CN118722905A

CN118722905A - Control system of transportation device and control method of transportation device

Info

Publication number: CN118722905A
Application number: CN202310339782.0A
Authority: CN
Inventors: 刘宁; 王春海; 刘贺; 杨雄
Original assignee: Beijing Naura Microelectronics Equipment Co Ltd
Current assignee: Beijing Naura Microelectronics Equipment Co Ltd
Priority date: 2023-03-31
Filing date: 2023-03-31
Publication date: 2024-10-01
Also published as: WO2024199429A1

Abstract

The application discloses a control system and a control method of a transportation device, and relates to the field of transportation and control. The control system of the transportation device comprises a walking chassis, a bearing platform and a driving unit, wherein the bearing platform and the driving unit are respectively arranged on the walking chassis; the control system comprises a control unit and a deviation rectifying unit, the deviation rectifying unit comprises a deviation amount detection element arranged on the walking chassis, and the deviation amount detection element is used for detecting the horizontal relative position between a bearing platform positioned below a machine to be borne and the machine; the control unit is electrically connected with the offset detection element and the first driving piece respectively and is used for controlling the first driving piece to drive the bearing platform to horizontally move according to the horizontal relative position so as to rectify the bearing platform. The application can solve the problems of low machine position precision and the like caused by manual moving of the machine.

Description

Control system of transportation device and control method of transportation device

Technical Field

The application belongs to the technical field of transportation and control, and particularly relates to a control system of a transportation device and a control method of the transportation device.

Background

Along with the rising of the semiconductor industry, the requirements on the field of semiconductor equipment are increased, and in order to adapt to new functions brought by new requirements, the volume and the weight of a semiconductor machine are increased, and the carrying difficulty is also increased. At present, most of the methods for moving the machine into the station on site still rotate the lower trundles, push the machine by manpower through the pulleys, and rotate the foot rest after being placed at the designated station. Therefore, a great deal of manpower is required to be input, the accuracy of the machine position cannot be guaranteed, and even unnecessary safety risks can be generated in the moving process.

Disclosure of Invention

The embodiment of the application aims to provide a control system and a control method of a transportation device, which at least can solve the problems of low position precision and the like of a machine caused by manual movement of the machine.

In order to solve the technical problems, the application is realized as follows:

the embodiment of the application provides a control system of a transportation device, which comprises a walking chassis, a bearing platform and a driving unit, wherein the bearing platform and the driving unit are respectively arranged on the walking chassis, the driving unit comprises a first driving piece, and the first driving piece is connected with the bearing platform and is used for driving the bearing platform to horizontally move relative to the walking chassis;

the control system comprises a control unit and a deviation rectifying unit, wherein the deviation rectifying unit comprises a deviation amount detection element arranged on the walking chassis, and the deviation amount detection element is used for detecting the horizontal relative position between the bearing platform and the machine below the machine to be borne;

The control unit is electrically connected with the offset detection element and the first driving piece respectively and is used for controlling the first driving piece to drive the bearing platform to horizontally move according to the horizontal relative position detected by the offset detection element so as to rectify the bearing platform.

The embodiment of the application also provides a control method of the transportation device, which comprises the following steps:

Controlling the transportation device to move to a preset position of a target taking-out station;

Controlling the conveying device to move from the preset position to the position below a machine to be carried in the target taking-out station;

Detecting the horizontal relative position between the bearing platform of the conveying device and the machine table, and controlling the horizontal movement of the bearing platform according to the horizontal relative position so as to rectify the bearing platform;

the bearing platform is controlled to ascend, and the machine table is supported by the bearing platform;

controlling the transportation device to move to a placing station according to a preset track, and positioning the transportation device and the machine carried by the transportation device;

and controlling the conveying device to place the machine table at a preset position in the placing station.

In the embodiment of the application, the first driving piece can drive the bearing platform to horizontally move relative to the walking chassis so as to adjust the horizontal position of the bearing platform; in addition, the deviation correcting unit comprises a deviation correcting amount detecting element arranged on the chassis, the horizontal relative position between the bearing platform and the machine table can be detected through the deviation correcting amount detecting element, and the first driving piece is controlled by the control unit to drive the bearing platform to horizontally move according to the horizontal relative position, so that the relative position of the bearing platform and the machine table on the horizontal plane is adjusted, the deviation correcting of the bearing platform is realized, the relative position between the bearing platform and the machine table is ensured to be accurate, and therefore, the position accuracy of the machine table before moving out can be improved.

Drawings

FIG. 1 is a schematic diagram of a control system for an AGV in accordance with the related art;

FIG. 2 is a first schematic view of a transport apparatus according to an embodiment of the present application;

FIG. 3 is a second schematic view of a transport apparatus according to an embodiment of the present application;

FIG. 4 is a schematic diagram of a transporting device according to an embodiment of the present application in a state of carrying a machine;

FIG. 5 is a schematic view of a rotating arm according to an embodiment of the present application;

FIG. 6 is a schematic diagram of a control system according to an embodiment of the present application;

FIG. 7 is a schematic illustration of a positioning scheme of the control system in the take-out station according to an embodiment of the present disclosure;

FIG. 8 is a schematic diagram of a coordinate system of an infrared detection sensor according to an embodiment of the present application;

FIG. 9 is a schematic diagram of a deviation correcting scheme of a control system according to an embodiment of the present application;

FIG. 10 is a schematic illustration of a positioning scheme in a placement station of a control system disclosed in an embodiment of the present application;

FIG. 11 is a flowchart of a loading device machine fetching operation according to an embodiment of the present application;

fig. 12 is a flowchart of the operation of the placement machine of the carrier device according to the embodiment of the present application.

Reference numerals illustrate:

100-transporting device;

110-walking chassis;

120-a load-bearing platform;

130-a drive unit; 131-a first driver; 132-a second driver; 133-a third drive;

140-lifting mechanism; 141-a lifting seat; 142-a lifting module;

150-rotating the arm; 151-chuck; 1511-a clamping groove;

200-a control system;

210-a control unit;

220-a deviation rectifying unit; 221-an offset detection element;

230-a pick-and-place positioning detection unit; 231-a first ranging angle detection element; 232-a first angle detection element; 233-a second angle detection element; 234-a light detection element;

240-a reference point positioning unit; 241-a second ranging angle detection element;

250-a human-computer interaction unit;

260-obstacle avoidance units;

270-a switch detection sensor;

300-machine; 310-supporting legs; 311-a shoe; 320-rotating the nut.

Detailed Description

The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

The terms first, second and the like in the description and in the claims, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged, as appropriate, such that embodiments of the present application may be implemented in sequences other than those illustrated or described herein, and that the objects identified by "first," "second," etc. are generally of a type, and are not limited to the number of objects, such as the first object may be one or more. Furthermore, in the description and claims, "and/or" means at least one of the connected objects, and the character "/", generally means that the associated object is an "or" relationship.

The following describes embodiments of the present application in detail through specific embodiments and application scenarios thereof with reference to the accompanying drawings.

In the related art, a conveyor table (Automatic Guided Vehicle, AGV) is adopted, and a control system of the AGV mainly comprises a main control unit, a guiding unit, a driving unit, a communication unit and a power supply unit, wherein the main control unit performs overall control to give the AGV a movement instruction, and the AGV executes the received instruction; the guiding unit advances according to the navigation mode and a preset line, detects the deviation between the center of the AGV and a preset track in real time through a corresponding sensor, and feeds back the deviation to the main control unit for calculation and real-time deviation correction; the driving unit is used for realizing acceleration, deceleration and turning of the AGV according to the motion control instruction sent by the main control unit; the communication unit exchanges information with the main control unit; the power supply unit is used for driving and controlling the main control unit to supply power for the guiding unit, and feeding battery information back to the communication unit in real time through the main control unit, and the AGV can reach the charging pile for charging through preset battery allowance information or an instruction issued by the communication unit. FIG. 1 is a schematic diagram of a control system for an AGV in the related art.

However, the navigation modes of the AGV cart in the related art are as follows: electromagnetic navigation, magnetic tape navigation, two-dimensional code navigation, laser navigation and the like, and the above navigation modes can enable an AGV trolley to travel according to a preset route, but have higher requirements on sites, environments and the like, and have complicated route changing or expanding; in addition, the AGV trolley only takes the machine table, the conveying machine table, the placing machine table and the like according to the preset position, so that the situation that the position of the machine table is deviated from that of the AGV trolley is easy to cause, and the normal conveying of the machine table is affected.

Based on the above, the embodiment of the application discloses a control system 200 of a transporting device 100, referring to fig. 2 to 12, the control system 200 can control the transporting device 100 to perform corresponding actions, so as to improve the position accuracy and the transportation safety of the machine 300 transported by the transporting device 100.

Referring to fig. 2 and 3, the transportation device 100 includes a walking chassis 110, and a carrying platform 120 and a driving unit 130 respectively provided on the walking chassis 110, wherein the walking chassis 110 is a basic component of the transportation device 100, and may provide a mounting base for the carrying platform 120, the driving unit 130, and the like; the driving unit 130 is a power component, which can provide driving force during the transportation process of the transportation device 100, and the carrying platform 120 is used for carrying the machine 300. Illustratively, the load-bearing platform 120 may be disposed directly above the travel chassis 110 for placement of the carried machine 300.

The driving unit 130 may include a first driving member 131, where the first driving member 131 is connected to the carrying platform 120 and is used to drive the carrying platform 120 to move horizontally relative to the walking chassis 110. Based on this, under the driving action of the first driving member 131, the carrying platform 120 may move in the horizontal plane so as to adjust the relative position between itself and the walking chassis 110, and at the same time, before the carrying platform 300, the carrying platform 120 may move in the horizontal plane to adjust the relative position between the carrying platform 120 and the platform 300 to be carried, thereby implementing deviation correction on the position of the carrying platform 120, and further ensuring that the relative position between the carrying platform 120 and the platform 300 is more accurate.

In some embodiments, the first driving member 131 may be a cylinder, a hydraulic cylinder, an electric cylinder, a motor screw slider set, or the like, but may be other forms, which are not limited herein. In addition, the carrying platform 120 and the walking chassis 110 may be directly connected in a sliding manner, or of course, may be indirectly connected in a sliding manner, that is, the carrying platform 120 is provided with other supporting structures, and the carrying platform 120 is connected in a sliding manner with the supporting structures, so long as the carrying platform 120 can move in a horizontal plane relative to the walking chassis 110, and the specific form is not limited.

Referring to fig. 2and 6, the control system 200 includes a control unit 210 and a deviation rectifying unit 220, where the deviation rectifying unit 220 includes a deviation amount detecting element 221 disposed on the walking chassis 110, and the deviation amount detecting element 221 is used to detect a horizontal relative position between the carrying platform 120 and the machine 300 below the machine 300 to be carried, so as to obtain a horizontal relative deviation amount between the carrying platform 120 and the machine 300, so as to provide a data basis for subsequently rectifying deviation of the carrying platform 120. The offset detection element 221 is electrically connected to the control unit 210, so that the detected offset information is sent to the control unit 210, and the information is processed by the control unit 210 to determine the positional relationship between the carrying platform 120 and the machine 300, thereby laying a foundation for subsequent deviation correction. It should be noted that, in the initial state, the carrying platform 120 is located at a preset position on the walking chassis 110, for example, the carrying platform 120 is located at a center position of the walking chassis 110. Based on this, when the transporting device 100 is located below the machine 300, the horizontal relative position between the carrying platform 120 and the machine 300 can be further known according to the relative offset between the traveling chassis 110 and the machine 300 in the horizontal direction detected by the offset detecting element 221.

Illustratively, the offset amount detection element 221 may be an offset amount detection sensor or the like in order to ensure the detection accuracy of the offset amount. In addition, the offset detection sensor may be disposed at the front end of the surface of the chassis 110 to detect the relative offset between the platform 120 and the platform 300 during the process of taking the platform 300.

In addition, the control unit 210 is further electrically connected to the first driving member 131, so as to send a control instruction to the first driving member 131, thereby implementing adjustment of the position of the carrying platform 120. Specifically, the offset detecting element 221 obtains the current relative position information between the carrying platform 120 and the machine 300 in real time, and feeds back the relative position information to the control unit 210, calculates the offset through the control unit 210, forms an offset signal, and then sends the offset signal to the first driving element 131 to drive the carrying platform 120 to perform fine adjustment, so as to implement offset correction. Based on this, the control unit 210 is configured to control the first driving member 131 to drive the carrying platform 120 to horizontally move according to the horizontal relative position detected by the offset detecting element 221, so as to rectify the carrying platform 120, so that the position of the carrying platform 120 is adapted to the position of the machine 300, so as to ensure the position accuracy of the machine 300 before transporting the machine 300.

In the embodiment of the present application, the first driving member 131 can drive the carrying platform 120 to move horizontally relative to the walking chassis 110, so as to adjust the horizontal position of the carrying platform 120; in addition, the deviation rectifying unit 220 includes a deviation amount detecting element 221 disposed on the walking chassis 110, and the horizontal relative position between the carrying platform 120 and the machine 300 can be detected by the deviation amount detecting element 221, and the first driving member 131 is controlled by the control unit 210 to drive the carrying platform 120 to move horizontally according to the horizontal relative position, so as to adjust the relative position between the carrying platform 120 and the machine 300 on the horizontal plane, and further implement deviation rectifying on the carrying platform 120, so as to ensure that the relative position between the carrying platform 120 and the machine 300 is relatively accurate, and therefore, the position accuracy of the machine 300 before moving out can be improved.

In some embodiments, the deviation rectifying unit 220 may include two offset detecting elements 221 disposed at a front portion of the walking chassis 110 along a left-right direction of the walking chassis 110, where the two offset detecting elements 221 are respectively used to interact with a detection area provided on the machine 300 to be triggered, and the control unit 210 is used to calculate an offset distance required to be moved by the carrying platform 120 according to a time difference between durations of the two offset detecting elements 221 respectively triggered, and control the first driving member 131 to drive the carrying platform 120 to move the offset distance.

Specifically, in the process that the traveling chassis 110 carries the carrying platform 120 to move below the platform 300 to be carried, the traveling chassis 110 may move to a preset position at a constant speed according to the deviation correcting preset speed V. At this time, the two offset amount detection elements 221 at the front of the traveling chassis 110 interact with the detection areas provided on the machine 300, respectively, so as to trigger the two offset amount detection elements 221. The specific principle that the offset detection element 221 interacts with the detection region to be triggered may refer to the related art, and is not specifically limited herein.

The detection area may be a sector area, and the two offset detection elements 221 are a first offset detection element and a second offset detection element, respectively. Considering that the two offset detection elements 221 are triggered for different durations, for example, the first offset detection element is triggered for a duration of t ₁ and the second offset detection element is triggered for a duration of t ₂, the minimum resolution of the time detection may be 10ms, so that the time difference of the respective triggered durations of the two offset detection elements 221 may be derived.

In the case that the duration of time that the first offset detection element is triggered is longer than the duration of time that the second offset detection element is triggered, that is, t ₁＞t₂, it indicates that the distance from the position detected by the first offset detection element to the front of the walking chassis 110 is greater, and the distance from the position detected by the second offset detection element to the front of the walking chassis 110 is smaller, so that both the walking chassis 110 and the carrying platform 120 are biased towards the second offset detection element, in this case, the control unit 210 sends a first control instruction to the first driving element 131 to control the first driving element 131 to move the carrying platform 120 by an offset distance in the direction from the second offset detection element to the first offset detection element, so that the accuracy of the relative position between the carrying platform 120 and the platform 300 to be carried can be ensured by adjusting the position of the carrying platform 120 in the case that the walking chassis 110 is offset.

In contrast, in the case where the duration of time that the first offset detection element is triggered is smaller than the duration of time that the second offset detection element is triggered, that is, t ₁＜t₂, it indicates that the distance from the position detected by the first offset detection element to the front of the traveling chassis 110 is smaller, and the distance from the position detected by the second offset detection element to the front of the traveling chassis 110 is larger, so that both the traveling chassis 110 and the carrying platform 120 are biased toward the first offset detection element, in this case, the control unit 210 sends a second control instruction to the first driving element 131 to control the first driving element 131 to move the carrying platform 120 by an offset distance in the direction from the first offset detection element to the second offset detection element, so that in the case where an offset occurs in the traveling chassis 110, the accuracy of the relative position between the carrying platform 120 and the platform 300 to be carried can be ensured by adjusting the position of the carrying platform 120.

In the case that the duration of time that the first offset detecting element is triggered is equal to the duration of time that the second offset detecting element is triggered, that is, t ₁＝t₂, it indicates that the distance between the position detected by the first offset detecting element and the front portion of the traveling chassis 110 is equal to the distance between the position detected by the second offset detecting element and the front portion of the traveling chassis 110, so that the traveling chassis 110 and the carrying platform 120 are located at the middle position of the first offset detecting element and the second offset detecting element, in this case, no deviation correction is needed, so that the control unit 210 sends the third control instruction to the first driving element 131 to control the first driving element 131 to stop the driving action on the carrying platform 120, so that the carrying platform 120 is stationary relative to the traveling chassis 110, thereby ensuring the accuracy of the relative position between the carrying platform 120 and the machine 300 to be carried.

As shown in fig. 9, the radius of the sector is set to r, the duration for which the first offset detection element is triggered is t ₁, the duration for which the second offset detection element is triggered is t ₂, and when both the offset detection elements 221 are offset detection sensors, the moving speed of the signal (e.g., laser, wave, etc.) emitted therefrom is set to v ₀. Based on this, the offset distance Δl of the carrier 120 relative to the platform 300 can be calculated, where the calculation formula is as follows:

Referring to fig. 2 and 6, in some embodiments, the control system 200 may further include a pick-and-place positioning detection unit 230, where the pick-and-place positioning detection unit 230 includes a plurality of first ranging angle detection elements 231 respectively provided on the walking chassis 110, and the plurality of first ranging angle detection elements 231 are respectively used to detect distances and angles between each of the first ranging angle detection elements and corresponding positions in the placement station of the machine 300; the control unit 210 is electrically connected to the plurality of first ranging angle detecting elements 231, and is configured to control the traveling chassis 110 to move in the placement station according to the plurality of sets of distances and angles detected by the plurality of first ranging angle detecting elements 231, so as to position the transporter 100 and the machine 300 carried by the transporter in the placement station.

Based on the above arrangement, the position information of the transporting device 100 and the machine 300 carried by the transporting device in the placing station can be determined through the multiple sets of distances and angles detected by the multiple first ranging angle detecting elements 231, and the deviation between the actual positions of the transporting device 100 and the machine 300 carried by the transporting device and the target positions in the placing station can be known through the analysis processing of the control unit 210, specifically, the deviation can be embodied through the multiple sets of distances and angles, so that a foundation can be laid for the subsequent adjustment of the positions of the transporting device 100 and the machine 300 carried by the transporting device.

For example, as shown in fig. 10, the number of the first ranging angle detecting elements 231 may be four, where the four first ranging angle detecting elements 231 may be located at four corners of the surface of the walking chassis 110, respectively, and accordingly, four sensing positions are provided in the placement station, and sensing may be generated between each first ranging angle detecting element 231 and the corresponding sensing position, so as to determine the distance between the first ranging angle detecting element 231 and the corresponding sensing position and the angle between the connecting line and the reference direction. Of course, the first ranging angle detecting elements 231 may be other numbers, which are not particularly limited herein. In addition, the first ranging angle detecting element 231 may employ an offset detecting sensor for positioning the entire transporter 100 during the stage 300.

Based on the above data, in order to enable the position of the machine 300 to be adjusted in the placement station so that the machine 300 is located at the target position, the driving unit 130 may further include a second driving member 132 and a third driving member 133, wherein the second driving member 132 and the third driving member 133 are respectively provided to the traveling chassis 110, and the second driving member 132 is used for driving the wheels of the traveling chassis 110 to rotate, and the third driving member 133 is used for driving the wheels of the traveling chassis 110 to steer; the control unit 210 is electrically connected to the second driving member 132 and the third driving member 133, and is configured to control the second driving member 132 to rotate the wheels and control the third driving member 133 to rotate the wheels according to the plurality of sets of distances and angles detected by the plurality of first ranging angle detecting elements 231, so that the transporting device 100 and the machine 300 carried by the transporting device are located at a central position (i.e. a target position) of the placing station.

For example, the second driving member 132 may be a servo motor, which may be coupled to the front wheels, to the rear wheels, or to both the front and rear wheels in order to drive the traveling chassis 110. The third driving member 133 may be a servo motor installed below the traveling chassis 110 for steering the wheels.

The specific structure and principle of the second driving member 132 and the third driving member 133 may also refer to the related art, so long as the driving wheel can be rotated and turned, and the specific manner is not limited.

As shown in fig. 10, taking four-point positioning as an example, four first ranging angle detection elements 231 respectively provided on the walking chassis 110 and four sensing positions at four corners in the placement station are utilized to perform accurate four-point positioning, so as to ensure the position accuracy of the machine 300 in the placement station. The principle of positioning the transportation device 100 and the machine 300 carried by the transportation device at the placement station is as follows:

calculating the offset of the X axis of the conveying device 100 and the machine 300 carried by the conveying device in the placing station, compensating the relative offset of the machine 300 and the carrying platform 120, and giving the deviation rectifying amount Δx which needs to be regulated in the X axis direction finally:

△X＝||(H₁cosΦ₁-H₂cosΦ₂)/2|±△L|

Wherein H ₁、H₂ is the distance between the two first ranging angle detecting elements 231 (i.e., the first and second first ranging angle detecting elements 231) and the corresponding sensing positions respectively located in the X-axis direction, Φ ₁、Φ₂ is the connecting line between the two first ranging angle detecting elements 231 and the corresponding sensing positions respectively located in the X-axis direction and the X-axis, and Δl is the relative offset of the carrier 120 from the platform 300 (i.e., the offset distance of the carrier 120 relative to the platform 300). Of course, two other first ranging angle detecting elements 231 located in the X-axis direction and sensing positions corresponding to the two first ranging angle detecting elements may be selected as an example, for example, the third and fourth first ranging angle detecting elements 231 may be selected, and the specific principle is basically unchanged.

Similarly, the offset of the Y axis of the conveying device 100 and the machine 300 carried by the conveying device in the placing station can be calculated, and the deviation correction amount Δy which needs to be finally adjusted in the Y axis direction is given:

△Y＝|(H₁sinΦ₁-H₃sinΦ₃)/2|

Wherein H ₁、H₃ is the distance between the two first ranging angle detection elements 231 (i.e., the first and the third first ranging angle detection elements 231) and the respective corresponding sensing positions in the Y-axis direction, and Φ ₁、Φ₃ is the angle between the two first ranging angle detection elements 231 and the respective corresponding sensing positions in the Y-axis direction and the X-axis. Of course, two other first ranging angle detecting elements 231 located in the Y-axis direction and sensing positions corresponding to the two first ranging angle detecting elements may be selected as an example, for example, the specific principle is basically unchanged.

According to the deviation rectifying amounts and the deviation rectifying directions on the X axis and the Y axis respectively, control instructions are respectively sent to the second driving piece 132 and the third driving piece 133, so that the conveying device 100 and the machine 300 carried by the conveying device respectively move in the X axis direction and the Y axis direction in the placing station, and further accurate deviation rectifying of the machine 300 can be achieved, and the machine 300 can be placed in the center position of the placing station.

It should be noted that, the components of H ₁、H₂、H₃ in the X axis or the Y axis respectively have absolute values |ΔH| of two-by-two differences less than 10mm, so that the correction accuracy meets the preset requirement.

Referring to fig. 2,3 and 8, in some embodiments, the pick-and-place positioning detection unit 230 may further include a first angle detection element 232 and a second angle detection element 233 that are disposed at a front portion of the walking chassis 110 at intervals along a left-right direction of the walking chassis 110, where the first angle detection element 232 is configured to detect a first included angle formed by itself and a first sensing position on the machine 300 in a two-dimensional space of a coordinate system, and the second angle detection element 233 is configured to detect a second included angle formed by itself and a second sensing position on the machine 300 in a two-dimensional space of the coordinate system; the control unit 210 is electrically connected to the first angle detecting element 232 and the second angle detecting element 233, and is configured to control the traveling chassis 110 to move when the first angle detecting element 232 detects that the difference between the first angle and the second angle detected by the second angle detecting element 233 is within a preset difference range, so that the transporting device 100 moves below the machine 300 along the preset direction.

Based on the above arrangement, the interaction between the first angle detecting element 232 and the first sensing position and the interaction between the second angle detecting element 233 and the second sensing position can determine the orientation between the transporting device 100 and the machine 300, so that the transporting device 100 can be ensured to smoothly move below the machine 300, so that the machine 300 can be conveniently carried by the transporting device 100, and the position accuracy between the transporting device 100 and the machine 300 can be ensured.

Illustratively, the first angle detecting element 232 and the second angle detecting element 233 may be infrared detecting sensors for determining whether the transporting device 100 can be moved to the bottom of the machine 300 when the machine 300 is taken, and accordingly, the first sensing position and the second sensing position are respectively provided with infrared sensing devices.

In the embodiment of the present application, the principle of the transporting device 100 taking the machine 300 is as follows:

Firstly, determining the butt joint direction of the machine 300 and the transporting device 100, wherein the transporting device 100 is provided with a first angle detecting element 232 and a second angle detecting element 233, the machine 300 is provided with a first sensing position and a second sensing position, when the transporting device 100 confirms the positive direction according to the coordinate system of the transporting device, the first angle detecting element 232 and the second angle detecting element 233 which are arranged on the transporting device 100 interact with the first sensing position and the second sensing position on the machine 300 respectively, so that the included angle between the connecting line of the first angle detecting element 232 and the first sensing position and the left-right direction of the transporting device 100, namely, a first included angle is theta ₁ in the coordinate system two-dimensional space of the first angle detecting element 232; an angle between the line connecting the second angle detecting element 233 and the second sensing position and the left-right direction of the transporting device 100, that is, a second angle, which is θ ₂ in the coordinate system two-dimensional space of the second angle detecting element 233, may also be obtained. Comparing the first included angle with the second included angle, judging whether the condition |theta ₁-θ₂ | < 10 degrees is met, and when the condition is met, indicating that the azimuth difference between the conveying device 100 and the machine 300 is smaller, in this case, the conveying device 100 can smoothly move to the lower part of the machine 300 without touching; when this condition is not satisfied, the traveling chassis 110 is controlled to move in the left-right direction of the transporter 100 until the angle requirement is satisfied, so that the transporter 100 can be smoothly moved below the machine 300 without touching.

Referring to fig. 2, 3 and 6, in some embodiments, the pick-and-place positioning detection unit 230 may further include a light detection element 234, where the light detection element 234 is disposed at the front of the walking chassis 110, for detecting the lighting amount at the bottom of the machine 300; the control unit 210 is electrically connected to the light detecting element 234, and is configured to determine whether the carrying platform 120 is moved into position according to the lighting amount. Illustratively, the light detecting element 234 may employ a light sensor, which may be installed at a front end of the surface of the carrying platform 120, for detecting the amount of light below the machine 300, so as to determine whether the lifting step may be performed when the machine 300 is taken.

Based on the above-described arrangement, after the transporting device 100 moves below the machine 300, whether the transporting device 100 moves in place can be determined by the amount of lighting at the bottom of the machine 300 detected by the light detecting element 234, specifically, when the amount of lighting below the machine 300 detected by the light detecting element 234 exceeds a threshold value of the set amount of lighting, it may be determined that the front end of the transporting device 100 is completely separated from the bottom of the machine 300, thereby determining that the transporting device 100 moves in place in the front-rear direction of itself.

When the transporting device 100 moves in place under the machine 300, the machine 300 can be carried, so as to facilitate the movement of the machine 300 and realize the transportation of the machine 300. In some embodiments, the transporting device 100 may further include a lifting mechanism 140, where the lifting mechanism 140 is disposed on the walking chassis 110, and the carrying platform 120 may be connected to the lifting mechanism 140, so as to lift the carrying platform 120 by using the lifting mechanism 140.

Considering that the carrying platform 120 also needs to move horizontally relative to the walking chassis 110, based on this, the lifting mechanism 140 may include a lifting seat 141 that can lift relative to the walking chassis 110, and the carrying platform 120 is slidably connected to the lifting seat 141, so that not only the horizontal movement of the carrying platform 120 can be achieved, but also the lifting of the carrying platform 120 can be achieved, so as to support the machine 300.

For example, one of the lifting seat 141 and the carrying platform 120 may be provided with a sliding rail, and the other one is provided with a sliding groove, and the sliding groove is slidably connected with the sliding rail, so as to ensure the stability and smoothness of the relative sliding between the carrying platform 120 and the lifting seat 141, and ensure the sliding precision of the carrying platform 120. The sliding rail may extend in a left-right direction of the transporter 100, so as to guide the loading platform 120 in the left-right direction.

In addition, the lifting mechanism 140 may further include a lifting module 142, where the lifting module 142 may be an air cylinder, a hydraulic cylinder, an electric cylinder, a servo motor screw slider group, and the specific form is not limited.

When the light sensor detects that the lighting amount at the bottom of the machine 300 exceeds the threshold value of the set lighting amount, the control unit 210 may control the lifting mechanism 140 to start, and the lifting seat 141 drives the carrying platform 120 to lift, so that the carrying platform 120 supports the machine 300, so as to facilitate the movement of the machine 300 to transport the machine 300.

Referring to fig. 6, in some embodiments, the control system 200 may further include a reference point positioning unit 240, where the reference point positioning unit 240 may include a second ranging angle detecting element 241, where the second ranging angle detecting element 241 is disposed at the front of the walking chassis 110 and is used to detect a distance and an angle between itself and a corresponding position in the removal station of the machine 300, so as to construct a spatial coordinate system at the removal site of the machine 300; the control unit 210 is electrically connected to the second ranging angle detecting element 241, and is configured to determine a coordinate position of the transporter 100 in the take-out site according to the distance and the angle detected by the second ranging angle detecting element 241, and control the traveling chassis 110 to move toward the take-out station, so that the transporter 100 moves to a preset position of the take-out station. For example, the second ranging angle detection element 241 may employ a reference point positioning sensor, which may be provided at the head of the walking chassis 110, for positioning the transporter 100 with respect to the entire field space.

In a more specific embodiment, the reference point positioning unit 240 may include two second ranging angle detecting elements 241, where the two second ranging angle detecting elements 241 are disposed at intervals along the left-right direction of the walking chassis 110, and the control unit 210 is configured to control the walking chassis 110 to move toward a reference point provided at the corresponding take-out station according to the distance and the angle between each of the two second ranging angle detecting elements 241 and the reference point provided at the take-out station. By this arrangement, the two second ranging angle detection elements 241 can be redundant to each other, and the detection accuracy and reliability can be further improved. In other embodiments, the second ranging angle detecting elements 241 may also be other numbers, which is not limited in particular.

Referring to fig. 7, in the embodiment of the present application, a coordinate system is set up at the site of taking out the machine 300, and the transportation device 100 detects the distance between itself and the reference point and the azimuth angle between the second ranging angle detecting element 241 and the reference point according to the second ranging angle detecting element 241 disposed at the front of the walking chassis 110, so as to construct a space coordinate system of the site of taking out, thereby realizing positioning of the transportation device 100.

During operation, the number and location of the reference point locations also have an impact on the accuracy of the coordinate system. For example, on the premise of taking out the whole site work stations, a reference point is placed at each taking-out work station, two second ranging angle detection elements 241 are arranged at the front part of the traveling chassis 110 of the conveying device 100, so that a plurality of reference points are redundant, and two second ranging angle detection elements 241 are redundant, thereby greatly increasing the positioning accuracy and reliability of the whole system.

Referring to fig. 2,4 and 5, in some embodiments, the transporting apparatus 100 may further include a plurality of rotating arms 150, where the plurality of rotating arms 150 are respectively provided on the walking chassis 110, each rotating arm 150 includes a chuck 151, and the chuck 151 is provided with a clamping groove 1511, and the clamping groove 1511 is used to clamp the rotating nut 320 screwed to the leg 310 of the machine 300. Through this kind of setting, can pass through the draw-in groove 1511 of every swivel arm 150 and the swivel nut 320 joint cooperation on the corresponding landing leg 310 to make swivel nut 320 rotate under the drive of swivel arm 150, because swivel nut 320 and landing leg 310 threaded connection, thereby can make landing leg 310 stretch out, so as to realize the support to board 300.

Illustratively, the bottom area of the machine 300 may be distributed with a plurality of rotatable nuts 320, each of the rotatable nuts 320 is provided with an internal thread, and accordingly, the machine 300 includes a plurality of legs 310, each of the legs 310 is provided with an external thread, whereby the rotatable nuts 320 are connected with the corresponding legs 310 through a screw-fit, and the legs 310 may be driven to move up and down to adjust the distance between the bottom ends of the legs 310 and the supporting surface when the rotatable nuts 320 are screwed. After the adjustment of the plurality of legs 310 is completed, the transportation device 100 can be released from supporting the machine 300, so that the support of the machine 300 can be realized through the plurality of legs 310, and the stability of the machine 300 is ensured.

In order to improve the stability of the machine 300, the machine 300 may include four legs 310, where the four legs 310 are distributed in corner areas of the machine 300, so as to increase an area enclosed by the four legs 310, thereby improving the stability of supporting the machine 300. Of course, the number of the legs 310 may be other, as long as the number can meet the supporting requirement and ensure the supporting stability, and the specific number is not limited.

To improve the support stability of the leg 310, the bottom end of the leg 310 may be provided with a shoe 311 having a relatively large cross-sectional area, so that the contact area between the leg 310 and the support surface may be increased, thereby improving the support stability of the leg 310.

In addition, a switch detecting sensor 270 for contacting the rotating nut 320 may be provided at the locking groove 1511, and the switch detecting sensor 270 may confirm whether the rotating arm 150 is moved in place, and when the rotating arm 150 is moved in place, the rotating nut 320 may be controlled to rotate through the locking groove 1511 so that the leg 310 is protruded.

Of course, the movement of the rotating arm 150 may be driven by a servo motor, and whether the screwing of the rotating nut 320 is in place may be judged by the torque fed back to the servo motor.

In some embodiments, the rotating arm 150 may employ a multi-axis mechanical arm, where one end of the rotating arm 150 is movably connected to the walking chassis 110, and the other end is a free end, and the rotating arm 150 has a plurality of rotating shafts between one end and the other end, where each rotating shaft is located, may be regarded as a joint, and a motor may be disposed at each rotating shaft. Based on the above arrangement, when the slot 1511 of the rotating arm 150 is clamped on the rotating nut 320, the rotating arm 150 can deform under the driving action of the plurality of motors, and the chuck 151 is driven to rotate along with the deformation of the rotating arm 150, so that the chuck 151 drives the rotating nut 320 to synchronously rotate, and the rotating nut 320 drives the supporting leg 310 to lift.

Of course, the rotating arm 150 may also employ a multi-axis robot or the like, as long as the rotating nut 320 can be screwed, and the specific form is not limited.

In order to prevent interference between the components, the rotating arm 150 may be screwed a plurality of times when each of the rotating nuts 320 is screwed, for example, each time by a certain angle, then the chuck 151 is separated from the rotating nut 320, the shape of the rotating arm 150 is changed, the chuck 151 is again clamped into the rotating nut 320, and the second screwing is performed, and so on, until the rotating nut 320 is screwed, and at this time, the leg 310 is abutted against the supporting surface. The extension of each leg 310 may be accomplished according to the above procedure so as to support the machine 300 through the plurality of legs 310.

Referring to fig. 6, in an embodiment of the present application, the control system 200 may further include a power supply unit, a system main control unit, a man-machine interaction unit 250, an obstacle avoidance unit 260, a communication unit, and the like.

The power supply unit is mainly used for supplying power for the operation of the transportation device 100 and for supplying power for the control unit 210. The power supply unit may employ a lithium battery that provides strong electricity to mainly power the movement of the transportation device 100, and may provide weak electricity to provide control electricity to the entire control system 200 through the voltage conversion module. In addition, the power supply unit also feeds back the battery remaining information to the control unit 210 in real time, and displays the battery remaining information on the interface of the control unit in real time through the man-machine interaction unit 250, and when the electric quantity is lower than a certain degree, an alarm prompt is thrown.

The control unit 210 adopts an embedded control mode, is a total control part of the whole control system 200, and has the main functions of receiving signals fed back by other detection units in the control system 200, processing the fed back signals to form control signals, and transmitting the control signals to the driving unit 130 so as to control the movement of the transportation device 100; in addition, it may also form some information to be monitored, and upload to the man-machine interaction unit 250, for monitoring the operation state of the whole system in real time.

The man-machine interaction unit 250 is configured to interact with the control unit 210, issue an instruction to the whole control system 200 through the part, and receive information fed back from the control unit 210; the man-machine interaction unit 250 may select the operation mode of the transportation device 100 to be an automatic mode or a manual mode, and the manual mode may be used for debugging, and the operation mode may be switched to the automatic mode after the debugging is completed to realize full-automatic operation. In addition, the man-machine interaction unit 250 also provides a status display interface, an alarm log interface, a parameter configuration interface, and the like.

The obstacle avoidance unit 260 serves to identify random obstacles encountered by the transporter 100 during traveling and to avoid them.

The communication unit is used for communicating with other units to realize signal transmission, and the wifi module can be used for realizing remote monitoring of the control system 200.

Referring to fig. 11, in the embodiment of the present application, the process of the platform fetching action of the carrying device 100 is as follows:

Starting;

Determining the working direction of the transporter 100;

determining theta ₁ and theta ₂;

Comparing theta ₁ with theta ₂, and judging whether the condition |theta ₁-θ₂ | < 10 degrees is satisfied;

When this condition is not satisfied, position adjustment is performed by the second driving piece 132 and the third driving piece 133 until the above condition is satisfied;

When the condition is met, the deviation correction preset speed V moves at a constant speed, and the deviation amount (namely, the deviation distance) is detected;

Offset distance

Judging the size relation between t ₁ and t ₂;

when t ₁＝t₂, correction is not needed, the light detection element 234 moves at a constant speed at the correction preset speed V until exceeding the set light extraction amount threshold value;

When t ₁＞t₂, calculating the offset and transmitting a right offset signal, enabling the second driving piece 132 to move forward to realize deviation correction, and when t ₁＜t₂, calculating the offset and transmitting a left offset signal, enabling the second driving piece 132 to move reversely to realize deviation correction; after the deviation correction, the transportation device 100 continues to move at a constant speed according to the target track at a preset speed V until the light detection element 234 stops beyond the preset light extraction amount threshold;

After the transportation device 100 stops moving, the lifting module 142 drives the lifting seat 141 to lift the machine 300;

And (5) ending.

Referring to fig. 12, in the embodiment of the present application, the process of the platform release action of the carrying device 100 is as follows:

Starting;

transporting the machine 300 into a placement station by a reference point positioning system;

Four-point accurate positioning is carried out, and whether offset exists in the front, the back, the left and the right is judged, wherein the deviation rectifying quantity DeltaX= | (H ₁cosΦ₁-H₂cosΦ₂)/2|minus DeltaL| which is adjusted in the X-axis direction is judged;

when H ₁cosΦ₁＝H₂cosΦ₂ is reached, the X-axis direction is not required to be adjusted, and only the offset DeltaL of the machine 300 relative to the transportation device 100 is required to be corrected;

When H ₁cosΦ₁＞H₂cosΦ₂, the left deviation correcting signal is sent out according to the calculated deviation amount delta X, the second driving piece 132 moves forward, and when H ₁cosΦ₁＜H₂cosΦ₂, the right deviation correcting signal is sent out according to the calculated deviation amount delta X, and the second driving piece 132 moves reversely;

the deviation rectifying amount delta Y= | (H ₁sinΦ₁-H₃sinΦ₃)/2| adjusted in the Y-axis direction is converted into a deviation rectifying signal, and the second driving piece 132 is controlled to carry out Y-axis deviation rectifying adjustment, so that the deviation rectifying is finished;

judging whether the condition |delta H| < 10mm is met, and continuing to adjust in the X-axis direction and/or the Y-axis direction when the condition is not met;

when the above condition is satisfied, the rotating arm 150 is extended according to the position of the leg 310 of the machine 300;

the switch detection sensor 270 of the swivel arm 150 triggers, controlling the swivel arm 150 to lower the leg 310;

Detecting abrupt change of torque of the rotating arm 150, stopping the rotation;

lowering the lifting mechanism 140, supporting the machine 300 through the supporting legs 310, and withdrawing the transporting device 100;

And (5) ending.

Based on the control system 200 of the transport device 100, the embodiment of the application also discloses a control method of the transport device 100, which is applied to the control system 200. The disclosed control method includes:

S100, controlling the conveying device 100 to move to a preset position of a target taking-out station;

S200, controlling the conveying device 100 to move from a preset position to the position below the machine 300 to be carried in the target taking-out station;

S300, detecting the horizontal relative position between the bearing platform 120 and the machine 300 of the transportation device 100, and controlling the horizontal movement of the bearing machine 300 according to the horizontal relative position so as to rectify the bearing platform 120;

S400, controlling the bearing platform 120 to ascend, and supporting the machine 300 through the bearing platform 120;

s500, controlling the conveying device 100 to move to a placing station according to a preset track, and positioning the conveying device 100 and a machine 300 carried by the conveying device 100;

s600, controlling the conveying device 100 to place the machine 300 at a preset position in the placing station.

Through the above steps, the transporting device 100 can smoothly move to the lower part of the machine 300 in the target taking-out station, so as to transport the target machine 300; moreover, the horizontal relative position between the bearing platform 120 and the machine 300 is adjusted by moving the bearing platform 120 in the horizontal direction, so that the deviation of the bearing platform 120 is corrected, and the position accuracy of the bearing platform 120 and the machine 300 in the horizontal direction is ensured; the positioning of the transportation device 100 and the machine 300 carried by the transportation device at the placement station ensures the position accuracy of the machine 300 at the placement station. Therefore, the embodiment of the application can ensure the position precision of the machine 300 in the process of taking the machine 300, also can ensure the position precision of the machine 300 in the process of placing the machine 300, is fully automatic, does not need to be manually participated, and can ensure the position precision of the machine 300 and reduce the labor intensity required by the transferring process of the machine 300.

Optionally, detecting a horizontal relative position between the carrying platform 120 and the machine 300 of the transporting apparatus 100, and controlling the carrying platform 120 to move horizontally according to the horizontal relative position to rectify the carrying platform 120, including:

Acquiring a time difference of a duration in which two offset detection elements 221 on the transporter 100 interact with respective corresponding detection areas on the machine 300 to be triggered;

Calculating the offset distance required to be moved by the bearing platform 120 according to the time difference;

the load bearing platform 120 is controlled to move horizontally an offset distance.

Further, when the duration of the first one of the two offset detection elements 221 is longer than the duration of the second one, the load-bearing platform 120 is controlled to move an offset distance along the direction from the second one to the first one;

When the duration of the first one of the two offset detection elements 221 is smaller than the duration of the second one, the load platform 120 is controlled to move an offset distance along the direction from the first one to the second one;

in case that the duration of the first one of the two offset detection elements 221 being triggered is equal to the duration of the second one being triggered, the load platform 120 is controlled to be stationary.

Based on the above steps, the accuracy of the relative position between the carrying platform 120 and the platform 300 to be carried can be ensured.

It should be noted that, the specific principle and process of how to control the horizontal movement offset distance of the carrying platform 120 are described in detail in the control system 200, and reference may be made to the above related matters, which are not repeated herein.

In some embodiments, positioning the transporter 100 and the machine 300 carried thereby includes:

Acquiring a plurality of groups of distances and angles between each of the plurality of first ranging angle detection elements 231 on the transporter 100 and each corresponding position in the placement station;

Respectively calculating the offset of the conveying device 100 relative to the placing station on the X axis and the Y axis according to the multiple groups of distances and angles;

The transport device 100 is controlled to move the offset in the X-axis and the offset in the Y-axis in the X-axis.

Through the steps, the accurate correction of the machine 300 on the X axis and the Y axis can be realized, so that the machine 300 can be positioned at the center of the placing station, and the position accuracy of the machine 300 is ensured.

It should be noted that, the specific principle and process of how to control the position accuracy of the machine 300 in the placement station are described in detail in the control system 200, and reference may be made to the above related matters, which are not repeated herein.

In the embodiment of the present application, the control system 200 of the transportation device 100 has the following working principles:

the offset detecting element 221 in the deviation correcting unit 220, the first ranging angle detecting element 231, the first angle detecting element 232, the second angle detecting element 233, the light detecting element 234 in the pick-and-place positioning detecting unit 230, and the second ranging angle detecting element 241 in the reference point positioning unit 240, respectively, transmit the detected information to the control unit 210, and are converted into driving signals by the control unit 210, and are issued to the first driving piece 131, the second driving piece 132, the third driving piece 133 in the driving unit 130, the lifting module 142 in the lifting mechanism 140, the rotating arm 150, and the like, to control the executing members to perform corresponding movements.

The driving signals include a first driving signal, a second driving signal, a third driving signal, a fourth driving signal and a fifth driving signal, which respectively control the first driving member to enable the carrying platform 120 to move horizontally; controlling the second drive 132 to control the speed of the chassis 110; controlling the third driving part 133 to control the steering of the traveling chassis 110; the lifting module 142 is controlled to lift the carrying platform 120; controlling the movement of the rotating arm 150.

In the embodiment of the present application, the specific implementation flow of the control system 200 and the control method of the transportation device 100 is as follows:

Step 1, after starting, the system detects the electric quantity information fed back by the power supply unit, detects the current state of the whole transportation device 100 through the pressure sensor, and if the current state carries the machine 300 and other fault alarm information, if so, the system can switch to a manual mode for manual investigation, and eliminates the alarm information.

Step2, performing initial position location, setting a plurality of reference position points, setting a principle to ensure that the whole field space is dispersed, defining a certain reference point position as an origin, combining detection distances and azimuth angles of the reference point locating unit 240 to the plurality of reference points, forming a reference point locating unit 240, a coordinate system of the conveying device 100 and a station taking-out coordinate system, and confirming an initial working direction of the conveying device 100.

And step 3, configuring relevant parameters of the running speed, a deviation correction threshold value, a detection angle matching threshold value and a target taking-out station.

And 4, calculating and making a travel route from the central position coordinates of the conveying device 100 to the central point coordinates of the target taking-out station according to the acquired position information.

Step 5, starting the control system 200 of the transportation device 100, and executing the machine station 300 taking process on the designated position;

Step 6, in the process of taking the machine 300, the reference point positioning unit 240 is utilized to collect the distances and azimuth angles of a plurality of reference points in real time, and calculate to obtain the real-time accurate position coordinates of the transportation device 100.

Step 7, matching the position coordinates fed back by the reference point positioning unit 240 in real time with the path information given under the initial condition, and controlling the second driving member 132 and the third driving member 133 to perform real-time adjustment according to the set deviation correcting threshold.

Step 8, after entering the placing station, executing the process of the placing machine 300;

step 9, the transporter 100 returns to the initial position, and the position coordinates at that time are updated.

In summary, the embodiment of the application can reduce the cost of the on-site manual transportation machine 300, realize the full-automatic picking, placing and moving of the transportation device 100, have higher reliability, and greatly improve the safety of the machine 300.

The embodiments of the present application have been described above with reference to the accompanying drawings, but the present application is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and many forms may be made by those having ordinary skill in the art without departing from the spirit of the present application and the scope of the claims, which are to be protected by the present application.

Claims

1. A control system for a transport device, characterized in that,

The transportation device (100) comprises a walking chassis (110), a bearing platform (120) and a driving unit (130), wherein the bearing platform (120) and the driving unit (130) are respectively arranged on the walking chassis (110), the driving unit (130) comprises a first driving piece (131), and the first driving piece (131) is connected with the bearing platform (120) and is used for driving the bearing platform (120) to horizontally move relative to the walking chassis (110);

The control system (200) comprises a control unit (210) and a deviation rectifying unit (220), wherein the deviation rectifying unit (220) comprises a deviation amount detection element (221) arranged on the walking chassis (110), and the deviation amount detection element (221) is used for detecting the horizontal relative position between the bearing platform (120) and the machine (300) below the machine (300) to be borne;

The control unit (210) is electrically connected with the offset detection element (221) and the first driving piece (131) respectively, and is used for controlling the first driving piece (131) to drive the bearing platform (120) to horizontally move according to the horizontal relative position detected by the offset detection element (221) so as to rectify the bearing platform (120).

2. The control system of a transportation device according to claim 1, wherein the deviation correcting unit (220) comprises two offset detecting elements (221) arranged at intervals in the front of the walking chassis (110) along the left-right direction of the walking chassis (110), the two offset detecting elements (221) being respectively used for being triggered by acting on a detection area provided by the machine (300);

the control unit (210) is configured to calculate an offset distance required to be moved by the carrying platform (120) according to a time difference between durations of the two offset detection elements (221) triggered by the two offset detection elements, and control the first driving element (131) to drive the carrying platform (120) to move the offset distance.

3. The control system of a transport device according to claim 2, wherein the detection area is a sector area, the two offset detection elements (221) are a first offset detection element and a second offset detection element, respectively, and the first driver (131) drives the carrying platform (120) to move the offset distance in the direction from the second offset detection element to the first offset detection element in case that the duration of the first offset detection element being triggered is greater than the duration of the second offset detection element being triggered;

when the duration of the first offset detection element triggered is smaller than the duration of the second offset detection element triggered, the first driving piece (131) drives the bearing platform (120) to move the offset distance along the direction from the first offset detection element to the second offset detection element;

The carrying platform (120) is stationary relative to the chassis (110) if the first offset detection element is triggered for a duration equal to the second offset detection element.

4. The control system of a transport device according to claim 1, wherein the control system (200) further comprises a pick-and-place positioning detection unit (230), the pick-and-place positioning detection unit (230) comprises a plurality of first ranging angle detection elements (231) respectively arranged on the walking chassis (110), and the plurality of first ranging angle detection elements (231) are respectively used for detecting distances and angles between the first ranging angle detection elements and corresponding positions in a placement station of the machine (300);

The control unit (210) is electrically connected with the plurality of first ranging angle detection elements (231) respectively, and is used for controlling the traveling chassis (110) to move in the placing station according to a plurality of groups of distances and angles detected by the plurality of first ranging angle detection elements (231) so as to position the conveying device (100) and the machine (300) carried by the conveying device in the placing station.

5. The control system of a transportation device according to claim 4, wherein the driving unit (130) further comprises a second driving member (132) and a third driving member (133), the second driving member (132) and the third driving member (133) being respectively provided to the traveling chassis (110), the second driving member (132) being configured to drive the wheels of the traveling chassis (110) to rotate, and the third driving member (133) being configured to drive the wheels of the traveling chassis (110) to steer;

The control unit (210) is electrically connected with the second driving piece (132) and the third driving piece (133) respectively, and is used for controlling the second driving piece (132) to drive the wheel to rotate and controlling the third driving piece (133) to drive the wheel to turn, so that the conveying device (100) and the machine table (300) carried by the conveying device move to the central position of the placing station according to a plurality of groups of distances and angles detected by the first ranging angle detection elements (231).

6. The control system of a transportation device according to claim 1, wherein the control system (200) further comprises a pick-and-place positioning detection unit (230), the pick-and-place positioning detection unit (230) comprises a first angle detection element (232) and a second angle detection element (233) which are arranged at the front part of the walking chassis (110) at intervals along the left-right direction of the walking chassis (110), the first angle detection element (232) is used for detecting a first included angle formed by the first angle detection element and a first sensing position on the machine table (300) in a two-dimensional space of a coordinate system, and the second angle detection element (233) is used for detecting a second included angle formed by the second angle detection element and a second sensing position on the machine table (300) in the two-dimensional space of the coordinate system;

The control unit (210) is electrically connected with the first angle detection element (232) and the second angle detection element (233) respectively, and is used for controlling the traveling chassis (110) to move so that the conveying device (100) moves to the lower side of the machine table (300) along the preset direction when the difference value between the first included angle detected by the first angle detection element (232) and the second included angle detected by the second angle detection element (233) is within the preset difference value range.

7. The control system of a transportation device according to claim 1, wherein the control system (200) further comprises a pick-and-place positioning detection unit (230), the pick-and-place positioning detection unit (230) comprises a light detection element (234), and the light detection element (234) is arranged at the front part of the walking chassis (110) and is used for detecting the light emission amount at the bottom of the machine table (300);

The control unit (210) is electrically connected with the light detection element (234) and is used for judging whether the bearing platform (120) moves in place according to the lighting amount.

8. The control system of a transport device according to claim 7, wherein the transport device (100) further comprises a lifting mechanism (140), the lifting mechanism (140) being provided on the walking chassis (110), the lifting mechanism (140) comprising a lifting seat (141) being liftable with respect to the walking chassis (110), the carrying platform (120) being slidably connected to the lifting seat (141);

The control unit (210) is used for controlling the lifting mechanism (140) to drive the bearing platform (120) to lift when the lighting amount exceeds the preset lighting amount so as to support the machine (300) through the bearing platform (120).

9. The control system of a transport device according to claim 1, characterized in that the control system (200) further comprises a reference point positioning unit (240), the reference point positioning unit (240) comprising a second ranging angle detection element (241), the second ranging angle detection element (241) being provided in front of the travelling chassis (110) for detecting the distance and angle between itself and the corresponding position in the extraction station of the machine (300) for constructing a spatial coordinate system at the extraction site of the machine (300);

The control unit (210) is electrically connected with the second ranging angle detection element (241) and is used for determining the coordinate position of the conveying device (100) in the taking-out site according to the distance and the angle detected by the second ranging angle detection element (241) and controlling the travelling chassis (110) to move towards the taking-out station so as to enable the conveying device (100) to move to the preset position of the taking-out station.

10. The control system of a transportation device according to claim 9, wherein the reference point positioning unit (240) comprises two second ranging angle detection elements (241), the two second ranging angle detection elements (241) being arranged at intervals along the left-right direction of the walking chassis (110);

The control unit (210) is used for controlling the walking chassis (110) to move towards one reference point corresponding to the taking-out station according to the distance and the angle between each of the two second ranging angle detection elements (241) and the reference point corresponding to the taking-out station.

11. The control system of a transporter according to claim 1, wherein the transporter (100) further comprises a plurality of rotating arms (150), the plurality of rotating arms (150) being respectively provided to the walking chassis (110);

Each rotating arm (150) comprises a chuck (151), the chuck (151) is provided with a clamping groove (1511), and the clamping groove (1511) is used for clamping a rotating nut which is connected with the supporting leg (310) of the machine table (300) in a threaded mode.

12. A control method of a transportation device, characterized by comprising:

Controlling the transportation device (100) to move to a preset position of a target taking-out station;

Controlling the transportation device (100) to move from the preset position to the position below a machine table (300) to be carried in the target taking-out station;

detecting the horizontal relative position between a bearing platform (120) of the conveying device (100) and the machine table (300), and controlling the bearing platform (120) to move horizontally according to the horizontal relative position so as to rectify the bearing platform (120);

Controlling the bearing platform (120) to ascend, and supporting the machine table (300) through the bearing platform (120);

Controlling the conveying device (100) to move to a placing station according to a preset track, and positioning the conveying device (100) and the machine (300) carried by the conveying device;

And controlling the conveying device (100) to place the machine table (300) at a preset position in the placing station.

13. The control method according to claim 12, wherein detecting a horizontal relative position between the carrying platform (120) of the transporting device (100) and the machine (300), and controlling the carrying platform (120) to move horizontally according to the horizontal relative position, so as to correct the deviation of the carrying platform (120), includes:

acquiring a time difference of time duration of triggering by acting two offset detection elements (221) on the conveying device (100) with corresponding detection areas on the machine table (300);

Calculating an offset distance required to be moved by the bearing platform (120) according to the time difference;

-controlling the carrying platform (120) to move horizontally by the offset distance.

14. The control method according to claim 13, characterized in that when a first one of the two offset detection elements (221) is triggered for a duration longer than a second one, the carrying platform (120) is controlled to move the offset distance in a second to first direction;

controlling the carrying platform (120) to move the offset distance in the direction from the first to the second when the duration of the first one of the two offset detection elements (221) being triggered is less than the duration of the second one being triggered;

-controlling the load platform (120) to be stationary in case a first of the two offset detection elements (221) is triggered for a duration equal to a duration for which a second is triggered.

15. The control method according to claim 12, wherein positioning the transport device (100) and the machine (300) carried thereby comprises:

Acquiring a plurality of groups of distances and angles between each of a plurality of first ranging angle detection elements (231) on the transport device (100) and each corresponding position in the placement station;

respectively calculating the offset of the conveying device (100) relative to the placing station on the X axis and the Y axis according to a plurality of groups of the distances and the angles;

controlling the transport device (100) to move the offset in the X-axis and the Y-axis in the X-axis.