CN101774382A - Remote-control device for upland single-rail transportation remote-control vehicle - Google Patents
Remote-control device for upland single-rail transportation remote-control vehicle Download PDFInfo
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Abstract
The invention relates to a remote-control device for an upland single-rail transportation remote-control vehicle, which can control and know the particular running condition of the upland single-rail transportation remote-control vehicle safely and flexibly under the condition of manless driving. The remote-control device for the upland single-rail transportation remote-control vehicle comprises a vehicle-mounted controller and a handheld controller, wherein the vehicle-mounted controller wirelessly transmits the position information, the running request information and the failure information of the upland single-rail transportation remote-control vehicle to the handheld controller, receives the control data transmitted by the handheld controller and executes the control command transmitted by the handheld controller; and a control operator performs remote-controlled operation on the handheld controller, which acquires the rotary speed and the position information of the upland single-rail transportation remote-control vehicle in real time.
Description
Technical field
The present invention relates to a kind of remote-control device for upland single-rail transportation remote-control vehicle, to reduce labour intensity, to improve conveying efficiency, guarantee that the mountain region single track transports mountain region single track transportation telecar controlled and grasped safely, flexibly by telecar under unpiloted situation running condition.
Background technology
Being planted in the mountain area economy development of economic fruit occupies critical role, and woods is really plucked and transportation problem is the problem that must consider during woods is really planted.The present situation that the woods fruit transportation technology equipment that more present areas also exist falls behind, what the fruit under plucking in fruit-bearing forest district, the unapproachable mountain region of vehicle especially still adopted is artificial transportation, the animal-drawn vehicle transportation, motor bike transportation or the transportation of small farm car, these transportation means not only efficient are low, labour intensity is big, and more or less all forest ecology is damaged, therefore do not destroying under the physical geographic environment condition, track is set up in development easily, do not hinder plantation and the growth of crop, not being subjected to the mountain region single track transportation telecar of landform restriction is the development tendency of mountain area economy woods fruit transportation mode.
Summary of the invention
Design-calculated remote-control device for upland single-rail transportation remote-control vehicle of the present invention comprises vehicle control device and hand held controller two large divisions, described vehicle control device is to position, request operation and the failure message of described hand held controller wireless transmission mountain region single track transportation telecar, receives control data that described hand held controller sends, carries out the control command that described hand held controller sends;
Described vehicle control device comprises ARM9 treater S3C2410X chip, vehicle control device LCD display, rotary encoder detecting device, transition detection circuitry and phase discriminator, 5*4 keyboard, obstacle detector, warning circuit, motion control device, GPRS module and power circuit; Described vehicle control device LCD display shows that the mountain region single track transports the current particular location of telecar and the rotating speed of drive wheel; Described rotary encoder detecting device is installed on the described mountain region single track transportation telecar drive wheel, and the rotating speed of the drive wheel of the described mountain region of described rotary encoder detection means measure single track transportation telecar and described mountain region single track transport the telecar position and turn to; Described obstacle detector detects the information of single track transportation telecar the place ahead in service, described mountain region obstacle, the ARM9 treater S3C2410X chip of described vehicle control device is handled detected described information data, when detected obstacle obstruction mountain region single track transportation telecar normally moves, report to the police through described warning circuit; Described motion control device is controlled the running velocity and the service direction of described mountain region single track transportation telecar, as propulsion source, the running velocity control of described mountain region single track transportation telecar is to open big or small degree and export the size that different power changes the running velocity of described mountain region single track transportation telecar by controlling described petrolic throttle in operational process to described mountain region single track transportation telecar by engine petrol; Thereby the service direction of described mountain region single track transportation telecar is the service direction that is changed single track transportation telecar in described mountain region by the transmission direction that the residing engage position of power-transfer clutch in the power drive system is controlled power; First steering wheel in the described vehicle control device motion control device is controlled power-transfer clutch in the described power drive system, and second steering wheel in the described vehicle control device motion control device is controlled described engine petrol throttle;
Wireless data transmission between the described vehicle control device of described GPRS module controls, the described hand held controller; Described hand held controller comprises ARM9 treater S3C2410X chip, hand held controller LCD display, GPRS module, function keyboard, power circuit;
Described hand held controller is controlled at remote servicing by the control personnel, to the rotating speed and the location information wireless real-time acquisition of described mountain region single track transportation telecar drive wheel, the described mountain region of described hand held controller LCD display distant surveillance single track transportation telecar running condition is also in time sent control command.
Wherein said vehicle control device has remote control operation mode of operation and on-board running mode of operation; Described vehicle control device is finished described mountain region single track transportation telecar drive wheel rotating speed under described hand held controller control and the position is detected in real time, control and state show when described remote control operation mode of operation; ARM9 treater S3C2410X chip when described remote control moves mode of operation in the described vehicle control device receives the motion control instruction of described GPRS module, exports described mountain region single track transportation telecar motion command by described motion control device; In described mountain region single track transportation telecar operational process, detect the place ahead obstacle information automatically and handle, report to the police and by described GPRS module alarm message is sent to described hand held controller, display alarm information on described hand held controller LCD display by the infrared pickoff in the described obstacle detector; In operational process, detect the current particular location of described mountain region single track transportation telecar and the rotating speed of drive wheel automatically by described rotary encoder detecting device and transition detection circuitry, and the rotary speed information of described mountain region single track transportation telecar position and drive wheel is sent to described hand held controller by described GPRS module, on described hand held controller LCD display, show the position that described mountain region single track transportation telecar is current and the rotary speed information of drive wheel.
Wherein said on-board running mode of operation, described vehicle control device is independently finished described mountain region single track transportation telecar drive wheel rotating speed and the position is detected in real time, control and state show when described on-board running mode of operation; ARM9 treater S3C2410X chip when described on-board running mode of operation in the described vehicle control device receives the motion control instruction of described 5*4 keyboard input, exports described mountain region single track transportation telecar motion command by described motion control device; In described mountain region single track transportation telecar operational process, detect the place ahead obstacle information automatically by the infrared pickoff in the described obstacle detector; Automatically detect the rotating speed of current particular location of described mountain region single track transportation telecar and drive wheel and on described vehicle control device LCD display, show by described rotary coding detecting device and transition detection circuitry.
Wherein said obstacle detector employing infrared pickoff obtains the obstacle information on the described mountain region single track transportation telecar operation front track; When having detected obstacle, what described obstacle detector was exported is high level, and when not having obstacle, described obstacle detector is output as low level; Described mountain region single track transportation telecar vehicle control device ARM9 treater S3C2410 chip discerns by the judgement of the high-low level of described obstacle detector input whether obstacle is arranged.
Send interrupt request to the ARM9 of described vehicle control device treater S3C2410X chip input high level when the infrared pickoff in the wherein said obstacle detector detects obstacle signal, the ARM9 treater S3C2410X chip of described vehicle control device carries out after the interrupt handling first steering wheel in the described mountain region single track transportation telecar vehicle control device motion control device, second steering wheel in the described mountain region single track transportation telecar vehicle control device motion control device all resets, through described warning circuit output alarm signal and drive described mountain region single track transportation telecar sudden stop; Infrared pickoff after obstacle is got rid of in the described obstacle detector is to the ARM9 of described vehicle control device treater S3C2410X chip input low level, and the ARM9 treater S3C2410X chip of described vehicle control device is handled after described warning circuit stops to report to the police and continues to drive described mountain region single track transportation telecar and move according to control command.
Wherein said mountain region single track transportation telecar operates on the fixing track.
This invention has following controllable function:
Long-distance remote control mountain region single track transportation telecar comprises along the unmanned operation automatically of single track: the startup of mountain region single track transportation telecar, stop, gear shift, braking;
State with the operation of mountain region single track transportation telecar, as: the rotating speed of mountain region single track transportation telecar drive wheel, the position of the concrete operation of mountain region single track transportation telecar, the operating obstacle information of mountain region single track transportation telecar send on the hand held controller in real time, and by hand held controller LCD display distant surveillance mountain region single track transportation telecar running condition;
Hand held controller is easy to carry, and the effector can control mountain region single track transportation telecar at the ground diverse location, need not be fixed in mountain region, the ground single track transportation telecar control cabin, also need not connect the Internet network.
The objective of the invention is: the characteristics of really producing based on the mountain region woods, be implemented in the operational process and keep away barrier control when having obstacle on the front track, utilize this invention may command mountain region single track transportation telecar to load goods and materials such as orchard worker and fruit and come and go, can satisfy the needs of economic fruit Quantity production.
Description of drawings
Accompanying drawing 1: remote-control device for upland single-rail transportation remote-control vehicle overall system Organization Chart
Accompanying drawing 2: remote-control device for upland single-rail transportation remote-control vehicle vehicle control device structured flowchart
Accompanying drawing 3: remote-control device for upland single-rail transportation remote-control vehicle hand held controller structured flowchart
Accompanying drawing 4: remote-control device for upland single-rail transportation remote-control vehicle speed measuring device connection diagram
Accompanying drawing 5: remote-control device for upland single-rail transportation remote-control vehicle pulse data computing block diagram
Accompanying drawing 6: remote-control device for upland single-rail transportation remote-control vehicle rotating speed, position calculation block diagram
Accompanying drawing 7: remote-control device for upland single-rail transportation remote-control vehicle wireless data transmission block diagram
Accompanying drawing 8: remote-control device for upland single-rail transportation remote-control vehicle motion control device connection diagram
Accompanying drawing 9: remote-control device for upland single-rail transportation remote-control vehicle steering wheel output shaft electromechanical interface set-up diagram
Accompanying drawing 10: remote-control device for upland single-rail transportation remote-control vehicle fault handling block diagram
Accompanying drawing 11: remote-control device for upland single-rail transportation remote-control vehicle emergency shut-down control device circuit diagram
Accompanying drawing 12: remote-control device for upland single-rail transportation remote-control vehicle vehicular motion control system block diagram
The specific embodiment
A kind of mountain region single track transportation telecar, this mountain region single track transportation telecar can control and allow the user grasp the concrete running condition of mountain region single track transportation telecar under unpiloted situation safely, neatly.Mountain region single track transportation telecar comprises driving engine, the Power Train remote-control device for upland single-rail transportation remote-control vehicle of unifying, and wherein remote-control device for upland single-rail transportation remote-control vehicle comprises vehicle control device and hand held controller.Control at remote-control device for upland single-rail transportation remote-control vehicle specifies below, and as shown in Figure 1, mountain region transportation telecar remote control equipment (RCE) comprises vehicle control device and hand held controller two large divisions.
Vehicle control device is a small-sized ARM (Advanced RISC Machines, be the High Performance risc processor) embedded system, be installed on the mountain region single track transportation telecar, rotating speed and the mountain region single track transportation telecar position information finished mountain region single track transportation telecar drive wheel detect in real time, mountain region single track transportation telecar detection of obstacles in service, by the position of GPRS module to hand held controller wireless transmission mountain region single track transportation telecar, request operation and failure message, receive the control data that hand held controller sends, carry out the control command that hand held controller sends, show on the LCD display of vehicle control device and hand held controller that respectively the mountain region single track transports the current particular location of telecar and the rotating speed of drive wheel, both can on the LCD display of vehicle control device, transport the running condition that telecar running condition also can be transported telecar by the LCD display distant surveillance mountain region single track of hand held controller by in-plant observation mountain region single track.
As shown in Figure 2, the remote-control device for upland single-rail transportation remote-control vehicle vehicle control device comprises ARM9 treater S3C2410X chip, LCD display, rotary encoder detecting device, transition detection circuitry and phase discriminator, 5*4 keyboard, obstacle detector, warning circuit, motion control device, GPRS module and power circuit.
Vehicle control device has remote control operation and two kinds of mode of operations of on-board running, and vehicle control device is finished mountain region single track transportation telecar drive wheel rotating speed under hand held controller control and the position is detected in real time, control and state show when remote control operation mode of operation; ARM9 process chip when remote control operation mode of operation in the vehicle control device receives the motion control instruction of GPRS module, by motion control device output mountain region single track transportation telecar motion command; The detecting device that breaks the barriers in mountain region single track transportation telecar operational process detects the place ahead obstacle information automatically and handles, reports to the police and by the GPRS module alarm message is sent to hand held controller, display alarm information on the hand held controller LCD display; In operational process, detect the current particular location of mountain region single track transportation telecar and the rotating speed of drive wheel automatically by rotary encoder detecting device and transition detection circuitry, and the rotary speed information of mountain region single track transportation telecar position and drive wheel is sent to hand held controller by the GPRS module, on the hand held controller LCD display, show the position that mountain region single track transportation telecar is current and the rotary speed information of drive wheel.Vehicle control device can independently be finished mountain region single track transportation telecar drive wheel rotating speed and the position is detected in real time, control and state show when the on-board running mode of operation; ARM9 treater S3C2410X chip when the on-board running mode of operation in the vehicle control device receives the motion control instruction of 5*4 keyboard input, by motion control device output mountain region single track transportation telecar motion command; The detecting device that breaks the barriers in mountain region single track transportation telecar operational process detects the place ahead obstacle information automatically and handles and report to the police; In operational process, detect the rotating speed of current particular location of mountain region single track transportation telecar and drive wheel automatically and on the vehicle control device LCD display, show by rotary encoder detecting device and transition detection circuitry.
Hand held controller is a small-sized ARM embedded system, really operating control in ground such as break bulk point, Ground Control chamber as woods at a distance by the control personnel, finishing mountain region single track transportation telecar drive wheel rotating speed and location information wireless real-time acquisition, also in time send control command by LCD display distant surveillance mountain region single track transportation telecar running condition.As shown in Figure 3, hand held controller comprises ARM9 treater S3C2410X chip, LCD display, GPRS module, function keyboard, power circuit.Hand held controller receives operation solicited message, the transmission motion control commands of vehicle control device by the GPRS module when mountain region single track transportation telecar remote control operation mode of operation; In mountain region single track transportation telecar operational process, receive the detected drive wheel speed of vehicle control device, position and failure message, and show that on LCD display fault alarm information and mountain region single track transport the current position of telecar and the rotary speed information of drive wheel.
Remote-control device for upland single-rail transportation remote-control vehicle location, speed measuring device
Remote-control device for upland single-rail transportation remote-control vehicle location, speed measuring device comprise rotary encoder detecting device, transition detection circuitry, phase discriminator, ARM9 process chip.
The rotary encoder detecting device, we select the rotary encoder of HMR-10G series for use here, and response frequency can reach 100KHz, 1024 pulses/revolution, power line voltage is 10V-30V.The rotary encoder detecting device is installed on the drive wheel of mountain region single track transportation telecar, because the rotary encoder grating encoder is coaxial with drive wheel, grating encoder and mountain region single track transportation telecar drive wheel are with the speed rotation, detect the some impulse singlas of output through the rotary encoder internal inspection device, by detected pulse number in conjunction with some initial parameters on the car such as drive wheel radius, car advances or the direction that falls back etc. can calculate position, the rotating speed of car and turn to.
The ARM9 processor chips mainboard input voltage 5V that vehicle control device uses, entering I/O port requirement voltage through the voltage voltage stabilizing is 3.3V.Require between 10V-30V according to rotary encoder detecting device power line voltage, this rotary encoder detecting device uses power supply to be 12V, its output pulse amplitude is 12V, and the pulse amplitude that the ARM9 processor chips allow to import in the vehicle control device is 3.3V, so the peripheral hardware circuit also needs a transition detection circuitry.As shown in Figure 4, A, B are the pulse train of rotary encoder detecting device output, and pulse amplitude is 12V; A ', B ' are the pulse train after the transition detection circuitry level conversion, and pulse amplitude is 3.3V; This rotary encoder detecting device has A, B two-way pulse output signals, obtain A ', B ' impulse singla through transition detection circuitry, 90 ° of A ', the phasic differences of B ' impulse singla phase, when mountain region single track transportation telecar advances, during rotary encoder detecting device clickwise, 90 ° of the leading B ' output wave shapes of A ' output wave shape; When mountain region single track transportation telecar retreated, during rotary encoder detecting device left-hand revolution, A ' output wave shape lagged behind 90 ° than B ' output wave shape.Phase discriminator as shown in Figure 4, A ', B ' impulse singla are input to phase discriminator, and C is the output signal of phase discriminator, links to each other with the ARM9 processor chips; C output is a level signal in the accompanying drawing 4, represents that when C is output as " 1 " mountain region single track transportation telecar advances, and C represents when being output as " 0 " that mountain region single track transportation telecar retreats.Can judge mountain region single track transportation telecar according to the lead-lag situation of A ', the pulse of B ' two-way advances and the direction that retreats.
The number of rotary encoder detecting device output pulse is sent into the ARM9 treater, and program calculates the rotating speed when front truck.
If in the time, the output pulse count of measuring the rotary encoder detecting device is M at T, mountain region single track transportation telecar drive wheel radius is R, and rotary encoder detecting device revolution output pulse count is N, and the speed of drive wheel is represented with V:
If being begun in the time T pulse number of rotary encoder detecting device output from the motion of mountain region single track transportation telecar, the rotary encoder detecting device represents that with G what then mountain region single track transportation telecar was passed by in time T apart from S is:
Also to consider that mountain region single track transportation telecar Halfway Stopping, crank motion, drive wheel rotate the situation less than a week with above-mentioned two formula during to the position of mountain region single track transportation telecar, drive wheel speed calculation, if mountain region single track transportation telecar Halfway Stopping, count to such an extent that pulse count is 0 in time at T, can judge the speed of a motor vehicle is 0; If mountain region single track transportation telecar crank motion, can according to mountain region single track transportation telecar move forward and backward count respectively pulse count, calculate the pulse difference of one-way movement, calculate the position of mountain region single track transportation telecar again; If drive wheel rotated less than a week, calculate mountain region single track transportation telecar drive wheel rotate less than count in a week pulse count and the drive wheel ratio that rotates the pulse count in a week, according to the girth of this ratio and drive wheel, calculate drive wheel and rotate less than the distance of walking in a week, realize accurately location.
Remote-control device for upland single-rail transportation remote-control vehicle location, speed-measuring method
First step is that mountain region single track transportation telecar pulse data calculates
Rotary encoder detecting device pulse data is captured in the vehicle control device adopts interrupt mode to finish, select external interrupt EXTINT0 and EXTINT11.As shown in Figure 5, the generation of interruption respectively from the rotary encoder detecting device after transition detection circuitry A ' pulse and declare to pulse C.When the level of C pulse during by low uprising, expression mountain region single track transportation telecar service direction is for advancing, cpu command interrupts the EXINT0 counting forward, direct impulse value p begins counting, when pulse count during more than or equal to one-period (1024 pulses), forward number of turns h adds 1, and the zero clearing of direct impulse value is counted again; When the level of C pulse during by high step-down, expression mountain region single track transportation telecar service direction is for retreating, and reverse impulse value antip begins to count, when pulse count during more than or equal to one-period (1024 pulses), oppositely number of turns antih adds 1, and the zero clearing of reverse impulse value is counted again.
Second step is mountain region single track transportation telecar rotating speed, position calculation
As shown in Figure 6, collection has dual mode to rotary encoder detecting device pulse data: a kind of is that car is just counted when top begins to advance, and pulse count is represented with G; Another kind of mode is when needs test the speed, and, measures the output pulse count of rotary encoder detecting device and represents with M in the time at T.After finishing the collection of rotary encoder detecting device pulse data, extract drive wheel radius R and rotary encoder revolution output pulse count N again, drive wheel rotating speed V, the position S of mountain region single track transportation telecar calculated according to formula (1), (2).Also to rotate and revise, to obtain the drive wheel rotating speed and the positional value of more accurate mountain region single track transportation telecar dolly Halfway Stopping, crank motion, drive wheel less than extraordinary circumstances such as weeks.
The remote-control device for upland single-rail transportation remote-control vehicle wireless remote control method
The remote-control device for upland single-rail transportation remote-control vehicle wireless remote control adopts the wireless data transmission between GPRS module controls vehicle control device, the hand held controller, the PIML-900/1800 type GPRS module that adopts CENTEL company to release.As shown in Figure 7, the UART0 of GPRS module and ARM9 treater S3C2410 chip carries out communication, sends the input that AT orders the GPRS module and obtains the GPRS module by this serial ports.Because the module baud rate is 9600bit/s, it is 9600bit/s that baud rate is set earlier in the program.At first, system and GPRS module initialization, the GPRS module can send and accept short message then.Send before the short message, send the AT instruction earlier and is connected with module, when returning OK, expression communication is normal, can send that AT+CMGS instructs at this moment and message content to designated mobile phone number, finish with Ctrl+Z.If return Error, then the representation module basic communication goes wrong, and continues to send the AT instruction and is connected with the GPRS module.When fresh information is pointed out, can send AT+CMGR=＜index 〉, content of short message is carried out discriminatory analysis.
The remote-control device for upland single-rail transportation remote-control vehicle motion control device
Described remote-control device for upland single-rail transportation remote-control vehicle motion control is the running velocity and the service direction of control mountain region single track transportation telecar.
As shown in Figure 8, mountain region single track transportation telecar by engine petrol as propulsion source, the running velocity control of described mountain region single track transportation telecar is to open the big or small different power of exporting by controlling petrolic throttle in operational process, thereby changes the size of the running velocity of mountain region single track transportation telecar.Mountain region single track transportation telecar high-speed cruising when open the throttle wide promptly increases power; Mountain region single track transportation telecar low cruise when reducing throttle and promptly reduce power; Mountain region single track transportation telecar idling when throttle is in minimum position.Therefore for the running velocity control of mountain region single track transportation telecar, satisfy three action requests, i.e. the control of high speed, low speed, idling is controlled the spark ignition engine throttle and is opened big or small degree.
Thereby the service direction of mountain region single track transportation telecar is a service direction of controlling the transmission direction change mountain region single track transportation telecar of power according to the residing engage position of power-transfer clutch in the power drive system, promptly makes single track transportation telecar in mountain region be transformed into direction of retreat or be broken away from power by working direction and is in neutral state.Therefore for the service direction control of mountain region single track transportation telecar, also to satisfy three action requests, promptly advance, retreat, the control of neutral gear controls the engage position of power-transfer clutch in the mountain region single track transportation telecar power drive system.
As seen mountain region single track transportation telecar in the course of the work the conversion between the different operating state be by three kinds of controls of opening big or small degree realize to the control of three engage positions of power-transfer clutch in the power drive system with to the engine petrol throttle, so when the vehicle control device of design mountain region single track transportation telecar,, just can satisfy the requirement of mountain region single track transportation telecar motion control as long as these six actions are controlled.The engage position of power-transfer clutch in first steering wheel control power drive system in the mountain region single track transportation telecar vehicle control device motion control device of being invented, second steering wheel in the motion control device is controlled the engine petrol throttle and is opened big or small degree, makes that direction control signal and speed control signal are separate.
First steering wheel in the mountain region single track transportation telecar vehicle control device motion control device, second steering wheel all is fixed on the mountain region single track transportation telecar, the first electromechanical interface device is installed on the output shaft of first steering wheel in the motion control device, the second electromechanical interface device is installed on the output shaft of second steering wheel in the motion control device, wherein the first electromechanical interface device and the second electromechanical interface apparatus structure are identical, so first electromechanical interface device, the second electromechanical interface device same parts adopts same Reference numeral, as shown in Figure 9, the electromechanical interface device comprises pivot pin a, driving lever b, driving lever pin c, torsion spring d and load bar e, wherein pivot pin a and every steering wheel output shaft connect together, the pivot pin a promotion driving lever b that drives when the output shaft of steering wheel rotates in the electromechanical interface device swings back and forth around driving lever pin c, thereby make load bar e also swing back and forth around driving lever pin c by torsion spring d, the load bar e of the first electromechanical interface device drives the change of three engage positions of connecting rod realization power-transfer clutch in the mountain region single track transportation telecar power drive system, the throttle spring that load bar e in the second electromechanical interface device drives in the mountain region single track transportation telecar power drive system is realized three kinds of conversion of opening big or small degree of engine petrol throttle, thereby finishes the requirement of mountain region single track transportation telecar motion control.
The remote-control device for upland single-rail transportation remote-control vehicle motion control method
The motion control of mountain region single track transportation telecar is divided into remote control operation mode of operation and on-board running mode of operation.The hand of rotation and the anglec of rotation of first steering wheel and second steering wheel in motion control signal that vehicle control device sends by GPRS module wireless receiving hand held controller under remote control operation mode of operation and the real-time controlled motion control setup, thereby the service direction and the running velocity of control mountain region single track transportation telecar; Come the hand of rotation and the anglec of rotation of first steering wheel and second steering wheel in the controlled motion control setup under the on-board running mode of operation by the 5*4 keyboard input motion control command of operating personal operation vehicle control device control panel, wireless control signal lost efficacy at this moment.
Mountain region single track transportation telecar vehicle control device realizes that by first steering wheel in the controlled motion control setup and the different angle of the second steering wheel output shaft rotation clutches engaged position or spark ignition engine throttle open the switching that varies in size between the mode of operation.The input of first steering wheel and the second steering wheel control line is a broad-adjustable periodic square wave impulse singla in the motion control device, and the cycle of square-wave pulse signal is 20ms (being that frequency is 50Hz).When the pulse width of square wave changed, the angle of first steering wheel and the second steering wheel output shaft changed in the motion control device, and the output shaft angle changes the direct ratio that is varied to pulse width.In control process, first steering wheel and second steering wheel go to corresponding angle in the PORT B0 (TOUT0) by mountain region single track transportation telecar vehicle control device ARM9 treater S3C2410 chip and the PWM ripple actuation movement control setup of PORT B1 (TOUT1) generation different in width.Be in when first steering wheel and second steering wheel are just started working when powering on (be system) in the motion control device that initial condition first steering wheel is in Neutral Position and second steering wheel is in idle position, and when detecting obstacle or cut off vehicle control device control power supply, which kind of control position no matter first steering wheel and second steering wheel are in the motion control device, and all must resetting earlier, promptly first steering wheel is got back to Neutral Position automatically, second steering wheel is got back to idle position automatically.
Mountain region single track transportation telecar vehicle control device control mountain region single track transportation telecar operates on the fixing track, obstacle detector can be input to vehicle control device ARM9 treater S3C2410 chip with the information of obstacle existence on the track that obtains in the described vehicle control device, makes corresponding fault handling decision-making by vehicle control device ARM9 treater S3C2410 chip controls software.Obstacle detector employing infrared pickoff obtains the obstacle information on the mountain region single track transportation telecar operation front track in the described vehicle control device, in the time of obstacle, obstacle detector output is high level in the vehicle control device, when not having obstacle, obstacle detector output is low level in the vehicle control device.The break the barriers judgement of high-low level of detecting device input of mountain region single track transportation telecar vehicle control device ARM9 treater S3C2410 chip discerns whether obstacle is arranged.Produce interrupt control behind the external interrupt EXTINT1 of the detected obstacle signal input of infrared pickoff ARM9 treater S3C2410X chip in the obstacle detector in the described vehicle control device.As shown in Figure 10, when the EXTINT1 of the ARM9 of described vehicle control device treater S3C2410X chip is input as high level, send interrupt request to the ARM9 of vehicle control device treater S3C2410X treater, the vehicle control device control system enters the fault handling interruption subroutine, the ARM9 treater S3C2410X chip of vehicle control device resets first steering wheel in the motion control device and second steering wheel, through described warning circuit output alarm signal and drive mountain region single track transportation telecar sudden stop, wait for after obstacle is got rid of being that the EXTINT1 of the ARM9 treater S3C2410X chip of vehicle control device stops to report to the police through described warning circuit when being input as low level, system returns that first steering wheel and second steering wheel carry out the operation of mountain region single track transportation telecar in the control main program controlled motion control setup according to the control corresponding instruction.
Mountain region single track transportation telecar emergency shut-down control device circuit as shown in Figure 11, when mountain region single track transportation telecar detects obstacle and exists, when vehicle control device is reset to initial condition with first steering wheel in the motion control device and second steering wheel and extinguish engine petrol and come sudden stop, the normally closed contact of Figure 11 repeat circuit J is connected in parallel on the high-tension coil two ends, vehicle control device controller ARM9 processor chips output emergency mobile forces stop signal JT comes control relay J coil voltage with transistor N9013 after this signal inversion when obstacle.When producing emergency mobile forces stop signal JT be high level then transistor N9013 end, the coil losing electricity of relay J, its normally closed contact are with the high-tension coil short circuit, engine petrol is flame-out.JT is a then transistor N9013 saturation conduction of low level when not producing emergency mobile forces stop signal, and the coil of relay J gets electric, and its normally closed contact disconnects not with the high-tension coil short circuit, and engine petrol can start by normal ignition.
As shown in Figure 12, at first opening fault handling behind the system initialization interrupts, then judge the mode of operation of vehicle control device, vehicle control device is according to first steering wheel and second steering wheel in the control command controlled motion control setup of 5*4 keyboard input under the on-board running mode of operation; After vehicle control device initialization GPRS module under the remote control operation mode of operation, at first send and be ready to information, receive first steering wheel and second steering wheel in the control command controlled motion control setup that hand held controller sends then to hand held controller.
Technique effect
The present invention realizes the control of economic fruit mountain region single track transportation telecar by ARM9 embedded control system and GPRS wireless communication technique, can finish mountain region single track transportation telecar driving wheel rotating speed and positional information detects in real time, detection of obstacles in service, wireless transmission/receive data and show, the motion control of mountain region single track transportation telecar. This invention can Effective Raise economic fruit transportation system automaticity, greatly reduce workman's labour intensity, thereby the productivity ratio of increasing substantially. This control method is also applicable to the far distance controlled of other various forest zones monorail transport cart, such as the control of single track sightseeing bus, agricultural chemicals or chemical fertilizer transport vehicle etc.
Claims (6)
1. remote-control device for upland single-rail transportation remote-control vehicle is characterized in that:
Described remote-control device for upland single-rail transportation remote-control vehicle comprises vehicle control device and hand held controller two large divisions;
Described vehicle control device is to position, request operation and the failure message of described hand held controller wireless transmission mountain region single track transportation telecar, receives control data that described hand held controller sends, carries out the control command that described hand held controller sends;
Described vehicle control device comprises ARM9 treater S3C2410X chip, vehicle control device LCD display, rotary encoder detecting device, transition detection circuitry and phase discriminator, 5*4 keyboard, obstacle detector, warning circuit, motion control device, GPRS module and power circuit;
Described vehicle control device LCD display shows that the mountain region single track transports the current particular location of telecar and the rotating speed of drive wheel;
Described rotary encoder detecting device is installed on the described mountain region single track transportation telecar drive wheel, and the rotating speed of the described mountain region of described rotary encoder detection means measure single track transportation telecar drive wheel and described mountain region single track transport the telecar position and turn to;
Described obstacle detector detects the information of single track transportation telecar the place ahead in service, described mountain region obstacle, the ARM9 treater S3C2410X chip of described vehicle control device is handled detected described information data, when detected obstacle hinders described mountain region single track transportation telecar and normally moves, report to the police through described warning circuit;
Described motion control device is controlled the running velocity and the service direction of described mountain region single track transportation telecar, as propulsion source, the running velocity control of described mountain region single track transportation telecar is to open the big or small size that different power changes the running velocity of described mountain region single track transportation telecar of exporting by controlling described petrolic throttle in operational process to described mountain region single track transportation telecar by engine petrol; Thereby the service direction of described mountain region single track transportation telecar is the service direction that is changed single track transportation telecar in described mountain region by the transmission direction that the residing engage position of power-transfer clutch in the power drive system is controlled power; First steering wheel in the described vehicle control device motion control device is controlled power-transfer clutch in the described power drive system, and second steering wheel in the described vehicle control device motion control device is controlled described engine petrol throttle;
Wireless data transmission between the described vehicle control device of described GPRS module controls, the described hand held controller;
Described hand held controller comprises ARM9 treater S3C2410X chip, hand held controller LCD display, GPRS module, function keyboard, power circuit;
Described hand held controller is controlled at remote servicing by the control personnel, to described mountain region single track transportation telecar drive wheel rotating speed and location information wireless real-time acquisition, the described mountain region of described hand held controller LCD display distant surveillance single track transportation telecar running condition is also in time sent control command.
2. remote-control device for upland single-rail transportation remote-control vehicle according to claim 1, wherein said vehicle control device have remote control operation mode of operation and on-board running mode of operation; Described vehicle control device is finished described mountain region single track transportation telecar drive wheel rotating speed under described hand held controller control and the position is detected in real time, control and state show when described remote control operation mode of operation; ARM9 treater S3C2410X chip when described remote control moves mode of operation in the described vehicle control device receives the motion control instruction of described GPRS module, exports described mountain region single track transportation telecar motion command by described motion control device; In described mountain region single track transportation telecar operational process, detect the place ahead obstacle information automatically and handle, report to the police and by described GPRS module alarm message is sent to described hand held controller, display alarm information on described hand held controller LCD display by the infrared pickoff in the described obstacle detector; In operational process, detect the current particular location of described mountain region single track transportation telecar and the rotating speed of drive wheel automatically by described rotary encoder detecting device and transition detection circuitry, and the rotary speed information of described mountain region single track transportation telecar position and drive wheel is sent to described hand held controller by described GPRS module, on described hand held controller LCD display, show the position that described mountain region single track transportation telecar is current and the rotary speed information of drive wheel.
3. remote-control device for upland single-rail transportation remote-control vehicle according to claim 2, wherein said on-board running mode of operation, described vehicle control device is independently finished described mountain region single track transportation telecar drive wheel rotating speed and the position is detected in real time, control and state show when described on-board running mode of operation; ARM9 treater S3C2410X chip when described on-board running mode of operation in the described vehicle control device receives the motion control instruction of described 5*4 keyboard input, exports described mountain region single track transportation telecar motion command by described motion control device; In described mountain region single track transportation telecar operational process, detect the place ahead obstacle information automatically by the infrared pickoff in the described obstacle detector; Automatically detect the rotating speed of current particular location of described mountain region single track transportation telecar and drive wheel and on described vehicle control device LCD display, show by described rotary coding detecting device and transition detection circuitry.
4. according to claim 2 or 3 described remote-control device for upland single-rail transportation remote-control vehicle, wherein said obstacle detector employing infrared pickoff obtains the obstacle information on the described mountain region single track transportation telecar operation front track; In the time of obstacle, what described obstacle detector was exported is high level, and when not having obstacle, what described obstacle detector was exported is low level; Described mountain region single track transportation telecar vehicle control device ARM9 treater S3C2410 chip discerns by the judgement of the high-low level of described obstacle detector input whether obstacle is arranged.
5. remote-control device for upland single-rail transportation remote-control vehicle according to claim 4, send interrupt request to the ARM9 of described vehicle control device treater S3C2410X chip input high level when infrared pickoff detects obstacle signal in the described obstacle detector, the ARM9 treater S3C2410X chip of described vehicle control device carries out after the interrupt handling first steering wheel in the described mountain region single track transportation telecar vehicle control device motion control device, second steering wheel in the described mountain region single track transportation telecar vehicle control device motion control device all resets, through described warning circuit output alarm signal and control described mountain region single track transportation telecar sudden stop; Infrared pickoff after obstacle is got rid of in the described obstacle detector is to the ARM9 of described vehicle control device treater S3C2410X chip input low level, and the ARM9 treater S3C2410X chip of described vehicle control device is handled after described warning circuit stops to report to the police and continues to drive described mountain region single track transportation telecar and move according to control command.
6. remote-control device for upland single-rail transportation remote-control vehicle according to claim 4, described mountain region single track transportation telecar operates on the fixing track.
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| CN2010101080274A CN101774382B (en) | 2010-02-10 | 2010-02-10 | Remote-control device for upland single-rail transportation remote-control vehicle |
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| CN104900040A (en) * | 2015-06-25 | 2015-09-09 | 苏州工业职业技术学院 | Control device of Internet-of-Things technology based cold-chain logistics trolley |
| CN108032923A (en) * | 2017-11-27 | 2018-05-15 | 周小舟 | Walking charging robot |
| CN109738664A (en) * | 2019-01-30 | 2019-05-10 | 华南农业大学 | A kind of the agricultural machinery track drive wheel speed wireless measuring system and measurement method of waterproof |
| CN113696941A (en) * | 2021-09-14 | 2021-11-26 | 中车资阳机车有限公司 | Suspension type container transport vehicle microcomputer control system and method |
| CN114185336A (en) * | 2020-08-25 | 2022-03-15 | 台州玉满园水果专业合作社 | A control system for remote control railcar of oranges and tangerines transportation |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103771074A (en) * | 2014-01-24 | 2014-05-07 | 南通耀华机电有限公司 | Domestic remote-control transporting device |
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|---|---|
| CN101774382B (en) | 2011-07-20 |
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