a brake for emergency braking of the driving wheel 12, which is connected with the control module and used to realize temporary braking of the driving wheel 12, so as to quickly stop the rotation of the driving wheel 12 in an emergency, while not affecting the flexibility of the position movement and adjustment of the cart body 1, facilitating the staff to timely adjust the position of the cart.
[0022] The first anti-collision system is assembled on the vehicle body 1, which comprises an obstacle identification device and an electric control module. The obstacle identification device is installed on the front side wall of the vehicle body 1, and its detection range covers the area within a distance S in front of the vehicle body 1. S is usually 0.5-1 m. The obstacle identification device can identify whether there is an obstacle in the area in real time. When an obstacle is identified, the obstacle identification device will transmit an identification signal to the control module.
[0023] The obstacle identification device comprises a pair of infrared transmitting-receiving sensors. The transmitter and receiver of the infrared transmitting-receiving sensor are correspondingly installed on the left and right ends of the front side wall. The infrared light beam emitted by the transmitter of the infrared transmitting-receiving sensor extends transversely along the vehicle body 1 and aligns with the edge of the maximum width of the fully opened elevator door, accurately detecting whether the door body is opened to the maximum width.
[0024] The obstacle identification device only identifies the elevator door that is not fully opened, including the case that the single-side door body is not opened to the position, the double-side door body is not opened to the width, etc. When the light beam of the infrared transmitting-receiving sensor is blocked by the door body that is not fully opened, the receiver will output a low-level signal. These signals are transmitted to the control module in real time through the wire. As long as the control module receives the low-level signal of the infrared transmitting-receiving sensor, it is determined that the elevator door is not fully opened, which provides a basis for the control module to send a "long opening door" instruction to the elevator, ensuring that the cart only enters when the elevator door is fully opened.
[0025] The electric control module comprises a card reader installed at the bottom of the vehicle body 1 and a control transmitting module. The card reader can identify the identification information at the elevator when the cart approaches the elevator to locate the elevator number corresponding to the current position. The control transmitting module is used to send a "long opening door" control signal to the corresponding elevator located, ensuring that the cart has sufficient time to enter and exit the elevator.
[0026] Correspondingly, the elevator control system used in cooperation with the material transportation cart comprises an RFID passive tag pasted at each elevator and a receiving module installed near the elevator control cabinet. The RFID passive tag has a unique identification code of each elevator door. When the cart approaches, the card reader on the cart can accurately identify the identification code to determine the corresponding elevator. The receiving module is used to receive the "long opening door" signal sent by the control transmitting module on the cart, and only responds to the signal when the identification code matches, avoiding interference to other elevators.
[0027] The second anti-collision system is also assembled on the vehicle body 1, which comprises a scanning device and a guide group. The scanning device is also installed on the front side wall of the vehicle body 1, and its scanning direction is towards the elevator door, which can accurately scan the size data of the elevator door and transmit the scanning signal to the control module in real time. The guide group is installed at the bottom of the vehicle body 1, and is specifically arranged at the corner areas on both sides of the front part of the vehicle body 1. This position can maximize the guiding effect to avoid collision between the cart and the elevator door when entering and exiting the elevator.
[0028] The guide group comprises a plurality of guide pushers 2, each of which comprises a driving track 21 fixed to the bottom of the vehicle body 1 and a guide 22 slidingly arranged on the driving track 21, and the driving track 21 is further provided with a driving push rod 23 for driving the guide 22 to extend or retract, the driving push rod 23 can drive the guide 22 to move along the driving track 21 under the control of the control module, thereby adjusting the distance of the guide 22 extending out of the side wall of the vehicle body 1, and realizing the guidance of the running track of the vehicle body 1.
[0029] The guide 22 comprises a sliding section 221 and a contact section 222, the sliding section 221 is slidingly arranged on the driving track 21 and can move flexibly along the extension direction of the driving track 21, and the contact section 222 is perpendicular to the sliding section 221, so that the contact section 222 can accurately contact the side surface of the elevator door. The contact section 222 is made of polyurethane elastomer, and the side for contacting the elevator door is an arc surface. This material and shape design can not only reduce the wear of the elevator door during contact, but also guide the trolley to return to the correct path through the guiding effect of the arc surface. A thin steel plate arc skeleton is embedded in the contact section 222, and a deformation sensor is arranged at the thin steel plate arc skeleton. The deformation sensor is connected with the control module and can detect the deformation amount of the contact section 222 when colliding with the elevator door in real time. When the deformation amount is greater than the threshold value built-in the deformation sensor, a signal is transmitted to the control module, and the brake urgently brakes the driving wheel 12 at this time, so as to prevent the trolley and the elevator door from colliding directly.
[0030] In addition, the plurality of guides 22 arranged on the side of the vehicle body 1 have different distances extending out of the side wall of the vehicle body 1, and the outer surfaces of the contact sections 222 of the plurality of guides 22 jointly form an inclined guide surface, which further improves the guiding effect and ensures that the trolley can be adjusted to the correct track through the action of the guide surface even if there is slight deviation.
[0031] The control module is connected with the first anti-collision system, the second anti-collision system and the elevator control system, on the one hand, can receive the identification signal transmitted by the obstacle identification device, and send an elevator door opening request to the elevator control system based on the identification signal, so as to ensure that the elevator door remains open when there is an obstacle; on the other hand, can receive the scanning signal transmitted by the scanning device, calculate the distance S between the two sides of the vehicle body 1 and the elevator door according to the width of the vehicle body 1, and control the driving push rod 23 to adjust the extension distance of the guide group. It should be noted that the extension distance should be less than S, and in a more preferred embodiment, the extension distance is less than S / 2, so as to avoid collision between the guide group and the elevator door when the trolley runs within the safety range.
[0032] On the other hand, the application also provides a material transportation trolley and a transportation elevator control method for controlling the above-mentioned material transportation trolley and the transportation elevator control system to transport materials, which specifically comprises the following steps: Step one, the trolley is pushed to the target elevator door and waits until the elevator door opens, then the staff pushes the trolley into the elevator, and in this process, the obstacle recognition device of the first anti-collision system continuously recognizes whether there is an obstacle within the distance S in front of the trolley 1, if an obstacle is identified, the control transmission module in the electric control module will immediately send a "long door opening" instruction to the corresponding elevator, so that the elevator door remains in a long open state, reserving sufficient time for the trolley to enter and exit.
[0033] Step two, the scanning device of the second anti-collision system is started, scanning the size data of the elevator door, and transmitting the scanned size signal to the control module in real time, and the control module calculates the distance S between the two sides of the trolley 1 and the elevator door according to the preset width data of the trolley 1.
[0034] Step three, the control module sends a control signal to the drive push rod 23 of the guide group, and the drive push rod 23 drives the guide 22 to extend along the drive rail 21, adjusts the distance of the guide group extending from the side wall of the trolley 1, and the extending distance is always less than S, ensuring that the guide group can contact the elevator door first to play a guiding role.
[0035] Step four, the staff pushes the trolley forward, if the trolley deviates from the forward path, causing the contact section 222 of one side of the guide group to collide with the elevator door, the deformation sensor inside the contact section 222 will detect the deformation amount in real time, when the deformation amount is greater than the internal threshold value, the deformation sensor will transmit the signal to the control module, and the control module will immediately send a brake signal to the brake to control the brake to implement emergency braking on the drive wheel 12, at this time the staff adjusts the position of the trolley until the trolley can smoothly enter the elevator.
[0036] Step five, after the trolley completely enters the elevator, the staff operates the electric control module again to close the "long door opening" instruction, and after the elevator control system does not receive the "long door opening" signal, it resumes normal operation; when the trolley needs to exit the elevator, repeat all the above steps to ensure that the trolley is also safe and collision-free when exiting the elevator, avoiding collision with the elevator door.
[0037] Wherein, the process of controlling the elevator to open the door for a long time and restoring the normal operation of the elevator by the electric control module is as follows: The worker drives the cart to the side of any elevator door and pushes the cart close to the elevator door, at this time the card reader on the cart is close to the RFID passive tag at the elevator, and the unique identification code of the elevator is read through the RFID passive tag; the worker presses the self-locking button on the cart, and controls the transmitting module to immediately transmit the long opening signal containing the unique identification code of the elevator; after the receiving module corresponding to the elevator receives the long opening signal, the identification code in the signal is checked with the preset identification code of the receiving module, if the identification codes match, the receiving module sends an instruction to the elevator control system to control the elevator door to keep the long opening state; when the cart completely enters the elevator, the worker presses the self-locking button again, controls the transmitting module to stop transmitting the long opening signal, and after the receiving module cannot receive the signal, the elevator control system restores the normal operation logic, the elevator door is closed according to the preset delay and normally operates to the target floor.
[0038] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims
1. A material transport trolley and transport elevator control system, characterized in that, include: Vehicle body (1); The first anti-collision system includes an obstacle recognition device and an electronic control module. The obstacle recognition device is used to identify whether there is an obstacle within a distance S in front of the vehicle body (1). The electronic control module is used to send a "door open" signal to the corresponding elevator door. The second anti-collision system includes a scanning device and a guide group. The scanning device is installed on the front side wall of the vehicle body (1) and is used to scan the size of the elevator door. The guide group is installed at the bottom of the vehicle body (1) and guides the trajectory of the vehicle body (1) by controlling the distance of the guide group extending beyond the side wall of the vehicle body (1). The control module is connected to the first anti-collision system, the second anti-collision system, and the elevator control system respectively; the control module receives the identification signal from the obstacle identification device and sends an elevator door opening / closing request to the elevator control system based on the identification signal; the control module is also used to receive the scanning signal from the scanning device and control the drive component to move based on the scanning signal, adjusting the extension distance of the guide group.
2. The material transport trolley and transport elevator control system according to claim 1, characterized in that: The electronic control module includes a card reader and a control transmitter module installed at the bottom of the vehicle body (1). The card reader is used to locate the elevator number corresponding to the location, and the control transmitter module is used to send a "stay open" control signal to the corresponding elevator.
3. The material transport trolley and transport elevator control system according to claim 2, characterized in that: The elevator control system includes RFID passive tags affixed to each elevator. Each RFID passive tag contains a unique identification code for each elevator door. The card reader can identify the identification code within the RFID passive tag. The elevator control system also includes a receiving module, which is used to receive the "always open door" signal emitted by the control transmitting module.
4. The material transport trolley and transport elevator control system according to claim 1, characterized in that: The bottom of the vehicle body (1) is provided with a steering wheel (11) near the staff and a drive wheel (12) at the front end of the vehicle body (1). The bottom of the vehicle body (1) is provided with a brake for emergency braking of the drive wheel (12). The brake is connected to the control module and the brake only controls the temporary braking of the drive wheel (12).
5. The material transport trolley and transport elevator control system according to claim 1, characterized in that: The guide group is located in the corner area on both sides of the front of the vehicle body (1), including several guide pushers (2). The guide pushers (2) include a drive rail (21) fixed to the bottom of the vehicle body (1) and a guide (22) sliding on the drive rail (21). The drive rail (21) is provided with a drive push rod (23) for driving the guide (22) to extend or retract.
6. The material transport trolley and transport elevator control system according to claim 5, characterized in that: The guide member (22) includes a sliding section (221) and a contact section (222). The sliding section (221) is slidably disposed on the drive rail (21), and the contact section (222) is perpendicular to the sliding section (221).
7. The material transport trolley and transport elevator control system according to claim 6, characterized in that: The contact section (222) is made of polyurethane elastomer, and the side of the contact section (222) that contacts the elevator door is an arc-shaped surface; The contact section (222) has a thin steel plate arc frame embedded inside, and a deformation sensor is provided at the thin steel plate arc frame. The deformation sensor is connected to the control module.
8. The material transport trolley and transport elevator control system according to claim 6, characterized in that: The multiple guide members (22) provided on the side of the vehicle body (1) extend from the side wall of the vehicle body (1) by different distances, and the outer surface of the contact section (222) of the multiple guide members (22) forms an inclined guide surface.
9. A control method for a material transport trolley and transport elevator, characterized in that, Includes the following steps: Step 1: Wait at the elevator entrance until the elevator door opens, then push the cart into the elevator. If the obstacle recognition device detects an obstacle in front, the electronic control module sends a "stay open" command to the elevator, keeping the elevator door open. Step 2: The scanning device scans the elevator entrance dimensions and calculates the distance S between the two sides of the vehicle body (1) and the elevator door based on the width of the vehicle body (1); Step 3: The control module controls the guide group to extend to both sides of the vehicle body (1), and the extension distance is less than S; Step 4: Push the trolley forward. If the trolley deviates from its path and causes one of the guide groups to collide with the elevator door, when the deformation sensor receives a deformation greater than the internal threshold, it transmits a signal to the control module. The control module controls the brake to brake the drive wheel (12) in an emergency and adjusts the trolley position until it can smoothly enter the elevator. Step 5: Turn off the "always open door" command sent by the electronic control module, and the elevator will resume normal operation; repeat the above steps when the trolley leaves the elevator.
10. The control method for a material transport trolley and transport elevator according to claim 9, characterized in that, The process of using the electronic control module to control the elevator door to remain open and restore the elevator to normal operation specifically includes: The cart moves to any elevator door and gets close to it; The card reader on the trolley reads the elevator's unique identification code using an RFID passive tag; Press the self-locking button on the trolley to control the transmitting module to transmit a continuously open signal containing the elevator's unique identification code; The elevator's corresponding receiving module verifies whether the identification code matches; if it matches, the elevator door remains open. After the trolley enters the elevator, press the self-locking button again to disconnect the control, and the elevator door will resume normal operation.