CN112180949B

CN112180949B - Positioning rail alignment control method and device and transport vehicle positioning rail alignment system

Info

Publication number: CN112180949B
Application number: CN202011191654.9A
Authority: CN
Inventors: 张剑; 唐志杰; 谢忠全
Original assignee: Changsha Yuanda Rubik's Cube Technology Co ltd
Current assignee: Changsha Yuanda Rubik's Cube Technology Co ltd
Priority date: 2020-10-30
Filing date: 2020-10-30
Publication date: 2024-07-30
Anticipated expiration: 2040-10-30
Also published as: CN112180949A

Abstract

The invention relates to a positioning rail alignment control method and device and a transport vehicle positioning rail alignment system. The positioning and rail-aligning control method comprises the following steps: when the transport vehicle is detected to reach a first position, acquiring a first distance, wherein the first position is a position where a preset traversing trolley and a traversing guide rail start to be aligned, and the first distance is a distance between the transport vehicle and a preset reference object; when the absolute value of the difference value between the first distance and the first calibration threshold value is smaller than the first difference value threshold value, the running of the transport vehicle is controlled in a closed loop mode according to the difference value between the first distance and the second calibration threshold value; and controlling the transport vehicle to stop when the absolute value of the difference between the first distance and the second calibration threshold is smaller than the second difference threshold. Compared with the prior art, the invention can avoid inaccurate stop position of the transport vehicle caused by inaccurate positioning, running inertia of the transport vehicle or levelness error of the vehicle rail, thereby avoiding that the transverse guide rail and the transverse trolley can not accurately align the rail, being beneficial to improving the use efficiency and the automation degree of equipment and reducing the manual rail aligning cost.

Description

Positioning rail alignment control method and device and transport vehicle positioning rail alignment system

Technical Field

The invention relates to the technical field of assembly type building production lines, in particular to a positioning rail alignment control method and device and a transport vehicle positioning rail alignment system.

Background

In the existing production process of assembled PC (precast concrete), after curing and demolding are completed, the finished PC is transported to a finished product material storage area for storage through a comprehensive transport vehicle, and after the comprehensive transport vehicle reaches the finished product material storage area, the finished product PC material is transported to a station frame appointed by the finished product material storage area for storage through a transverse movement guide rail on the station frame in a translation manner through a PC board transverse movement trolley on the comprehensive transport vehicle.

In general, the integrated transport vehicle consists of a cart running longitudinally, a PC board traversing cart and a ground track. The comprehensive transport vehicle moves along the ground track, and when the comprehensive transport vehicle moves to a stop position of the designated station frame, the comprehensive transport vehicle automatically stops moving, and then the PC board traversing trolley traverses the finished PC materials carried by the comprehensive transport vehicle to the designated station frame for storage. In order to control the comprehensive transport vehicle to stop running at a specified stop position, a proximity switch is generally arranged on the comprehensive transport vehicle in the prior art, and a sensing block arranged on a station frame is sensed by the proximity switch to control the comprehensive transport vehicle to run. If the induction block corresponding to a certain stop position is not induced by a proximity switch due to human or other factors during running, the judgment of the system on the position is wrong, meanwhile, the system is also influenced by the running inertia of the comprehensive transport vehicle, the levelness error of the track and the like, the comprehensive transport vehicle is easy to have larger deviation at the stop position, the reliability of the mode is poor, the positioning is inaccurate, and the PC board traversing trolley and the traversing guide rail cannot be normally butted.

Disclosure of Invention

Based on the above, it is necessary to provide a positioning and track alignment control method and device for improving the defects and a positioning and track alignment system for a transport vehicle, aiming at the problem that the PC board traversing trolley and the traversing guide rail cannot accurately align due to poor fixed-point parking reliability and inaccurate positioning of the transport vehicle by only arranging a position sensor in the prior art.

In one aspect, the embodiment of the invention provides a positioning and rail alignment control method, which is applied to a transport vehicle, wherein the transport vehicle is configured to travel towards a station frame, a traversing trolley is arranged on the transport vehicle, and the positioning and rail alignment method comprises the following steps:

When the transport vehicle is detected to reach a first position, a first distance is acquired; the first position is a position where the preset traversing trolley and the traversing guide rail positioned on the station frame start to be aligned, and the first distance is a distance between the transport trolley and a preset reference object;

when the absolute value of the difference value between the first distance and the first calibration threshold value is smaller than the first difference value threshold value, the running speed and the running direction of the transport vehicle are controlled in a closed loop mode according to the difference value between the first distance and the second calibration threshold value;

And when the absolute value of the difference value between the first distance and the second calibration threshold value is smaller than a second difference value threshold value, controlling the transport vehicle to stop running.

In one embodiment, before the step of acquiring the first distance when the transporter arrives at the first location, the method further includes the steps of:

when the transport vehicle is detected to reach a second position, controlling the transport vehicle to slow down to a first speed threshold value for running; the second position is a preset position located on one side of the first position opposite to the running direction of the transport vehicle.

In one embodiment, before the step of controlling the transport vehicle to slow down to the first speed threshold when the transport vehicle is detected to reach the second position, the method further includes the following steps:

When the transport vehicle is detected to reach a third position, controlling the transport vehicle to run according to a second speed threshold;

the third position is a preset position positioned on one side of the second position opposite to the running direction of the transport vehicle; the second speed threshold is greater than the first speed threshold.

generating a count value according to the number of times of the acquired position signals;

Correspondingly, when the transport vehicle is detected to reach the first position, the step of acquiring the first distance further comprises the following steps:

And when the count value is detected to be a first count threshold value, acquiring the first distance.

In one embodiment, before the step of controlling the transport vehicle to travel according to the second speed threshold when the transport vehicle is detected to reach the third position, the method further includes the steps of:

Resetting the count value to a preset value when the transport vehicle is detected to reach a fourth position; the fourth position is a preset position located on the side, opposite to the running direction of the transport vehicle, of the third position.

In one embodiment, when the absolute value of the difference between the first distance and the first calibration threshold is smaller than the first difference threshold, the step of controlling the running speed and the running direction of the transport vehicle in a closed loop according to the difference between the first distance and the second calibration threshold further includes the following steps:

recording the track alignment time;

When the absolute value of the difference between the first distance and the first calibration threshold is smaller than the first difference threshold, the method further comprises the following steps of:

And when the absolute value of the difference value between the first distance and the second calibration threshold value is larger than the second difference value threshold value and the rail alignment time is larger than the first time threshold value, controlling the transport vehicle to stop running, and sending alarm information.

The embodiment of the invention also provides a positioning and rail-aligning control device, which is applied to a transport vehicle, wherein the transport vehicle is configured to travel towards a station frame, and a traversing trolley is arranged on the transport vehicle, and is characterized in that the positioning and rail-aligning control device comprises:

The acquisition module is used for acquiring a first distance when the transport vehicle is detected to reach a first position, wherein the first position is a position where a preset traversing trolley starts to be aligned with a traversing guide rail positioned on the station frame, and the first distance is a distance between the transport vehicle and a preset reference object;

The first control module is used for controlling the running speed and the running direction of the transport vehicle in a closed loop mode according to the difference value of the first distance and the second calibration threshold value when the absolute value of the difference value of the first distance and the first calibration threshold value is smaller than the first difference value threshold value; and the control unit is used for controlling the transport vehicle to stop running when the absolute value of the difference value between the first distance and the second calibration threshold value is smaller than the second difference value threshold value.

Another aspect of the embodiment of the present invention further provides a positioning and rail aligning system for a transport vehicle, including:

The transport vehicle comprises a vehicle body, a traversing trolley arranged on the vehicle body and a driving unit, wherein the driving unit is used for driving the vehicle body to travel towards the station frame;

A positioning assembly including a ranging sensor and a position sensor provided on the vehicle body, and a measured element and a sensed element configured to be arranged along a travel path of the transportation vehicle; the detected element is matched with the ranging sensor, and the detected element is matched with the position sensor; the sensed element comprises a first sensed element positioned at a first position, wherein the first position is a position where a preset traversing trolley starts to be aligned with a traversing guide rail positioned on the station frame; the method comprises the steps of,

The control assembly is arranged on the vehicle body and comprises a controller electrically connected with the ranging sensor, the position sensor and the driving unit;

The controller is used for receiving a first position signal generated when the position sensor senses the first sensed element so as to detect that the transport vehicle reaches the first position; the controller is used for acquiring a first distance measured by the ranging sensor when the transport vehicle is detected to reach the first position; the controller is further used for controlling the running speed and the running direction of the transport vehicle in a closed loop mode according to the difference value of the first distance and the second calibration threshold value when the absolute value of the difference value of the first distance and the first calibration threshold value is smaller than the first difference value threshold value; the controller is also used for controlling the transport vehicle to stop running when the absolute value of the difference value between the first distance and the second calibration threshold value is smaller than a second difference value threshold value.

In one embodiment, the sensed element further includes a second sensed element disposed on a side of the first sensed element opposite to a traveling direction of the transportation vehicle;

The controller is also used for receiving a second position signal generated when the position sensor senses the second sensed element and controlling the transport vehicle to drive according to the first speed threshold value according to the second position signal.

In one embodiment, the sensed element further includes a third sensed element disposed on a side of the second sensed element opposite to a traveling direction of the transportation vehicle;

The controller is also used for receiving a third position signal generated when the position sensor senses the third sensed element and controlling the transport vehicle to drive according to a second speed threshold value according to the third position signal, and the second speed threshold value is larger than the first speed threshold value.

According to the positioning and rail-aligning control method, when the transport vehicle is detected to reach the first position, a first distance is obtained; when the absolute value of the difference value between the first distance and the first calibration threshold value is smaller than the first difference value threshold value, calculating the difference value between the first distance and the second calibration threshold value, and performing closed-loop control on the running direction and the running speed of the transport vehicle according to the difference value between the first distance and the second calibration threshold value so as to realize automatic positioning and track alignment, and meanwhile, when the absolute value of the difference value between the first distance and the second calibration threshold value is smaller than the second difference value threshold value, controlling the transport vehicle to stop running. According to the invention, a certain alignment distance is reserved, automatic positioning of the alignment is realized based on closed loop control, and compared with the prior art, the induction block is not required to be directly arranged at the stop position, so that the problem of position induction errors caused by the fact that the induction block at the stop position cannot be normally induced by a position sensor is avoided; meanwhile, a certain alignment distance is reserved, so that inaccurate stop positions of the transport vehicle caused by incapability of normal induction of a position sensor and running inertia of the transport vehicle or levelness errors of the vehicle rails can be avoided, the situation that transverse guide rails and transverse trolleys cannot be aligned accurately is avoided, the problems that equipment utilization efficiency is low and manual alignment cost is high due to clamping stagnation of the transverse trolleys in the transverse moving process are avoided, and meanwhile the degree of automation of the whole equipment is improved.

Drawings

Fig. 1 is a flowchart of a positioning and rail-to-rail control method according to a first embodiment of the present invention;

FIG. 2 is a flowchart of a positioning and rail-to-rail control method according to a second embodiment of the present invention;

FIG. 3 is a flowchart of a positioning and rail-to-rail control method according to a third embodiment of the present invention;

FIG. 4 is a flowchart of a positioning and rail-to-rail control method according to a fourth embodiment of the present invention;

FIG. 5 is a schematic diagram of a positioning and rail-aligning control device according to a fifth embodiment of the present invention;

FIG. 6 is a schematic diagram illustrating an application of a rail system for positioning a transport vehicle according to a sixth embodiment of the present invention;

FIG. 7 is a schematic diagram illustrating an application of a rail system for positioning a transport vehicle according to a seventh embodiment of the present invention;

fig. 8 is a schematic structural diagram of a transport vehicle according to an eighth embodiment of the present invention.

Detailed Description

In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The present invention may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit of the invention, whereby the invention is not limited to the specific embodiments disclosed below.

The positioning and rail-aligning control method provided by the embodiment of the invention is mainly applied to a transport vehicle 1, in particular to a transport vehicle 1 for a concrete prefabricated part, wherein the transport vehicle 1 is configured to travel towards a station frame 2 along a travel path of the transport vehicle 1 so as to transfer the carried prefabricated part to the station frame 2. Referring to fig. 6 and 8, a traversing carriage 11 is provided on the carriage 1, a traversing rail 201 is provided on the station frame 2, and the traversing carriage 11 can move onto the station frame 2 along the traversing rail 201.

The following describes the technical scheme in the embodiment of the present invention in detail with reference to the accompanying drawings.

Referring to fig. 1, a first embodiment of the present invention provides a positioning and rail-aligning control method, which includes the following steps:

S101, when the transport vehicle 1 is detected to reach a first position, acquiring a first distance, wherein the first position is a position where a preset traversing trolley 11 and a traversing guide rail 201 start to be aligned, and the first distance is a distance between the transport vehicle 1 and a preset reference object;

in the present embodiment, the main body that performs the positioning rail control method is the positioning rail control device 5. The positioning and rail-aligning control device 5 can be a device or equipment with processing functions such as a Central Processing Unit (CPU), a Micro Control Unit (MCU), a single chip microcomputer, an industrial personal computer and the like.

In an application scenario, referring to fig. 6 to 8, the transport vehicle 1 is further provided with a position sensor 12 and a ranging sensor 13, and along a driving path of the transport vehicle 1, a detected element 15 adapted to the ranging sensor 13 and a detected element adapted to the position sensor 12 are provided, where the detected element includes a first detected element 141 located at a first position, and the first position is a position where a preset traversing carriage 11 and a traversing rail 201 begin to be aligned. Wherein the measured element 15 is used as a preset reference object. The positioning and rail-aligning control device 5 is electrically connected with the ranging sensor 13, the position sensor 12 and the driving unit of the transport vehicle 1 respectively.

The first position should be close to the station frame 2 to reduce the track alignment length and accelerate the positioning track alignment process.

Wherein, a track 3 is arranged along the running path of the transport vehicle 1, and the transport vehicle runs along the track 3. The number of station racks 2 may be one or more, and the transport carriage 1 transports the prefabricated parts carried by it to one of the station racks 2 at a time.

In the present embodiment, when the positioning rail control device 5 detects the first position, the first distance is acquired. In the above application scenario, when the position sensor senses the first sensed element 141, it indicates that the transport vehicle 1 reaches the first position and enters the track-alignment section. The first distance is a distance between the distance measuring sensor 13 and the measured element 15 measured by the distance measuring sensor 13 when the transport vehicle 1 is located at the first position. The specific installation position of the measured element 15 is not limited, and may be set on the station frame 2, or may be set outside the station frame 2, so long as the measured element can be adapted to the ranging sensor 13. When there are a plurality of the station racks 2, the plurality of station racks 2 may share one tested element 15.

Preferably, the first position is close to the station frame 2, and is located on the opposite side of the stop position of the station frame 2 to the running direction of the transport vehicle 1, that is, the transport vehicle 1 passes through the first position before reaching the stop position, and the stop position of the station frame 2 is the position where the traversing trolley 11 and the transverse guide rail are accurately aligned. In this way, a certain distance can be reserved for calibration, so that position deviation caused by touch switch sensing delay or signal transmission delay or driving inertia can be avoided.

S102, when the absolute value of the difference value between the first distance and the first calibration threshold is smaller than the first difference value threshold, the running speed and the running direction of the transport vehicle are controlled in a closed loop mode according to the difference value between the first distance and the second calibration threshold;

After the positioning and track-setting control device 5 obtains the first distance, it is determined whether the absolute value of the difference between the first distance and the first calibration threshold is smaller than the first difference threshold. The first calibration threshold is the distance between the transport vehicle 1 and the preset reference object when the transport vehicle 1 is at the preset starting track alignment position (i.e. the first position) in the ideal state, and the first difference threshold represents the allowable error distance when the transport vehicle 1 reaches the first position in the ideal state. When the absolute value of the difference value between the first distance acquired by the transport vehicle at the first position and the first calibration threshold is smaller than the first difference threshold, the situation that the position sensor 12 is positioned and calibrated normally and the distance sensor 13 is measured normally in the application scene is indicated, so that the fault condition of the position sensor 12 and the distance sensor 13 is eliminated.

When both the position sensor 12 and the distance measuring sensor 13 are normal, the transport vehicle starts to enter the track alignment stage after reaching the first position. First, a difference between the first distance and the second calibration threshold is calculated. When the second calibration threshold is the stop position of the carrier vehicle 1 at the station frame 2 in an ideal state, the distance between the carrier vehicle 1 and a preset reference object can be obtained by calculating the difference value between the first distance and the second calibration threshold, and the distance between the current position of the carrier vehicle 1 and the stop position of the station frame 2 can be obtained.

And carrying out closed-loop control on the running speed and the running direction of the transport vehicle 1 according to the difference value of the first distance and the second calibration threshold value so as to control the stop position of the transport vehicle 1 continuously approaching the station frame 2 in real time. Wherein, the traveling direction and the traveling speed of the transport vehicle 1 are controlled in a closed loop according to the difference value, so as to realize the automatic positioning and rail alignment of the traversing trolley 11 and the traversing rail 201. The closed-loop control process may be based on an improved closed-loop control method, or may refer to an existing closed-loop control method, which is not described herein.

And S103, when the absolute value of the difference value between the first distance and the second calibration threshold value is smaller than the second difference value threshold value, controlling the transport vehicle to stop running.

When the absolute value of the difference between the first distance and the second calibration threshold is smaller than the second difference threshold, which indicates that the transport vehicle 1 has reached the stop position, the transport vehicle 1 is controlled to stop traveling, thereby realizing positioning and track alignment of the traversing carriage 11 and the traversing rail 201. The second difference threshold may be set according to the allowable rail error value of the traverse carriage 11 and the traverse rail 201, and is not limited herein.

In this embodiment, if the absolute value of the difference between the first distance and the first calibration threshold is greater than the first difference threshold, it indicates that the positioning or ranging of the transport vehicle is inaccurate, that is, the positioning and calibration of the position sensor 12 is abnormal or the positioning and calibration of the ranging sensor 13 is abnormal in the application scenario. At this time, the transport vehicle 1 is controlled to stop running, and first alarm information is sent to indicate that abnormality exists in positioning or ranging of the transport vehicle, and remind a worker to check the equipment state to eliminate possible faults. In particular, in the embodiment, the positioning rail-to-rail control device 5 may be connected to an alarm, and send out an alarm by controlling the alarm to sound, or may be connected to the man-machine interaction module 161 (for example, a display touch screen), and send out an alarm by displaying alarm information on the man-machine interaction module 161.

In the present embodiment, when it is detected that the transport vehicle 1 reaches the first position, a first distance is acquired; and when the absolute value of the difference between the first distance and the first calibration threshold is smaller than the first difference threshold, performing closed-loop control on the running direction and the running speed of the transport vehicle 1 according to the difference between the first distance and the second calibration threshold so as to realize automatic positioning and track alignment, and simultaneously controlling the transport vehicle 1 to stop running when the absolute value of the difference between the first distance and the second calibration threshold is smaller than the second difference threshold.

Compared with the prior art, the induction block is not required to be directly arranged at the stop position, so that the problem of position induction errors caused by the fact that the induction block at the stop position cannot be normally induced by the position sensor is avoided; meanwhile, a certain alignment distance is reserved, automatic positioning and alignment are realized based on closed-loop control, and inaccuracy of the stop position of the transport vehicle 1 caused by running inertia of the transport vehicle or levelness error of the vehicle rail 3 can be avoided, so that the problem that a transverse guide rail and the transverse trolley cannot accurately align the rail is avoided, and further the problems of low equipment use efficiency and high manual alignment cost caused by clamping stagnation of the transverse trolley in the transverse moving process are avoided, and meanwhile, the automation degree of the whole equipment is also improved.

Referring to fig. 2, a flowchart of a positioning and track-aligning method according to a second embodiment of the present invention includes steps S201 to S204, wherein steps S202 to S204 are the same as steps S101 to S103, and are not repeated herein, and the difference is that step S202 is preceded by step S201, which is described in detail as follows:

And S201, controlling the transport vehicle to slow down to a first speed threshold value to run when the transport vehicle is detected to reach a second position, wherein the second position is a preset position positioned on the side of the first position opposite to the running direction of the transport vehicle.

In the present embodiment, the second position is located on the opposite side of the first position from the traveling direction of the transport vehicle 1. That is, the transport vehicle 1 passes through the second position and the first position one after the other while traveling toward the station frame 2.

Based on the application scenario, the sensed element further includes a second sensed element 142 located at a second position. In this way, the second sensed element 142 is disposed at the second position, and when the transport vehicle 1 reaches the second position, the position sensor 12 senses the second sensed element 142 and generates a position signal, and the positioning and track alignment control device 5 determines that the transport vehicle reaches the second position according to the position signal.

When the positioning rail-to-rail control device 5 detects that the transport vehicle 1 reaches the second position, the transport vehicle 1 is controlled to be decelerated to the first speed threshold value for running. In this way, when the transport vehicle 1 continues to travel to the first position, the travel inertia of the transport vehicle 1 is small, and the positioning error due to the travel inertia is small, which contributes to improving the positioning accuracy.

Further, in an embodiment, step S201 further includes controlling the ranging sensor 13 to be turned on. In the practical application process, when the transport vehicle 1 reaches the second position, the ranging sensor 13 is also controlled to be turned on. In this way, when the transport vehicle 1 is detected to reach the first position, the first distance can be acquired in the first time, so that inaccuracy of the actually measured first distance is avoided, and meanwhile, the ranging function of the ranging sensor 13 is also avoided being always started, so that the energy consumption is reduced.

Referring to fig. 3, a flowchart of a positioning and track-aligning method according to a third embodiment of the present invention includes steps S301 to S305, wherein steps S302 to S305 are the same as steps S201 to S204, and are not repeated herein, and the difference is that step S302 is preceded by step S301, which is described in detail as follows:

And S301, when the transport vehicle is detected to reach a third position, controlling the transport vehicle to travel according to a second speed threshold, wherein the third position is a preset position positioned on the side, opposite to the traveling direction of the transport vehicle, of the second position, and the second speed threshold is larger than the first speed threshold.

In the present embodiment, the third position is located on the opposite side of the second position from the traveling direction of the transport vehicle 1, i.e., the transport vehicle 1 passes through the third position, the second position, and the first position in this order.

Based on the above application scenario, the sensed element further comprises a third sensed element 143 located at a third position. Thus, when the positioning rail control device 5 detects that the position sensor 12 senses the position signal generated by the third sensed element 143, it indicates that the transport vehicle 1 has reached the third position. At this time, since the transport vehicle 1 is far from the stop position of the station frame 2, in order to accelerate the whole transport process, the positioning and rail-alignment control device controls the transport vehicle 1 to travel at a second speed threshold value, which is greater than the first speed threshold value.

In this embodiment, the distance from the second position to the third position is greater than the distance from the second position to the first position, and at this time, the third position is far away from the station frame 2, i.e. the third sensed element 143 is far away from the station frame 2, which is beneficial to shortening the transportation time.

In the practical application process, when the transport vehicle 1 reaches the third position, the transport vehicle runs forward at a higher speed under the control of the positioning opposite rail control device 5 so as to accelerate the time for reaching the station frame 2; when the transport vehicle 1 reaches the second position, the transport vehicle 1 runs down to the first position, the transport vehicle 1 stabilizes the vehicle speed through the distance between the second position and the first position, and the running inertia is reduced; when the transport vehicle 1 reaches the first position, when the difference value between the first distance and the first calibration threshold value is smaller than the first difference value threshold value, the running direction and the running speed of the transport vehicle 1 are closed-loop controlled according to the difference value between the first distance and the second calibration threshold value, and when the difference value between the first distance and the second calibration threshold value is smaller than the second difference value threshold value, the transport vehicle 1 is controlled to stop running, so that the automatic positioning and track alignment of the transport vehicle 1 are realized.

In the application scenario of the embodiment, a plurality of sensed elements are arranged on the running path of the transport vehicle 1, the sensed elements are sensed by the position sensor 12 to position the running position of the transport vehicle 1, the distance between the transport vehicle 1 and the stop position in the track alignment stage is obtained by combining the distance measuring sensor 13, and the running direction and the running speed of the transport vehicle 1 are controlled in a closed loop control mode, so that the problem of inaccurate positioning track alignment caused by independent positioning by the position sensor 12 is avoided, and the transport vehicle 1 is facilitated to realize automatic track alignment.

In an embodiment, when the carrier vehicle is detected to reach the first position, before the step of obtaining the first distance, the method further includes the following steps:

and generating a count value according to the acquired times of the position signals.

when the count value is detected to be a first count threshold value, a first distance is acquired.

Based on the above application scenario, the position signal is generated by the position sensor 12, and the position sensor 12 generates a position signal every time it senses a sensed element. The positioning and tracking control device 5 is electrically connected with the position sensor 12, and the positioning and tracking control device 5 increases or decreases by 1 count unit each time it receives or acquires the position signal generated by the position sensor 12. It will be appreciated that the positioning and rail-aligning control device 5 has a counting module integrated therein for counting, and the counting module may be other components or a combination of components and circuits having a counting function.

The position signal can determine the travel position of the transport vehicle 1 by analyzing the count value. Specifically:

When the count value is detected to be the first count threshold value, the positioning and track-setting control device 5 detects that the transport vehicle 1 reaches the first position, and may execute the steps of: a first distance is obtained. Wherein the first count threshold corresponds to a count value generated by the positioning rail control device 5 when the position sensor 12 senses the first position signal generated when the first sensed element 141 is acquired.

Further, when the count value is detected to be the second count threshold value, the positioning and track-setting control device 5 detects that the transport vehicle 1 reaches the second position, and then the steps may be executed: and controlling the transport vehicle to slow down to a first speed threshold value for running. Wherein the second count threshold corresponds to a count value generated by the positioning rail control device 5 when the position sensor 12 senses the second position signal generated by the second sensed element 142.

Further, when the count value is detected to be the third count threshold value, the positioning and track-alignment control device 5 detects that the transport vehicle 1 reaches the third position, and then may execute the steps of: and controlling the transport vehicle to run according to the second speed threshold. Wherein the third count threshold corresponds to a count value generated by the positioning rail control device 5 when the position sensor 12 senses the third position signal generated when the third sensed element 143 is acquired.

The first count threshold, the second count threshold, and the third count threshold may be in an increasing relationship or a decreasing relationship, and may be stored in advance in the storage module of the positioning rail control device 5. When the positioning and track-alignment control device 5 increases 1 count unit every time a position signal is acquired, the first count threshold, the second count threshold and the third count threshold are in a decreasing relationship; and vice versa is an increasing relationship.

In this way, the running position of the transport vehicle 1 is determined by the count value, which is advantageous in reducing the number of the position sensors 12 and reducing the equipment cost.

As an example, the transport vehicle 1 passes through the third position, the second position, and the first position in this order while traveling toward the station frame 2. When the transport vehicle is positioned at the third position, the count value is 1; when the transport vehicle is positioned at the second position, the count value is 2; when the transport vehicle is positioned at the first position, the count value is 3; when the positioning counter rail control device 5 detects that the count value is 3, the transport vehicle 1 reaches the first position, and when the positioning counter rail control device 5 detects that the count value is 2, the transport vehicle 1 reaches the second position; when the positioning counter rail control means 5 detects a count value of 1, it indicates that the transport vehicle 1 has reached the third position.

Further, before the step of controlling the transport vehicle to travel according to the second speed threshold when the transport vehicle is detected to reach the third position, the method further comprises the following steps:

and when the transport vehicle is detected to reach a fourth position, resetting the count value to a preset value, wherein the fourth position is a preset position positioned on the side of the third position opposite to the traveling direction of the transport vehicle.

The transport vehicle 1 passes through the fourth position, the third position, the second position and the first position in this order during actual traveling. When the transport vehicle 1 passes through the fourth position, the counting module of the positioning rail-to-rail control device 5 resets the count value to a preset value. The count value may be reset to 0 or other preset value, without limitation. In this way, the travel position of the transport vehicle 1 is convenient to be judged by the count value later.

Based on the above application scenario, the sensed element further includes a fourth sensed element 144 located at a fourth position, where the fourth position is located at a side of the third position opposite to the traveling direction of the transporter 1, and when the position sensor 12 senses the fourth sensed element 144, it is indicated that the transporter 1 reaches the first position.

Alternatively, when the position sensor 12 senses the fourth sensed element 144, the position signal generated by the position sensor 12 is acquired by the positioning rail control device 5, and the positioning rail control device 5 determines whether the transport vehicle 1 reaches the fourth position according to whether the number of acquired position signals satisfies the reset condition. For example, if the reset condition is that the number of times of acquisition of the position signal satisfies an arithmetic progression of 1, 5,9, 13 … …, and if the count value satisfies the arithmetic progression, it is determined that the transport vehicle 1 has reached the fourth position, and the positioning track alignment control device 5 resets the count value to a predetermined value to simplify the count determination rule for the subsequent travel position.

Optionally, the position sensor 12 includes a first position sensor and a second position sensor, where the first position sensor is configured to sense the first sensed element 141, the second sensed element 142, and the third sensed element 143, and generate a first position identification signal when sensing the first sensed element 141, the second sensed element 142, and the third sensed element 143; the second position sensor is used for sensing the fourth sensed element 144 and generating a second position identification signal when sensing the fourth sensed element 144.

At this time, the positioning and tracking control device 5 generates a count value based on the number of acquired position signals, and further includes: and generating a count value according to the acquired times of the first position identification signals.

Correspondingly, when the transport vehicle is detected to reach the fourth position, resetting the count value to a preset value, and further comprising the following steps: and resetting the count value to a preset value when the second position identification signal is acquired.

By arranging two position sensors, one is used for generating a second position identification signal for resetting the count value, and the other is used for generating a first position identification signal for increasing or decreasing the count value, the two position sensors cooperate together, so that the calculation process is simplified, the calculation rate is improved, and the judgment accuracy is improved.

When the number of the station racks 2 is plural, the first positions corresponding to the station racks 2 are different, and the condition that the positioning rail control device 5 detects that the transport vehicle 1 is at the first position of each station rack 2 is different.

Referring to fig. 7, taking two station frames 2 as an example, a first position of the first station frame 21 corresponds to a D sensing point, and a second position of the first station frame 21 corresponds to a C sensing point; the first position of the second station frame 22 corresponds to the F sensing point, and the second position of the second station frame 22 corresponds to the E sensing point; meanwhile, a third position on the running path of the transport vehicle 1 corresponds to the sensing point B, and a fourth position on the running path of the transport vehicle 1 corresponds to the sensing point A. When the transport vehicle 1 travels toward each station rack, the relationship between the count value and each travel position is shown in table 1.

Table 1 relationship between count value and each travel position

Sequence number	Sensing point	Travel position	Counting module
				1	A induction point	Fourth position	The counting module is cleared, and N _t =0
2	B induction point	Third position	The counting module is increased by 1, and N _t =1
				3	C induction point	Second position of first station frame	The counting module is increased by 1, and N _t =2
4	D induction point	First position of first station frame	The counting module is increased by 1, and N _t =3
				5	E induction point	Second position of second station frame	The counting module is increased by 1, and N _t =4
6	F induction point	First position of second station frame	The counting module is increased by 1, and N _t = 5

The positioning and tracking control device 5 can determine the driving position of the transport vehicle 1 according to the count value of each sensing point of the counting module in table 1.

Referring to fig. 4, a flowchart of a positioning and track alignment method according to a fourth embodiment of the present invention includes steps S401 to S404, wherein the steps S401 and S101 are the same, and the steps S402 and S102 are partially the same, and the differences are not described herein, and the steps S402 to S404 are as follows:

S402, when the absolute value of the difference value between the first distance and the first calibration threshold value is smaller than the first difference value threshold value, the running speed and the running direction of the transport vehicle are controlled in a closed loop mode according to the difference value between the first distance and the second calibration threshold value, and the track alignment time is recorded;

S403, controlling the transport vehicle 1 to stop running when the absolute value of the difference value between the first distance and the second calibration threshold value is smaller than the second difference value threshold value;

S404, when the absolute value of the difference value between the first distance and the second calibration threshold value is larger than the second difference value threshold value and the opposite track time is larger than the first time threshold value, controlling the transport vehicle 1 to stop running, and sending alarm information.

In the present embodiment, when it is detected that the vehicle 1 is traveling to the first position, it is explained that the vehicle 1 has entered the track alignment area, and the vehicle 1 is controlled to perform track alignment. At this time, recording of the track alignment time is started.

When the absolute value of the difference between the first distance and the second calibration threshold is smaller than the second difference threshold, the fact that the transport vehicle 1 is successfully aligned is indicated, and the transport vehicle 1 is controlled to stop running at the moment, so that the subsequent traversing carriage 11 moves onto the station frame 2 along the traversing guide rail 201.

When the track alignment time is greater than the first time threshold and the absolute value of the difference between the first distance and the second calibration threshold is greater than the second difference threshold, it is indicated that the transport vehicle 1 does not complete the track alignment within the preset track alignment time, and then the track alignment abnormality exists. At this time, the transport vehicle 1 is controlled to stop running and send a second alarm message to inform the transport vehicle 1 that the positioning of the alignment rail is abnormal, and the alignment rail is completed by manual intervention.

In this embodiment, by recording the track alignment time, when it is detected that the transport vehicle 1 is not completed in the track alignment time, the transport vehicle 1 is controlled to stop traveling and send out alarm information to indicate that the automatic positioning track alignment is abnormal, and manual intervention is required.

Referring to fig. 5, a positioning and rail alignment control device 5 according to a fifth embodiment of the present invention is applied to a transport vehicle 1, where the transport vehicle 1 is configured to travel toward a station frame 2, and a traversing carriage 11 is disposed on the transport vehicle 1, and the device includes:

the acquiring module 51 is configured to acquire a first distance when the transport vehicle 1 is detected to reach a first position, where the first position is a position where the preset traversing carriage 11 starts to be aligned with the traversing rail 201 located on the station frame 2, and the first distance is a distance between the transport vehicle 1 and a preset reference object;

the first control module 52 is used for controlling the running speed and the running direction of the transport vehicle 1 in a closed loop mode according to the difference value between the first distance and the second calibration threshold value when the absolute value of the difference value between the first distance and the first calibration threshold value is smaller than the first difference value threshold value; and for controlling the transport vehicle 1 to stop traveling when the absolute value of the difference between the first distance and the second calibration threshold is smaller than the second difference threshold.

Further, the first control module 52 is further configured to control the transport vehicle 1 to slow down to the first speed threshold for traveling when it is detected that the transport vehicle 1 reaches a second position, where the second position is a preset position located on a side of the first position opposite to a traveling direction of the transport vehicle 1.

Further, the first control module 52 is further configured to control the transport vehicle 1 to travel according to a second speed threshold when it is detected that the transport vehicle 1 reaches a third position, where the third position is a preset position located on a side of the second position opposite to a traveling direction of the transport vehicle 1, and the second speed threshold is greater than the first speed threshold.

Further, the positioning and rail-aligning control device 5 further comprises a counting module 53, configured to generate a count value according to the number of acquired position signals;

the obtaining module 51 is further configured to obtain the first distance when the count value is detected to be the first count threshold.

Further, the counting module 53 is further configured to reset the count value to a preset value when it is detected that the transport vehicle 1 reaches a fourth position, where the fourth position is a preset position located on a side of the third position opposite to the traveling direction of the transport vehicle.

Further, the positioning and track alignment control device 5 further comprises a timing module, configured to start recording the track alignment time after the absolute value of the difference between the first distance and the first calibration threshold is smaller than the first difference threshold;

The first control module 52 is further configured to control the transport vehicle 1 to stop traveling and send a warning message when the absolute value of the difference between the first distance and the second calibration threshold is greater than the second difference threshold and the opposite track time is greater than the first time threshold.

The function implementation of each module in the positioning and rail-alignment control device 5 corresponds to each step in each embodiment of the positioning and rail-alignment control method, and the function and implementation process thereof are not described in detail herein.

Referring to fig. 6, a sixth embodiment of the present invention provides a positioning and rail aligning system for a transport vehicle, which includes a transport vehicle 1, a positioning assembly and a control assembly 16. The transport vehicle 1 comprises a vehicle body, a traversing trolley 11 arranged on the vehicle body and a driving unit, wherein the driving unit is used for driving the vehicle body to travel towards the station frame 2; the positioning assembly comprises a ranging sensor 13 and a position sensor 12 arranged on the vehicle body, and a tested element 15 and a sensed element configured to be arranged along the running path of the transport vehicle 1; the position sensor comprises a position sensor 12, a measured element 15 is matched with the distance measuring sensor 13, and the measured element is matched with the position sensor 12; the sensed element comprises a first sensed element 141 positioned at a first position, wherein the first position is a position where the preset traversing carriage 11 and the traversing guide rail 201 start to be aligned; a control assembly 16 provided on the vehicle body, including a controller electrically connected to the ranging sensor 13, the position sensor 12, and the driving unit; the controller is used for receiving a first position signal generated when the position sensor 12 senses the first sensed element so as to detect that the transport vehicle reaches a first position, acquiring a first distance measured by the ranging sensor 13 when the transport vehicle 1 reaches the first position, and controlling the running speed and the running direction of the transport vehicle 1 according to a closed loop of the difference when the absolute value of the difference between the first distance and a first calibration threshold is smaller than a first difference threshold; and is further configured to control the transport vehicle 1 to stop traveling when the absolute value of the difference is smaller than a second difference threshold, where the second difference threshold is smaller than the first difference threshold.

The distance measuring sensor 13 may be a laser sensor, an infrared sensor, or the like, and the position sensor 12 may be a capacitive or electromagnetic proximity switch, which is not particularly limited.

In the present embodiment, the controller acquires the first distance when detecting that the transport vehicle 1 reaches the first position; and when the absolute value of the difference between the first distance and the first calibration threshold is smaller than the first difference threshold, performing closed-loop control on the running direction and the running speed of the transport vehicle 1 according to the difference between the first distance and the second calibration threshold so as to realize automatic positioning and track alignment, and simultaneously controlling the transport vehicle 1 to stop running when the absolute value of the difference between the first distance and the second calibration threshold is smaller than the second difference threshold.

Compared with the prior art, the induction block is not required to be directly arranged at the stop position, so that the problem of position induction errors caused by the fact that the induction block at the stop position cannot be normally induced by the position sensor is avoided; meanwhile, a certain alignment distance is reserved through the arrangement of the distance measuring sensor 13, automatic positioning alignment is realized based on closed loop control, inaccuracy of the stop position of the transport vehicle 1 caused by incapability of normal sensing of the position sensor 12, running inertia of the transport vehicle 1 or parallelism error of the vehicle rail 3 can be avoided, and therefore incapability of accurately aligning the transverse guide rail with the transverse trolley is avoided, equipment using efficiency low and manual alignment cost caused by clamping stagnation in the transverse moving process are avoided, and meanwhile, the automation degree of the whole equipment is also improved.

It is understood that the controller achieves the purpose of controlling the traveling direction and traveling speed of the transport vehicle 1 by controlling the driving unit.

Further, the sensed element further includes a second sensed element 142 disposed at a side of the first sensed element 141 opposite to the traveling direction of the transport vehicle 1;

the controller is further configured to receive a second position signal generated when the position sensor 12 senses the second sensed element 142, and control the transporter 1 to travel at the first speed threshold according to the second position signal.

Further, the sensed element further includes a third sensed element 143 disposed on the opposite side of the second sensed element 142 to the traveling direction of the transport vehicle 1;

The controller is also configured to receive a third position signal generated when the position sensor 12 senses a third sensed element 143 and to control the vehicle 1 to travel at a second speed threshold, greater than the first speed threshold, based on the third position signal.

Further, the controller is further used for generating a count value according to the acquired times of the position signals; and is further configured to obtain a first distance when the count value is detected to be the first count threshold; the first count threshold corresponds to a count value generated when the position sensor 12 senses the first position signal generated when the first sensed element 141 is acquired.

Further, the controller is further used for controlling the transport vehicle 1 to run down to the first speed threshold value when the count value is detected to be the second count threshold value; the second count threshold corresponds to a count value generated when the position sensor 12 senses the second sensed element 142.

Further, the controller is further used for controlling the transport vehicle 1 to travel according to a second speed threshold when the count value is detected to be a third count threshold, wherein the second speed threshold is larger than the first speed threshold; the third count threshold corresponds to a count value generated when the position sensor 12 senses the third position signal generated when the third sensed element 143 is acquired.

Further, the sensed element further includes a fourth sensed element 144 located at a fourth position, the fourth position being located at a side of the third position opposite to the traveling direction of the transport vehicle 1;

The controller is also configured to reset the count value to a preset value when it is detected that the transport vehicle 1 reaches the fourth position.

Further, the position sensor 12 includes a first position sensor and a second position sensor, the first position sensor is inductively matched with the first sensed element 141, the second sensed element 142 and the third sensed element 143, the second position sensor is inductively matched with the fourth sensed element 144, the first position sensor and the second position sensor are electrically connected with a controller, and the controller is used for generating a count value according to the number of times of the acquired position signals generated by the first position sensor; the controller is also used for resetting the count value to a preset value according to the acquired position signal generated by the second position sensor.

Further, the control assembly 16 also includes a frequency converter, the controller is electrically connected to the frequency converter, and the frequency converter is electrically connected to the driving unit. Specifically, the frequency converter is electrically connected with the driving motor of the driving unit, so as to control the driving motor to adjust the output torque, thereby achieving the purpose of controlling the running speed of the transport vehicle 1.

Further, the controller is further configured to start recording the track alignment time when the transport vehicle 1 is detected to travel to the first position. It will be appreciated that the controller includes a timing unit which starts timing and recording the track alignment time when the controller detects that the vehicle 1 has entered the track alignment region and starts controlling the vehicle 1 to perform track alignment.

When the track alignment time recorded by the timing unit is greater than a first time threshold value and the absolute value of the difference value between the first distance and the second calibration threshold value is greater than a second difference value threshold value, the fact that the track alignment is completed within the preset track alignment time is indicated, and then the track alignment abnormality exists. At this time, the transport vehicle 1 is controlled to stop running and send a second alarm message to inform the transport vehicle 1 that the positioning of the alignment rail is abnormal, and the alignment rail is completed by manual intervention.

Further, the position sensor 12 is located at the rear of the vehicle body, and the distance measuring sensor 13 is located at one side of the vehicle body. Positioning the position sensor 12 at the rear of the vehicle body facilitates mounting the position sensor 12. The distance measuring sensor 13 is arranged on one side of the vehicle body, so that the situation that the distance measuring sensor 13 is blocked by an obstacle on a driving path, and the measurement result is inaccurate or invalid can be avoided.

Further, when the transport vehicle 1 travels toward the station frame 2, the distance measuring sensor 13 is located on a mounting frame of the vehicle body protruding toward the station frame 2. At this time, the distance measuring sensor 13 is disposed on the mounting frame, and the distance measuring sensor 13 is disposed on the side of the station frame 2 facing the station frame 2, so that the distance measuring sensor 13 can detect the element 15 to be measured positioned at the edge of the travel path, and thus, the shielding of the obstacle on the travel path can be avoided.

Further, the number of the station frames 2 is plural, one element 15 to be measured is provided corresponding to the plurality of station frames 2, and the element 15 to be measured is provided on the same side of the last station frame 2 as the traveling direction of the transport vehicle 1, and the last station frame 2 is the station frame 2 located at the farthest position in the traveling direction of the transport vehicle 1. In this way, when a plurality of the elements 15 are not provided during the traveling of the transport vehicle 1, the elements 15 interfere with the distance measuring sensor 13 in the traveling direction of the transport vehicle 1. At this time, the first calibration threshold and the second calibration threshold of each station frame 2 are different.

Further, the control assembly 16 further includes a man-machine interaction module 161, and the man-machine interaction module 161 is communicatively connected to the controller. The human-computer interaction module 161 is used for an operator to set various thresholds of the station frames 2 and select the target station frame 2 of the transport vehicle 1 (the transport vehicle 1 runs to one station frame 2 for material transfer each time), and can send out alarm information.

The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The foregoing examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.

Claims

1. The positioning and rail alignment control method is applied to a transport vehicle, wherein the transport vehicle is configured to travel towards a station frame, and a traversing trolley is arranged on the transport vehicle, and is characterized by comprising the following steps of:

2. The positioning and rail-to-rail control method according to claim 1, characterized in that before the step of acquiring the first distance when the carrier vehicle is detected to reach the first position, further comprising the steps of:

3. The positioning and rail-to-rail control method according to claim 2, characterized in that the step of controlling the transport vehicle to slow down to the first speed threshold travel when the transport vehicle is detected to reach the second position is preceded by the step of:

when the transport vehicle is detected to reach a third position, controlling the transport vehicle to run according to a second speed threshold; the third position is a preset position positioned on one side of the second position opposite to the running direction of the transport vehicle; the second speed threshold is greater than the first speed threshold.

4. The positioning and tracking control method according to claim 3, characterized by further comprising, before the step of acquiring the first distance when the carrier vehicle is detected to reach the first position, the steps of:

5. The positioning and rail-to-rail control method according to claim 4, wherein the step of controlling the transportation vehicle to travel in accordance with the second speed threshold value when the transportation vehicle is detected to reach the third position is preceded by the step of:

6. The positioning and rail-alignment control method according to claim 1, wherein when the absolute value of the difference between the first distance and the first calibration threshold is smaller than the first difference threshold, the step of closed-loop controlling the traveling speed and the traveling direction of the transport vehicle according to the difference between the first distance and the second calibration threshold further comprises the steps of:

recording the track alignment time;

7. The utility model provides a location is to rail controlling means, its characterized in that is applied to the transport vechicle, the transport vechicle is configured to go towards the station frame, be provided with sideslip dolly on the transport vechicle, its characterized in that, location is to rail controlling means includes:

8. A transport vehicle positioning rail alignment system, comprising:

9. The transporter positioning rail system of claim 8, wherein the sensed element further comprises a second sensed element disposed on a side of the first sensed element opposite the direction of travel of the transporter;

The controller is also used for receiving a second position signal generated when the position sensor senses the second sensed element and controlling the transport vehicle to run according to the first speed threshold value according to the second position signal.

10. The transporter positioning rail system of claim 9, wherein the sensed element further comprises a third sensed element disposed on a side of the second sensed element opposite the direction of travel of the transporter;