CN104778859B - Multilane conflict-free traveling method for multiple ferry pushes in bricks and tiles plant - Google Patents
Multilane conflict-free traveling method for multiple ferry pushes in bricks and tiles plant Download PDFInfo
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- CN104778859B CN104778859B CN201510222458.6A CN201510222458A CN104778859B CN 104778859 B CN104778859 B CN 104778859B CN 201510222458 A CN201510222458 A CN 201510222458A CN 104778859 B CN104778859 B CN 104778859B
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- 239000011449 brick Substances 0.000 title claims abstract description 12
- 238000001514 detection method Methods 0.000 claims description 21
- 238000000205 computational method Methods 0.000 claims description 4
- 230000011664 signaling Effects 0.000 claims description 4
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Abstract
The invention relates to a multilane conflict-free traveling method for multiple ferry pushes in bricks and tiles plant, and belongs to the technical field of automatic control. The method comprises the following steps that 1 the number of ferry pushes and the position of each ferry push are detected and judged according to a feedback value of a position detecting signal; 2 a target lane of an assigned ferry push is set according to a traveling requirement; 3 judgment on whether traveling of the assigned ferry push is conflicted with that of the other ferry pushes is conducted according to the target lane and the actual position of the assigned ferry push and the actual position of each ferry push; 4 the traveling directions of the assigned ferry pushes and the relevant ferry pushes are confirmed through the above steps, and the relent ferry pushes are started to travel towards corresponding directions, so that the multilane conflict-free traveling for multiple ferry pushes is completed. The method has the advantages that multilane conflict-free traveling for multiple ferry pushes is achieved, the travelling efficiency of ferry pushes is improved, and the problems that error is easy to occur and efficency is low in manual operation are solved.
Description
Technical field
The invention belongs to technical field of automatic control, it is related to what a kind of Bricks and Tiles Plant many ferry buses multilane Lothrus apterus ran
Method.
Background technology
Today's society, the fast development of science and technology promotes the continuous renewal of brick-tile industry, with Bricks and Tiles Plant's yield
Improve the continuous development with automaticity, the performance to its ferry bus and use requirement are also gradually stepping up, and do not require nothing more than pendulum
Cross car to be capable of quickly positioning, but also the quantity of ferry bus can be increased, realize the quick positioning of many ferry buses multilane.
Traditional ferry bus operational approach and the little ferry bus of quantity and a limited number of track can not meet
The demand of modern brick-tile industry technology development, and thumping majority is all that its service efficiency is relatively low by manually carrying out operational control,
And easily maloperation, this is accomplished by people and realizes the conflict free operation of many ferry buses multilane.
Content of the invention
In view of this, it is an object of the invention to provide a kind of Bricks and Tiles Plant many ferry buses multilane Lothrus apterus run side
Method, the method utilizes the feedback signal of position-detection sensor, by calculating thus obtaining amount detection and the reality of ferry bus
Position, passes through to set the target track of ferry bus simultaneously, judge the target track of this ferry bus and the actual track of its own with
And whether the actual track of other ferry buses mutually conflict, so that it is determined that the method for operation of related ferry bus, multiple stage ferry bus is made to exist
In multilane, Lothrus apterus run.
For reaching above-mentioned purpose, the present invention following technical scheme of offer:
The method that a kind of Bricks and Tiles Plant many ferry buses multilane Lothrus apterus run, comprises the following steps: step one: according to position
The value of feedback of detection signal, detects and judges the quantity of ferry bus and the physical location of each ferry bus；Step 2: according to
Service requirement, sets the target track specifying ferry bus；Step 3: the target track according to specified ferry bus and physical location,
And the physical location of each ferry bus, judge to specify whether the operation of ferry bus is conflicted with other ferry bus phases；Step 4: logical
Cross above-mentioned steps, determine the traffic direction setting ferry bus and related ferry bus, start related ferry bus and transport to respective direction
Dynamic, thus the Lothrus apterus completing many ferry buses multilane run.
Further, in step one, the computational methods of the described value of feedback of position detection signal are: in each track peace
Fill a position-detection sensor, position-detection sensor carries out position signalling detection, and position signalling is suitable according to track
Sequence arranges, and position detection signal is converted to numerical value, its expression formula is:
W=21*s1+22*s2…+2c*sc+1
Wherein: the numerical value that w is converted into for signal, c is track quantity, scFor the signal on corresponding track, signal is had to be 1,
No signal is 0.
Further, in step one, the described value of feedback according to position detection signal, detection and the quantity judging ferry bus
And the concretely comprising the following steps of the physical location of each ferry bus:
w1=21*s1+22*s2+…+2c*sc+1
n1=[log2w1]
n2=[log2w2]
np=[log2wp]
If meetingThe ferry bus quantity detecting and actual ferry bus quantity phase
Deng then the physical location of each ferry bus is:
bi=np+1-i, i ∈ [1, p]
IfThe ferry bus quantity detecting is unequal with actual ferry bus quantity,
Then carry out initialization operation it may be assumed that starting 1 to p ferry bus successively so as to drive to corresponding 1 to arrive p track, after completing
Re-operated；
Wherein: wpFor each evaluation, p is the actual quantity of ferry bus, npFor intermediate computations numerical value, q is to detect
Ferry bus quantity, biPhysical location for No. i-th ferry bus.
Further, in step 2, the described method setting the target track specifying ferry bus as:
The maximum range of operation of No. i-th ferry bus is:
xi∈[i,c-p+i]
When No. i-th ferry bus of startup, and set its target track as miIf,Then track sets no
Effect；If mi∈ [i, c-p+i], then track setting is effective；
Wherein: xiFor the maximum range of operation of No. i-th ferry bus, miFor the target track of No. i-th ferry bus, c is number of track-lines
Amount；P is the actual quantity of ferry bus.
Further, in step 3, ferry bus target track and actual track whether contradiction, the target carriage of setting ferry bus
The physical location of road and other ferry buses whether contradiction, and the method that the traffic direction of related ferry bus judges is:
If mi=bi, then ferry bus startup is invalid；
If mi＜ bi, then judge whether the ferry bus before i-th ferry bus is located at [mi,bi] within the scope of, if
Within the scope of it, then run the ferry bus within the scope of it successively, run to target track miIn track before；
If mi＞ bi, then judge whether the ferry bus after i-th ferry bus is located at [bi,mi] within the scope of, if
Within the scope of it, then run the ferry bus within the scope of it successively, run to target track miIn track afterwards；
As [mi,bi] or [bi,mi] in track not other ferry buses in addition to setting ferry bus when, then start and set
Ferry bus runs to setting track.
The beneficial effects of the present invention is:
1) numbering of position sensor is corresponding with the numbering in track, by the calculating to sensor feedback value, accurately
Determine quantity and the physical location of ferry bus；2) pass through to calculate the maximum range of operation determining every ferry bus such that it is able to have
Effect ground sets the target track of corresponding ferry bus；3) by ferry bus target track and actual track whether contradiction, setting and putting
Cross the physical location whether contradiction of the target track of car and other ferry buses, and accurately the sentencing of the traffic direction of related ferry bus
Break it is ensured that Lothrus apterus in multilane for many ferry buses run.
Brief description
In order that the purpose of the present invention, technical scheme and beneficial effect are clearer, the present invention provides drawings described below to carry out
Illustrate:
Fig. 1 is Bricks and Tiles Plant of the present invention many ferry buses multilane Lothrus apterus operation method flowchart；
Fig. 2 is Bricks and Tiles Plant's position sensor and track corresponding diagram.
Specific embodiment
Below in conjunction with accompanying drawing, the preferred embodiments of the present invention are described in detail.
In the method, obtain the signal value under original state first with position sensor, and turned by its signal value
The numerical value changing into is calculated, thus obtaining the amount detection of ferry bus and the physical location of every ferry bus.Obtaining often
After the physical location of platform ferry bus, set the ferry bus needing to start, concurrently set the target track of this ferry bus, then judge
Whether the target track of this ferry bus is contradicted with actual track, judges whether the target track of this ferry bus is put with other simultaneously
Cross the actual track phase conflict of car, and the method for operation according to the related ferry bus of these information determination, thus realizing many ferry buses
The Lothrus apterus of multilane run.
Fig. 1 is the flow chart of Bricks and Tiles Plant's many ferry buses multilane Lothrus apterus operation method, as illustrated, this method is specifically wrapped
Include following steps:
1) value of feedback according to position detection signal, detects and judges the quantity of ferry bus and the reality of each ferry bus
Border position；
2) according to service requirement, set the target track specifying ferry bus；
3) according to the target track specifying ferry bus and physical location, and the physical location of other ferry buses, judge to refer to
Whether the operation determining ferry bus is contradicted with other ferry buses；
4) according to above step, determine the traffic direction setting ferry bus and related ferry bus, start related ferry bus
Move to respective direction, thus the Lothrus apterus completing many ferry buses multilane run.Fig. 2 is Bricks and Tiles Plant's position sensor and track
Corresponding diagram.
Wherein, step 1) described in the computational methods of value of feedback of position detection signal be:
W=21*s1+22*s2…+2c*sc+1
Wherein, the numerical value that w is converted into for signal；C is track quantity；scFor the signal on corresponding track, signal is had to be 1,
No signal is 0；
Wherein, step 1) described in the amount detection of ferry bus and each ferry bus physical location computational methods
For:
w1=21*s1+22*s2+…+2c*sc+1
n1=[log2w1]
n2=[log2w2]
np=[log2wp]
If meetingThe ferry bus quantity detecting and actual ferry bus quantity phase
Deng then the physical location of each ferry bus is:
bi=np+1-i, i ∈ [1, p]
IfThe ferry bus quantity detecting is unequal with actual ferry bus quantity,
Then carrying out initialization operation it may be assumed that first starting No. 1 ferry bus so as to run to No. 1 track, subsequently just equally starting remaining successively
Ferry bus, so as to run on corresponding track, that is, i ferry bus corresponds on i track, carries out step again after completing
1)；
Wherein: wpFor each evaluation；P is the actual quantity of ferry bus；npFor intermediate computations numerical value；Q is to detect
Ferry bus quantity；biPhysical location for No. i-th ferry bus；
Wherein, step 2) described in the establishing method in ferry bus target track be:
The maximum range of operation of No. i-th ferry bus is:
xi∈[i,c-p+i]
When No. i-th ferry bus of startup, and set its target track as miIf,Then track sets no
Effect；If mi∈ [i, c-p+i], then track setting is effective；
Wherein: xiMaximum range of operation for No. i-th ferry bus；miTarget track for No. i-th ferry bus；C is number of track-lines
Amount；P is the actual quantity of ferry bus；
Wherein, ferry bus target track and actual track whether contradiction, sets target track and other ferry-boats of ferry bus
The physical location of car whether contradiction, and the method that the traffic direction of related ferry bus judges is:
If mi=bi, then ferry bus startup is invalid；
If mi＜ bi, then judge whether that the ferry bus before i-th ferry bus is located at [mi,bi] within the scope of, such as
Within the scope of it, then the physical location according to each ferry bus obtained by calculating, judges positioned at track [m fruiti,bi]
Within the scope of ferry bus quantity, calculate adjacent track m simultaneouslyiContinuous vacant track before, if vacant track is more than
Or it is equal in [mi,bi] within the scope of ferry bus quantity, then successively start track [mi,bi] within the scope of ferry bus,
It is made to run to target track m successivelyiIn vacant track before；If vacant track is less than in [mi,bi] within the scope of ferry-boat
The quantity of car, then first start track miFerry bus before is so as to run out outside required vacant track, then starts track successively
[mi,bi] within the scope of ferry bus so as to run to target track m successivelyiIn vacant track before；
If mi＞ bi, then judge whether the ferry bus after i-th ferry bus is located at [bi,mi] within the scope of, if
Within the scope of it, then the physical location according to each ferry bus obtained by calculating, judges positioned at track [mi,bi] scope
Within ferry bus quantity, calculate adjacent track m simultaneouslyiContinuous vacant track afterwards, if vacant track be more than or
It is equal in [mi,bi] within the scope of ferry bus quantity, then successively start track [mi,bi] within the scope of ferry bus so as to
Run to target track m successivelyiIn vacant track afterwards；If vacant track is less than in [mi,bi] within the scope of ferry bus
Quantity, then first start track miFerry bus afterwards is so as to run out outside required vacant track, then starts track [m successivelyi,
bi] within the scope of ferry bus so as to run to target track m successivelyiIn vacant track before；
As [mi,bi] or [bi,mi] in track not after other ferry buses in addition to setting ferry bus, then start and set
Ferry bus runs to target track, thus completing whole service.
Finally illustrate, preferred embodiment above only in order to technical scheme to be described and unrestricted, although logical
Cross above preferred embodiment the present invention to be described in detail, it is to be understood by those skilled in the art that can be
In form and various changes are made to it, without departing from claims of the present invention limited range in details.
Claims (1)
1. a kind of Bricks and Tiles Plant many ferry buses multilane Lothrus apterus run method it is characterised in that: comprise the following steps:
Step one: according to the value of feedback of position detection signal, detection and judge the quantity of ferry bus and each ferry bus
Physical location；
The computational methods of the value of feedback of described position detection signal are: install a position detection sensing in each track
Device, position-detection sensor carries out position signalling detection, and position signalling is arranged according to the order in track, and letter is detected in position
Number be converted to numerical value, its expression formula is:
W=21*s1+22*s2…+2c*sc+1
Wherein: the numerical value that w is converted into for signal, c is track quantity, scFor the signal on corresponding track, signal is had to be 1, no signal
For 0；
Detection and judge concretely comprising the following steps of the quantity of ferry bus and the physical location of each ferry bus:
w1=21*s1+22*s2+…+2c*sc+1
n1=[log2w1]
n2=[log2w2]
np=[log2wp]
If meetingThe ferry bus quantity detecting is equal with actual ferry bus quantity, then each
The physical location of ferry bus is:
bi=np+1-i, i ∈ [1, p]
IfThe ferry bus quantity detecting is unequal with actual ferry bus quantity, then carry out just
Beginningization operation, it may be assumed that starting 1 to p ferry bus successively so as to drive to corresponding 1 to arrive p track, is carried out again after completing
Operation；
Wherein: wpFor each evaluation, p is the actual quantity of ferry bus, npFor intermediate computations numerical value, q is the pendulum detecting
Cross car quantity, biPhysical location for No. i-th ferry bus；
Step 2: according to service requirement, set the target track specifying ferry bus；
The described method setting the target track specifying ferry bus as:
The maximum range of operation of No. i-th ferry bus is:
xi∈[i,c-p+i]
When No. i-th ferry bus of startup, and set its target track as miIf,Then track setting is invalid；If mi∈
[i, c-p+i], then track setting is effective；
Wherein: xiFor the maximum range of operation of No. i-th ferry bus, miFor the target track of No. i-th ferry bus, c is track quantity；p
Actual quantity for ferry bus；
Step 3: the target track according to specified ferry bus and physical location, and the physical location of each ferry bus, judge to refer to
Whether the operation determining ferry bus is conflicted with other ferry bus phases, and determines the operation side setting ferry bus and related ferry bus
To, start related ferry bus and move to respective direction, thus the Lothrus apterus operation of complete last one-tenth many ferry buses multilane:
If mi=bi, then ferry bus startup is invalid；
If mi＜ bi, then judge whether the ferry bus before i-th ferry bus is located at [mi,bi] within the scope of, if in its model
Within enclosing, then run the ferry bus within the scope of it successively, run to target track miIn track before；
If mi＞ bi, then judge whether the ferry bus after i-th ferry bus is located at [bi,mi] within the scope of, if in its model
Within enclosing, then run the ferry bus within the scope of it successively, run to target track miIn track afterwards；
As [mi,bi] or [bi,mi] in track not other ferry buses in addition to setting ferry bus when, then start and set ferry bus
Run to setting track.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510222458.6A CN104778859B (en) | 2015-05-04 | 2015-05-04 | Multilane conflict-free traveling method for multiple ferry pushes in bricks and tiles plant |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510222458.6A CN104778859B (en) | 2015-05-04 | 2015-05-04 | Multilane conflict-free traveling method for multiple ferry pushes in bricks and tiles plant |
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| Publication Number | Publication Date |
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| CN104778859A CN104778859A (en) | 2015-07-15 |
| CN104778859B true CN104778859B (en) | 2017-02-01 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05333927A (en) * | 1992-05-29 | 1993-12-17 | Mitsubishi Electric Corp | Automatic carrier device |
| JP4670899B2 (en) * | 2008-05-22 | 2011-04-13 | 村田機械株式会社 | Traveling car |
| CN102535915B (en) * | 2012-02-03 | 2014-01-15 | 无锡普智联科高新技术有限公司 | Automatic parking system based on mobile robot trolley |
| CN104460664B (en) * | 2013-11-12 | 2017-06-09 | 上海宝信软件股份有限公司 | Full-automatic unmanned driving loading position detecting system |
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Effective date of registration: 20191129 Address after: Room 314-1, dantaihu building (Wuluo Science Park), No.9, Taihu East Road, Wuzhong District, Suzhou, Jiangsu Province Patentee after: Suzhou ruipengcheng Technology Co., Ltd Address before: 400044 Shapingba street, Shapingba District, Chongqing, No. 174 Patentee before: Chongqing University |
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