1. The linear motion control method based on pressure detection is characterized by comprising the following steps of:

establishing a reference straight line for motion control on a first plane for supporting the moving body;

establishing a second plane and a third plane which are perpendicular to the first plane, wherein the second plane and the third plane are parallel and symmetrically arranged at two sides of the reference straight line;

four local positions on the moving body, which are symmetrically arranged about the reference straight line, are respectively contacted with the second plane and the third plane, and two-point pressure P is respectively applied to the second plane₁And P₂Applying two pressure points P to the plane III₃And P₄Wherein P is₁And P₃Is located at the front end of the moving direction of the moving body, P₂And P₄Is located at the rear end in the moving direction of the moving body;

judging the deviation degree S of the moving body moving direction relative to the reference straight line according to the following model:

according to P₁、And P₃The magnitude arrangement order of the moving body determines the deviation direction of the moving body relative to the reference straight line;

and adjusting the motion direction of the moving body according to the deviation direction and the deviation degree.

2. The linear motion control method based on pressure detection according to claim 1, wherein the moving direction of the moving body is realized by changing a moving direction of a tip.

3. The linear motion control method based on pressure detection according to claim 2, wherein the moving power of the moving body is located at one end in the moving direction.

4. The linear motion control system based on pressure detection is characterized by being used for controlling a moving body moving on a first plane, wherein the first plane is provided with a second plane and a third plane on two sides of the moving direction, and the second plane and the third plane are parallel and perpendicular to the first plane;

the method comprises the following steps:

four pressure detection units symmetrically arranged on two sides of the moving body, respectively in contact with the second plane and the third plane, and used for collecting pressure value P between the two planes₁And P₂And a pressure value P between three and the plane₃And P₄Wherein P is₁And P₃Is located at the front end of the moving direction of the moving body, P₂And P₄Is located at the moving bodyA rear end in the direction of motion;

the power assembly is used for providing motion power for the moving body;

a control unit for controlling the power assembly to output power to the moving body according to the pressure value P₁、P₂、P₃And P₄Judging the deviation direction and the deviation degree of the moving body relative to the reference straight line on the first plane;

a direction adjusting unit for adjusting the moving direction of the moving body according to the deviation direction and the deviation degree under the control of the control unit;

wherein the model for determining the degree of deviation S of the moving direction of the moving object from the reference straight line is as follows:

the judgment of the deviation direction of the moving body relative to the reference straight line is based on P₁、And P₃The size of (2) is arranged in sequence.

5. The linear motion control system based on pressure detection according to claim 4, wherein the direction adjustment unit is installed at the front end of the moving body, and includes:

a rotation motor connected with the control unit;

and the steering wheel is driven by the rotating motor to rotate so as to realize the adjustment of the moving direction of the moving body.

6. A linear motion control system based on pressure sensing according to claim 5, characterised in that the steering wheel is a driving wheel as the power assembly.

7. The linear motion control system based on pressure detection as claimed in claim 5, wherein the power components are two driving wheels disposed at the rear end of the moving body.

8. The linear motion control system based on pressure detection according to claim 4, wherein the pressure detection unit includes:

the fixed seat is fixedly connected with the moving body;

the extrusion structure is in contact with the second plane or the third plane and performs linear motion close to or far away from the fixed seat;

the guide structure guides the linear motion between the fixed seat and the extrusion structure and is of an elastic compression structure;

and two ends of the electronic probe are respectively connected with the fixed seat and the extrusion structure, the pressure between the extrusion structure and the second plane or the third plane is sensed through the self length change, the sensing result is transmitted to the control unit, and the length change direction of the electronic probe is parallel to the guide direction of the guide structure.

9. Logistics stacking equipment is characterized in that the logistics stacking equipment is used for stacking cargos in a container, and comprises:

the stacking structure is used as a moving body to move in and out of the container in a reciprocating manner to transfer and stack cargos;

the linear motion control system based on pressure detection as claimed in claim 4, for controlling the movement of the palletizing structure;

and two parallel inner walls of the container on two sides of the stacking structure in the inlet and outlet direction are used as a plane II and a plane III, and the bottom plate of the container is used as the plane I.

Background

In the existing moving body linear motion control process, in view of the influence of factors such as control system electrical components, motor coefficient deviation and the environment, absolute linear motion cannot be realized, and random left and right motion deviation can inevitably occur.

In view of the above defects, the inventor of the present invention develops a linear motion control method and system based on pressure detection and logistics stacking equipment based on years of experience and professional knowledge of the technology and theoretical analysis.

Disclosure of Invention

The invention provides a linear motion control method based on pressure detection, which can effectively overcome the defects in the background technology, and simultaneously, the invention also requests to protect a linear motion control system based on pressure detection and logistics stacking equipment, and has the same technical effect.

The technical purpose of the invention is realized by the following technical scheme:

the linear motion control method based on pressure detection comprises the following steps:

establishing a reference straight line for motion control on a first plane for supporting the moving body;

establishing a second plane and a third plane which are perpendicular to the first plane, wherein the second plane and the third plane are parallel and symmetrically arranged at two sides of the reference straight line;

four local positions on the moving body, which are symmetrically arranged about the reference straight line, are respectively contacted with the second plane and the third plane, and two-point pressure P is respectively applied to the second plane₁And P₂Applying two pressure points P to the plane III₃And P₄Wherein P is₁And P₃Is generated as a bitAt the forward end of the moving body in the direction of motion, P₂And P₄Is located at the rear end in the moving direction of the moving body;

judging the deviation degree S of the moving body moving direction relative to the reference straight line according to the following model:

according to P₁、And P₃The magnitude arrangement order of the moving body determines the deviation direction of the moving body relative to the reference straight line;

and adjusting the motion direction of the moving body according to the deviation direction and the deviation degree.

Further, the moving direction of the moving body is realized by changing the moving direction of the front end.

Further, the moving power of the moving body is located at one end in the moving direction.

The linear motion control system based on pressure detection is used for controlling a moving body moving on a first plane, and the first plane is provided with a second plane and a third plane on two sides of the moving direction, and the second plane and the third plane are parallel and perpendicular to the first plane;

the method comprises the following steps:

four pressure detection units symmetrically arranged on two sides of the moving body, respectively in contact with the second plane and the third plane, and used for collecting pressure value P between the two planes₁And P₂And a pressure value P between three and the plane₃And P₄Wherein P is₁And P₃Is located at the front end of the moving direction of the moving body, P₂And P₄Is located at the rear end in the moving direction of the moving body;

the power assembly is used for providing motion power for the moving body;

a control unit for controlling the power assembly to move towardsThe body outputs power according to the pressure value P₁、P₂、P₃And P₄Judging the deviation direction and the deviation degree of the moving body relative to the reference straight line on the first plane;

a direction adjusting unit for adjusting the moving direction of the moving body according to the deviation direction and the deviation degree under the control of the control unit;

wherein the model for determining the degree of deviation S of the moving direction of the moving object from the reference straight line is as follows:

the judgment of the deviation direction of the moving body relative to the reference straight line is based on P₁、And P₃The size of (2) is arranged in sequence.

Further, the direction adjustment unit is installed at the front end of the moving body, and includes:

a rotation motor connected with the control unit;

and the steering wheel is driven by the rotating motor to rotate so as to realize the adjustment of the moving direction of the moving body.

Furthermore, the steering wheel is a driving wheel and serves as the power assembly.

Furthermore, the power components are two driving wheels arranged at the rear end of the moving body.

Further, the pressure detection unit includes:

the fixed seat is fixedly connected with the moving body;

the extrusion structure is in contact with the second plane or the third plane and performs linear motion close to or far away from the fixed seat;

the guide structure guides the linear motion between the fixed seat and the extrusion structure and is of an elastic compression structure;

and two ends of the electronic probe are respectively connected with the fixed seat and the extrusion structure, the pressure between the extrusion structure and the second plane or the third plane is sensed through the self length change, the sensing result is transmitted to the control unit, and the length change direction of the electronic probe is parallel to the guide direction of the guide structure.

Further, the extrusion structure includes:

the seat body is fixedly connected with the guide structure;

and the roller is arranged on the base body and moves along the second plane or the third plane in the moving process of the moving body.

Logistics stacking equipment for stacking cargos in a container comprises:

the stacking structure is used as a moving body to move in and out of the container in a reciprocating manner to transfer and stack cargos;

the linear motion control system based on pressure detection is used for performing motion control on the stacking structure;

and two parallel inner walls of the container on two sides of the stacking structure in the inlet and outlet direction are used as a plane II and a plane III, and the bottom plate of the container is used as the plane I.

In conclusion, the invention has the following beneficial effects:

the invention provides a control method capable of effectively ensuring that a moving body keeps linear motion, which can effectively make up for the motion deviation caused by the influence of factors such as the original components of the electrical appliance of a control system, the coefficient deviation of a motor, the environment and the like at present, and is suitable for the moving body with the limitation of space or track and the like.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic diagram showing the positional relationship among plane one, plane two, plane three and the base alignment lines;

FIG. 2 is a flow chart of a linear motion control method based on pressure sensing;

FIG. 3 is a schematic diagram of pressure generation between the moving body and the second and third planes;

FIG. 4 is a block diagram of a linear motion control system based on pressure sensing;

FIG. 5 is a schematic diagram of the structural optimization of a linear motion control system based on pressure detection;

FIG. 6 is a schematic view of FIG. 5 at another angle;

FIG. 7 is a side view of FIG. 5;

FIG. 8 is a schematic diagram of an optimization of the pressure detection unit;

FIG. 9 is a schematic view of an optimized extrusion configuration;

fig. 10 is a schematic view of a structural use scene of a logistics stacking device applying the linear motion control system based on pressure detection in the invention;

reference numerals: 1. a first plane; 2. a reference straight line; 3. a second plane; 4. a third plane; 5. a moving body; 6. a pressure detection unit; 61. a fixed seat; 62. extruding the structure; 62a, a seat body; 62b, a roller; 63. a guide structure; 64. an electron probe; 7. a power assembly; 8. a direction adjusting unit; 81. a steering wheel; 82. a driven wheel; 9. a control unit; 10. a stacking structure; 11. a container.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not represent the only embodiments.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Example one

As shown in fig. 1 to 3, the linear motion control method based on pressure detection includes the following steps:

s1: establishing a reference straight line 2 for motion control on a plane 1 for supporting a moving body 5;

s2: establishing a plane II 3 and a plane III 4 which are perpendicular to the plane I1, wherein the plane II 3 and the plane III 4 are parallel and symmetrically arranged at two sides of the reference straight line 2;

s3: four local positions symmetrically arranged on the moving body 5 relative to the reference straight line 2 are respectively contacted with a plane II 3 and a plane III 4, and two-point pressure P is respectively applied to the plane II 3₁And P₂Applying two-point pressure P to the plane three 4₃And P₄Wherein P is₁And P₃Is located at the front end of the moving direction of the moving body 5, P₂And P₄Is located at the rear end in the moving direction of the moving body 5;

s4: the degree of deviation S of the moving direction of the moving body 5 from the reference straight line 2 is determined according to the following model:

s5: according to P₁、And P₃The order of magnitude of (2) is used to determine the direction of deviation of the moving direction of the moving body 5 from the reference straight line 2Breaking;

s6: the moving direction of the moving body 5 is adjusted according to the deviation direction and the deviation degree.

The embodiment provides a control method capable of effectively ensuring that the moving body 5 keeps linear motion, which can effectively compensate motion deviation caused by the influence of factors such as an electrical appliance element of a control system, motor coefficient deviation and the environment where the moving body 5 is located at present, and is suitable for the moving body 5 with space or track limitation, wherein the reference straight line 2, the plane one 1, the plane two 3 and the plane three 4 are simple models of space or track limitation.

In determining P₁、P₂、P₃And P₄After the generation of the position, it is clear that, in the process of continuously controlling the movement of the moving body 5, the deviation of the movement direction is reflected to a greater extent at the front end than at the rear end of the movement direction of the moving body 5, which indicates that P is a point of view of the fact that P is a point of view of the moving body 5₁And P₃Will vary by a greater extent than P₂And P₄When the control precision is sufficient, the degree of change of the numerical value P can be enabled under the condition of fast control and correction of the linear motion deviation₂And P₄The degree of change in the numerical value of (c) can be reduced to a lower degree.

With the above relationship, in the present embodiment, by taking P as the reference₂And P₄Obtained byAs a reference for comparing the degree of deviation, the reference has relative stability, and on the other hand, the idea of variance is introduced, aiming at improving the relative stability between pressures at various places. By P₁、P₃Relative toSum of squares of differences andthe S value that can accurately evaluate the degree of motion deviation of the moving body 5 can be obtained from the proportional relationship established by the square of (a).

Also, the same applies toIn the process of judging the direction of deviation of the moving body 5, the same applies toAs a reference, it is necessarily at P in the process of magnitude comparison₁、P₃Thus when P is₁＞P₃When the direction P of the moving body 5 is determined₁Is shifted to one side of the generation position, otherwise, is shifted to P₃Is shifted to one side of the generation position.

According to the accurate judgment of the S value and the offset direction, the moving body 5 can be effectively ensured to obtain an effective control basis, so that the accurate direction adjustment is realized.

As a preference of the present embodiment, the moving direction of the moving body 5 is realized by changing the moving direction of the leading end. In this way, the influence on the rear end of the moving body 5 can be further reduced, thereby making it possible to make the reference for motion controlThe stability can be improved, and meanwhile, the sensitivity of control reaction can be improved, so that the deviation degree can be adjusted quickly.

In the implementation, the motion power of the moving body is located at one end in the motion direction, and the end described here has the following two forms:

form one

The moving power of the moving body 5 is located at the front end of the moving direction as indicated by the arrow direction in fig. 3, in which case the direction control can be made more sensitive.

Mode two

The moving power of the moving body 5 is located at the rear end of the moving direction as indicated by the arrow direction in fig. 3, which is different from the former case, and tends to improve the moving stability of the moving body during the direction adjustment process, and the power at the rear end can limit the fluctuation range at the rear end of the moving body to a certain extent.

Example two

Referring to fig. 4, a linear motion control system based on pressure detection is used for controlling a moving body 5 moving on a plane 1, and the plane 1 is provided with a plane two 3 and a plane three 4 on two sides of the moving direction, which are parallel and perpendicular to the plane 1.

The method comprises the following steps: four pressure detection units 6 symmetrically arranged on two sides of the moving body 5 and respectively in contact with the second plane 3 and the third plane 4, and used for collecting pressure value P between the pressure detection units and the second plane 3₁And P₂And a pressure value P between three 4 of the plane₃And P₄Wherein P is₁And P₃Is located at the front end of the moving direction of the moving body 5, P₂And P₄Is located at the rear end in the moving direction of the moving body 5; the power assembly 7 provides motion power for the moving body 5; a control unit 9 for controlling the power assembly 7 to output power to the moving body 5 according to the pressure value P₁、P₂、P₃And P₄Judging the deviation direction and the deviation degree of the moving body 5 relative to the reference straight line 2 on the plane I1; a direction adjusting unit 8 for adjusting the moving direction of the moving body 5 according to the deviation direction and the deviation degree under the control of the control unit 9; the model for determining the degree of deviation S of the moving direction of the moving body 5 from the reference straight line 2 is as follows:

the judgment of the deviation direction of the moving body moving direction relative to the reference straight line 2 is based on P₁、And P₃The size of (2) is arranged in sequence.

In the specific application process, the moving body 5 needs to be limited by taking the plane one 1, the plane two 3 and the plane three 4 as basic conditions, the pressure detection unit 6 serves as a data acquisition end to provide a control basis for the control unit 9, and after the power assembly 7 is started, the direction adjustment unit is controlled in real time according to the basis.

The system in the implementation has a simple form, is convenient to expand on the existing moving body 5, and can realize stable motion control in a motion space limited by the plane I1, the plane II 3 and the plane III 4.

The specific control principle is as in the first embodiment, and is not described herein again.

As shown in fig. 5 to 7, the direction adjusting unit 8 is preferably attached to the front end of the moving body 5, and includes: a rotation motor connected to the control unit 9; the steering wheel 81 is rotated by the rotation motor to adjust the moving direction of the moving body 5.

In the preferred embodiment, by setting the rotation motor, the precise angle control in any rotation direction of the steering wheel 81 can be realized, so that the direction can be adjusted according to the calculation result of the model (1) and the model (2) for S.

On the basis of the optimized scheme, the power assembly has the following two forms:

form one

As shown in fig. 5 and 7, the steering wheel 81 is a driving wheel as the power assembly 7, so as to provide the moving body 5 with the power for traveling through the active rotation thereof driven by the motor, in which case the direction control can be made more sensitive. In this case, the steering wheel 81 and the motor driving the steering wheel to rotate need to be driven by the rotating motor to rotate synchronously; in order to ensure the stable movement of the moving body, at least two driven wheels 82 are required to be arranged at the rear end of the moving body to support the moving body;

form two

The power assembly 7 is two driving wheels arranged at the rear end of the moving body, in this form, the two driving wheels and the steering wheel 81 jointly play a role in stably supporting the moving body 5, the moving body 5 is driven to move by the rotation of the two driving wheels, and the steering wheel 81 is driven to adjust the direction.

As a preferable example of the above embodiment, as shown in fig. 8, the pressure detecting unit 6 includes: a fixed seat 61 fixedly connected with the moving body 5; the extrusion structure 62 is in contact with the second plane 3 or the third plane 4 and performs linear motion close to or far away from the fixed seat 61; the guide structure 63 guides the linear motion between the fixed seat 61 and the extrusion structure 62 and is an elastic compression structure; and two ends of the electronic probe 64 are respectively connected with the fixed seat 61 and the extrusion structure 62, the pressure between the extrusion structure 62 and the plane two 3 or the plane three 4 is sensed through the self length change, the sensing result is transmitted to the control unit 9, and the length change direction of the electronic probe 64 is parallel to the guide direction of the guide structure 63.

To the protection that specific pressure detection unit 6 in this embodiment can realize electronic device on the one hand, through the setting of fixing base 61, extrusion structure 62 and guide structure 63 for electronic probe 64 obtains stable operational environment, has avoided the condition of the life-span reduction that causes under the unstable atress, wherein, can guarantee for the guide structure 63 of elasticity compression structure that extrusion structure 62 establishes stable contact relation with plane two 3 and plane three 4 all the time, through the sensitive execution of compression and reset action, make electronic probe 64's perception result also more stable.

As a preference of the present embodiment, as shown in fig. 9, the pressing structure 62 includes: the seat body 62a is fixedly connected with the guide structure 63; and the roller 62b is mounted on the seat body 62a and moves along the plane two 3 or the plane three 4 in the moving process of the moving body 5. Through the arrangement of the roller 62b, the friction force between the extrusion structure 62 and the plane two 3 or the plane three 4 is effectively reduced, so that the motion influence on the moving body 5 is reduced.

EXAMPLE III

As shown in fig. 10, the logistics pallet apparatus for use in a cargo pallet operation in a container 11 comprises: a stacking structure 10 which is used as a moving body 5 to reciprocate in and out of the container 11 for transferring and stacking cargos; the linear motion control system based on pressure detection as described in the second embodiment is used for controlling the motion of the stacking structure 10; two parallel inner walls of the container 11 on two sides of the stacking structure 10 in the entering and exiting direction are taken as a plane II 3 and a plane III 4, and the bottom plate of the container 11 is taken as a plane I1.

Through the use of the linear motion control system based on pressure detection, the working precision of the stacking structure 10 in the container 11 can be improved, the accuracy of the stacking position is ensured, the personnel operation difficulty of the stacking structure under high-strength and severe working environments in the logistics industry can be greatly improved by using the control system, the accurate automatic operation is improved, and the production efficiency is improved.

Although the present invention has been described with reference to the preferred embodiments, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.