Synchronized Multi-Vehicle Control System and Method

Abstract

The invention relates to a synchronized multi-transfer trolley control system and method for transporting long and heavy loads using at least two transfer trolleys with a physical distance between them, matching the vehicles under a single control structure, evaluating the feedback from sensing and measuring sensors that receive angle, distance, pressure, speed and similar motion data from the vehicles in the central control unit, updating the direction of movement, speed and turning behavior of each vehicle, reducing the effects of movement and stress on the load with floating stabilization plates, and allowing for independent control of the vehicles again when the transport is completed.

Description

1 TARIFF Synchronized Multi-Vehicle Control System and Method TECHNICAL AREA 5 The invention relates to a synchronized multi-transfer trolley control system and method. The invention is particularly suitable for delicate, long, and heavy objects that are difficult to move by human power, especially in port and production areas. The loads are transferred using at least two transfer carts with a physical distance between them, under a single control. 10 under its structure, simultaneous and coordinated transport based on feedback sensor data. It is related to. PREVIOUS TECHNIQUE In the past, hooks were used for transferring loads that were too long and too heavy for human power to handle. sub-equipment, crane systems, trucks and similar material handling mechanisms It has been used. Today, it is particularly used in work areas such as ports, machinery, and manufacturing production. transfer cars and automated guided vehicles (AGVs) in the fields Transportation vehicles have begun to be used. These types of vehicles are used for high-mass or long-sized 20 It enables the transportation of loads at ground level, while allowing the load to be transported by a single means of transport. Multiple transport vehicles together in applications where they cannot be safely supported It may require the use of [others]. In existing applications where multiple transfer carts are used, the self-propelled modular 25 physically connected to each other, such as a carrier (self-propelled modular transporter, SPMT) Unlike modules, independent transfer modules are those that have distance or gaps between them. the cars are to be operated in separate locations under a common long load This is possible because, in this configuration, the transfer vehicles are not physically connected to each other. The speed, direction, and turning behavior of each vehicle directly affect the overall load. 30 In current practices, these vehicles are controlled via separate remotes, Only the operator can ensure that the vehicles respond to the same movement command simultaneously and with the same magnitude. It can depend on coordination and continuity of communication. During transport, which is controlled separately, the speed and direction of one of the transfer carts is 35 or the angle of turn differing from other vehicles, the relative position between vehicles This can lead to changes and unwanted movement or stress under prolonged load. 2 It can open. Even if the operators work with the utmost care, the time difference between the controls, Operator-related command discrepancies or communication errors can cause problems with transfer vehicles. This can disrupt the synchronized movement. Such synchronization errors can affect the long load being carried. breakage or cracking, loss of position of the load on the transfer system and the load This can lead to risks of damage, such as falling from vehicles. 5 The shortcomings mentioned above necessitate a separate control approach for each transfer cart in the current system. Angle, distance, pressure, speed and similar motion data are combined in a common control loop. This makes it difficult to issue corrective action commands to vehicles individually based on the assessment. The current movement status of the vehicles and the targeted common movement status must be continuously maintained for 10 seconds. If not compared, small differences in position, speed, or turn will affect the transportation process. It can accumulate and cause uneven movement of the load between different support points. This is possible. Therefore, multiple transfer cars with physical distance between them may be used. continuously matching measurements taken from vehicles under a single control mechanism By evaluating and updating the movement of each vehicle, the vehicles are 15 when the transport is complete. A control structure is needed that will allow for its independent use again. Literature research has revealed that Object Moving Number US20100300837A1 A patent document titled "apparatus (Object handling apparatus)" was found. The document refers to a guide trolley and one or more trolleys following it. wireless communication, using force sensors and motion path sensors, creates a common It is related to the coordinated movement of the object. However, in the document mentioned, among them Each of the transfer carts with physical distance between them has multi-axis freedom of movement. The presence of a floating stabilization plate provides angle, distance, pressure and / or stability for each vehicle. Data affecting motion, such as speed, are evaluated together in a central control unit. 25 updated movement commands are given to the vehicles and the vehicles become independent at the end of the transport. an indication of the combined application of features that separate remote control None have been encountered. As a result of research conducted in the literature, Control system and control 30 with the number CN111752229A Method for AGV Cooperative Handling (AGV cooperative handling control system and control) A patent document titled "(method)" was found. This document describes a control device. The first and second AGV units, triggered by the synchronous cooperative transport operation implementing and applying synchronization constraints based on the processing progress of the tools. It is related to. However, the document mentioned refers to floating stabilization on transport trolleys 35 Reducing load stresses with the help of tables, recovering angle, distance, pressure and / or velocity data. Each motion mechanism is optimized in the central control unit via a power supply. 3 current command generation and termination of mapping at the end of the transfer, allowing vehicles to operate independently. No evidence has been found regarding the simultaneous application of controllability features. Ultimately, the problems mentioned above, which cannot be solved with current technology, are the subject of this technical analysis. This has made it necessary to make an innovation in the field. 5 A BRIEF DESCRIPTION OF THE INVENTION The invention enables the control of multiple transfer carts that are physically distant from each other, under a single control system. Synchronization based on sensor feedback under its structure and 10 for long or heavy loads This ensures that transportation is carried out in a more controlled manner under changing transportation conditions. The main purpose of the invention is to connect at least two transfer carts that are physically separated into a single unit. The goal is to operate simultaneously and in a coordinated manner through a control mechanism. Another purpose of the invention is to obtain angle, distance, pressure, velocity, acceleration and other parameters from transfer carts. By using similar measurement data as feedback, vehicles' position, speed, and turns can be measured. The goal is to update the parameters throughout the transport process. Another objective of the invention is to reduce the movement and stress of the load via a floating stabilization plate. The aim is to reduce their impact and thus ensure that the transported load is kept more stable. Another purpose of the invention is synchronization between vehicles after the transfer is complete. termination of the connection and each transfer vehicle independently restart The aim is to enable its direction. 25 The invention relates to the transportation of long and heavy loads by at least two means of transport that are physically separated from each other. It is a multi-vehicle control system that enables synchronized transport of goods, and its feature is;  at least two transport vehicles controlled together while maintaining physical distance between them transfer system which includes the vehicle, 30  transfer systems that are physically separate from each other within the transfer system car,  located on the upper surface of each transfer trolley within the transfer system and in order to reduce the effects of movement and tension on the carried load on different axes Floating stabilization platform providing freedom of movement, 35 4  Angle, distance, pressure, speed, acceleration located on each transfer trolley and / or similar motion and position data-producing sensing and measurement sensors,  The system transfers the measurement data it receives from the sensing and measuring sensors. By comparing the position of each transfer cart with the targeted movement status, 5 motion parameters relating to speed, direction and / or angle of rotation on the load optimized motion commands that will not create deformation and are up-to-date. central control unit that produces  Transfer according to the current movement command received from the central control unit the mechanism that enables the car to move, 10  Transfer of transfer vehicles via wireless and / or wired communication enabling the matching of the system and sharing the transfer system with partners. Remote control mechanism that provides route information to be followed with the movement command. It includes. In order to best understand the structure of the invention and its advantages, including additional components It should be evaluated together with the figures explained below. BRIEF DESCRIPTION OF THE FIGURES Figure 1 shows a general perspective view of the transfer trolley including its floating stabilization plate. It is a schematic representation illustrating this. Figure 2 shows a representative image of the transfer trolley's movement mechanism and upper transport surface. It is the appearance. Figure 3 shows a transfer case where two transfer carts, spaced a distance apart, carry a long load together. It is a representative schematic representation showing the system structure. Figure 4 shows the transfer carts, floating stabilization platform, sensing and measurement sensors, and central unit. data between the control unit, the motion mechanism and the remote control mechanism. It is a schematic representation illustrating the control relationship. Figure 5 is a representative flowchart showing the steps involved in the process. 30 The drawings do not necessarily need to be scaled and are not essential for understanding the invention. Details may have been omitted. Furthermore, they are at least significantly identical. Elements, or elements with similar functions, are represented by the same number. 35 REFERENCE NUMBERS 1. Transfer system 2. Transfer cart 3. Floating stabilization plate 4. Sensing and measuring sensors 5. Central control unit 5 6. Movement mechanism 7. Remote control mechanism 1001. At least two transfer carts that are physically separated from each other and wirelessly and / or By establishing a wired communication connection, it is paired within the transfer system and becomes a single 10 joint control through a remote control mechanism 1002. Transmission of movement commands to the transfer system via a remote control mechanism and coordinated initiation of movement of transfer carts via their motion mechanisms 1003. Angle is detected and measured by sensors while the transfer system is in motion. By collecting distance, pressure, speed, acceleration and / or similar motion and position data, central 15 The current motion status is transmitted to the control unit and by the central control unit. by comparing the targeted movement status for each transfer cart. determination of parameters 1004. Each transfer of motion commands optimized by the central control unit. The direction of movement and speed of movement are transmitted to the vehicle's movement mechanism according to sensor data. and updating motion data such as turning angle and transferring the feedback loop. to be maintained throughout 1005. Movement of floating stabilization plates on transfer carts in different axes. By providing freedom, the transfer of load and stresses during transport and the load on the surface 25 1006. Communication between transfer vehicles when the transfer process is complete and termination of the synchronization link and remote control of the transfer vehicles making it independently controllable through its mechanisms DETAILED DESCRIPTION OF THE INVENTION 30 This detailed description explains the synchronized multi-vehicle control system, which is the subject of the invention. The method will not only contribute to a better understanding of the subject but will also have no limiting effects. This is explained with examples. 35 The transfer system (1) consists of at least two transfer carts (2) with a physical distance between them or It refers to a transportation structure where the transport operations are carried out together in such a way that there will be gaps, and transfer 6 cars (2) are separate vehicles as opposed to SPMT modules which are physically connected to each other. It is positioned in this way. On the upper surface of each transfer trolley (2), the load being transported is positioned on the vehicle. floats that reduce exposure to the effects of motion and tension arising from their movements There is a stabilization plate (3). The floating stabilization plate (3) moves back and forth, right and left, It can provide controlled or free movement along rotational and / or similar axes. 5 Sensing and positioned on the transfer cart (2) and / or movement mechanism (6) measurement sensors (4) measure motion or position data such as angle, distance, pressure, speed and so on. It collects the number, type and transfer trolley (2) of sensing and measuring sensors (4). Its location can vary depending on the parameter to be measured and the usage conditions. Detection and the central control unit (5) which receives data from the measurement sensors (4), the transfer system 10 (1) comparing the current state of motion with the target state of motion, each transfer by evaluating the position, speed, direction, angle and distance information of the car (2) optimizing its parameters and the current motion command to the relevant motion mechanism (6) It produces motion mechanisms (6), wheel modules, rail mechanisms, pneumatic systems and / or similar mechanisms that enable the movement of the transfer cart (2) 15 It can include. The transfer system's (1) movement command and the path it will follow are controlled remotely. via a remote control mechanism (7) which may be in an autonomous control structure and / or autonomous control structure can be determined and remote control mechanism (7) transfer cars (2) wireless and / or the possibility of matching as a single transfer system (1) via wired communication link It provides. 20 Transfer carts (2) must have wireless and / or wired connections between them before they are operated together. A communication link is established and vehicles are paired within the transfer system (1). Wireless communication in one of the invention's configurations is Wi-Fi or a similar communication structure. It can be carried out via. The transfer system (1), with the load completed, is a single 25 It can be controlled with the help of a remote control mechanism (7). After pairing The motion command given via the remote control mechanism (7) is transferred to the transfer system (1) conveyed, transfer cars (2) are set in motion by means of the relevant movement mechanisms (6) starting and central control unit (5) first the angle, speed of the whole transfer system (1) and similar movement data are evaluated, then 30 common to each transfer car (2) It sends motion parameters that are compatible with the transport movement but are vehicle-specific. Thus... Transfer cars (2) that are physically separate from each other can be coordinated under a single control mechanism. It is possible to ensure that the animal exhibits timely, coordinated, and similar movement behavior. Transfer system (1) sensing and measuring sensors (4) continuously or 35 while in motion It generates data at specified intervals and transmits this data to the central control unit (5) It is transmitted. The central control unit (5) optimizes the error margins in the sensor data. 7 data and position, angle, distance and speed information of the transfer cars (2) relative to each other by evaluating the transfer system (1) current state of motion and the target state of motion to determine the differences between them and what each transfer car (2) must do It calculates the corrective action. The central control unit (5) creates or optimizes The movement commands it gives are first sent to the transfer system (1), then to the relevant transfer cars (2) 5 The direction of motion, speed of motion, angle of rotation and so on are transmitted to the motion mechanisms (6) The parameters are being updated. Data is being retrieved again from the sensing and measuring sensors (4). Evaluation and updated commands in the central control unit (5) and movement (6) transfer to the mechanisms is repeated throughout the transfer to a closed-loop control structure is created and thus the movements of the transfer cars (2) are recorded in real time. It can be maintained in a coordinated and synchronized manner. Floating stabilization by sensing and measuring sensors (4) in a structure of the invention pressure and angle values ​​of the sliding distance of the table (3) and the movement mechanism (6). These measurements can be taken, and depending on the application, the parameters of angle, distance, pressure, and speed can be measured. It shows that it can be used in different combinations and sensing and measuring sensors (4) in a single It is not limited by sensor type or a single location. Floating stabilization plate (3) Freedom of movement in different axes, in the synchronous movement of transfer cars (2) It can reduce the direct transfer of small relative movements that may occur to the load. limiting the stresses on it and allowing the long load to move more stably 20 It can contribute. When the transfer process is completed, the transfer cars (2) that make up the transfer system (1) The communication and synchronization link between them can be terminated. In this case... The transfer cars (2) become independent of each other and each transfer car (2) has its own 25 It can be directed to a different location via the remote control mechanism (7). Thus the same transfer cars (2), as a single transfer system (1) during the common long load transport task They can be paired and reused as separate transport vehicles after the mission. Data obtained from sensing and measuring sensors (4) are transmitted by the central control unit (5) Evaluation throughout transport and updating of movement mechanisms (6) accordingly, 30 reducing operator-dependent or communication-based synchronization errors and transmitted limiting the risk of the load breaking, cracking or falling through the transfer system (1) It contributes. The steps involved in the process are as follows: 35  Wireless transmission between at least two transfer carts (2) that are physically distant from each other and / or by establishing a wired communication connection within the transfer system (1) 8 pairing and joint control through a single remote control mechanism (7) (1001),  Movement command to the transfer system (1) via remote control mechanism (7) conveying and transferring by means of the (2) movement mechanisms (6) of the transfer carts (6) coordinated action to be initiated (1002), 5  Transfer system (1) sensing and measuring sensors (4) while in motion motion and position determined by angle, distance, pressure, velocity, acceleration and / or similar factors. data collected and transferred to the central control unit (5) and central control unit (5) by the current motion state and the target motion state by comparing the motion parameters for each transfer cart (2) 10 determination (1003),  Each of the motion commands optimized by the central control unit (5) Transmission of the transfer cart (2) to the movement mechanism (6) according to the sensor data Updating and providing feedback on the direction of movement, speed of movement, and angle of rotation. continuation of the cycle throughout the transfer (1004), 15  The different floating stabilization plates (3) on the transfer carts (2) By providing freedom of movement in the axes, load transfer during transportation and Contributing to the reduction of stresses and deformations that may occur under load. (1005),  Communication between the transfer cars (2) and 20 when the transfer process is completed termination of the synchronization link and transfer cars (2) on their own can be independently directed via remote control mechanisms (7) bringing (1006). Transfer carts (2) that are at a distance from each other during the work, wireless and / or wired 25 The transfer system (1) is paired as a connection and the remote control mechanism (7) It receives a coordinated movement command via the system. Detection and measurement occur after the movement begins. sensors (4) measure angle, distance, pressure, speed, acceleration and similar data to central control transmits this data to the central control unit (5), and the central control unit (5) transmits this data to the targeted motion status. by comparing, determine the current movement parameters for each transfer cart (2) and 30 It controls the movement mechanisms (6) accordingly. Repeated throughout the transport. Sensor measurement and command updates float while providing closed-loop synchronization. stabilization plates (3) the movement and stress effects of the load at different support points It reduces. Once the transfer is complete, the mapping between the vehicles can be removed and Transfer carts (2) can be steered independently. 35

Claims

9 REQUESTS 1. Long, heavy and delicate items must be transported by at least two vehicles maintaining a physical distance from each other. Multiple systems that enable the synchronized transport of loads without causing deformation to the load. It is a vehicle control system, and its features are: 5  at least two people checked together while maintaining physical distance from each other transfer system which includes the transport vehicle (1),  located physically separate from each other within the transfer system (1) transfer cart (2),  10 on the upper surface of each transfer cart (2) in the transfer system (1). to minimize the effects of movement and tension on the positioned and transported load a float that provides some freedom of movement in a linear and / or rotational axis stabilization plate (3),  Angle, distance, pressure, speed, acceleration located on each transfer trolley (2) and / or similar movement, position, force, load, torque, vibration, temperature, 15 by measuring deformation, balance, electrical, hydraulic and / or similar data sensing and measuring sensors that produce measurement data (4),  The system transfers the measurement data it receives from the sensing and measuring sensors (4). (1) comparing each transfer cart with the targeted movement status (2) motion parameters relating to position, speed, direction and / or angle of rotation carried 20 optimized to minimize deformation under load and up-to-date motion commands. producing central control unit (5),  According to the current motion command received from the central control unit (5) The movement mechanism (6) that enables the movement of the transfer cart (2),  transfer carts (2) via wireless and / or wired communication 25 transfer system (1) that allows matching and matched transfer remote system that provides route information to be followed with the joint movement command (1) control mechanism (7) It includes.

2. The system is compliant with Claim 1 and its feature is that the floating stabilization plate (3) moves forward-backward, right- a device that allows controlled or free movement in at least one of the left and rotation directions. It is a table.

3. The system is compliant with Claim 1 and its feature is that the sensing and measuring sensors (4) are floating. the sliding distance of the stabilization plate (3) and the pressure of the movement mechanism (6) and includes sensors that measure angle values.

4. The system is compliant with Claim 1 and its feature is; the movement mechanism (6), wheel module, rail 5 It is a mechanism that includes at least one of the following: mechanical or pneumatic mechanism.

5. The system is compliant with Claim 1 and its feature is that the remote control mechanism (7) is remote (2) Wi-Fi equipped transfer carts containing a control and / or autonomous control mechanism. a control pairing via similar wireless communication or wired communication 10 It is the mechanism.

6. The system is compliant with Claim 1 and its features are: the central control unit (5), the transfer system (1) determines the difference between the current state of motion and the targeted state of motion and according to the data it continuously receives from the sensing and measuring sensors (4), each transfer is 15 feedback that updates the direction of movement, speed and turning angle of the car (2) It is a control unit.

7. The system is compliant with claim 1 and its feature is; the remote control mechanism (7), transfer When the process is completed, communication between the transfer cars (2) and 20 After the termination of the synchronization link, each transfer car (2) It is a control mechanism that allows for independent management.

8. Long and heavy loads must be transported using at least two vehicles maintaining a physical distance from each other. It is a multi-vehicle control method that enables synchronized transport of 25 vehicles. feature;  Wireless transmission between at least two transfer carts (2) that are physically distant from each other and / or by establishing a wired communication connection within the transfer system (1) pairing and joint control via a single remote control mechanism (7) being taken under (1001), 30  Movement to the transfer system (1) via the remote control mechanism (7) transmission of the command and the movement mechanisms of the transfer cars (2) (6) to be started in a coordinated manner through (1002),  Transfer system (1) sensing and measuring sensors (4) while in motion angle, distance, pressure, speed and / or similar movement and position 35 data collected and transferred to the central control unit (5) and central The current motion status and the target motion are determined by the control unit (5). 11 by comparing the situation, movement for each transfer car (2) determination of parameters (1003),  Each of the motion commands optimized by the central control unit (5) Transmission of a transfer cart (2) to the movement mechanism (6) of the sensor According to the data, the direction of movement, speed of movement and angle of rotation are updated and 5 Continuation of the feedback loop throughout the transfer (1004),  The different floating stabilization plates (3) on the transfer carts (2) By providing freedom of movement in the axes, load transfer during transportation and Contributing to the reduction of stresses and deformations that may occur under load. verification (1005), 10  Communication between transfer cars (2) when the transfer process is completed and termination of the synchronization link and transfer cars (2) independently through their own remote control mechanisms (7) making it steerable (1006) It includes the steps of the process. 15 9. The method is in accordance with claim 8 and its feature is that it is detected by sensing and measuring sensors (4) on the float. the sliding distance of the stabilization plate (3) and the pressure of the movement mechanism (6) and includes the step of measuring angle values.

10. The method is in accordance with claim 8 and its feature is that it is transferred by the central control unit (5). the position, angle, distance and speed values ​​of their cars (2) relative to each other Direction of movement, speed of movement and turn for each transfer cart (2) are evaluated. It involves the step of determining the angle separately.

11. This method complies with Claim 8 and its characteristic is that the transfer takes place after the transfer process is completed. the removal of the matching between the cars (2) and each transfer car (2) different the process of directing to a location via its own remote control mechanism (7) It includes the steps.

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