CN105303136A - Method for positioning mobile trolley - Google Patents
Method for positioning mobile trolley Download PDFInfo
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- CN105303136A CN105303136A CN201510716764.5A CN201510716764A CN105303136A CN 105303136 A CN105303136 A CN 105303136A CN 201510716764 A CN201510716764 A CN 201510716764A CN 105303136 A CN105303136 A CN 105303136A
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- 238000000034 method Methods 0.000 title claims abstract description 16
- 238000013459 approach Methods 0.000 claims abstract description 6
- 239000000203 mixture Substances 0.000 claims 1
- 239000002994 raw material Substances 0.000 claims 1
- 238000001514 detection method Methods 0.000 description 9
- 238000010438 heat treatment Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a method for positioning a mobile trolley, comprising the following steps: when a mobile trolley approaches target equipment, the information of the target equipment is identified and fed back to a PLC and a control system; and when the mobile trolley arrives at the target equipment, laser light emitted by a laser sensor is reflected back to the laser sensor by a reflecting plate on a positioning plate, and the laser sensor receives a position signal and transmits the signal to the PLC and the control system. The mobile trolley comprises an RFID reader, RFID tags, a reflective laser sensor, an adjustable positioning device, reflecting plates, a frequency converter, a PLC and a control system, wherein the RFID reader, the reflective laser sensor, the frequency converter, the PLC and the control system are mounted on the body of the mobile trolley, the RFID tags and the adjustable positioning device are mounted on target equipment, and the reflecting plates are mounted on the adjustable positioning device. By improving the device, the positioning accuracy and reliability of the mobile trolley are improved greatly.
Description
Technical Field
The invention relates to a positioning method of a movable trolley, in particular to a non-contact high-precision positioning method of a movable trolley for heat treatment.
Background
The heat treatment equipment uses the moving trolley to complete the transfer of materials among different equipment and the movement among different chambers of the equipment, and the moving trolley can be accurately positioned in front of each piece of equipment with slight error, so that the equipment or the moving trolley is greatly damaged, and the continuous operation of production is influenced. In the prior art, a mechanical travel switch or a proximity switch is usually adopted to detect the positioning condition of a moving trolley, two types of switches for deceleration detection and stop detection are generally configured, in addition, the moving positioning needs to be carried out from two directions, generally, each device can complete the moving positioning by 4 switches, and in practical application, the positioning is often inaccurate due to poor repeatability of a detection switch, the frequent adjustment is needed, or the device is stopped in advance or cannot be stopped due to misoperation or no signal caused by poor reliability, so that the reliability of the device is seriously influenced.
Disclosure of Invention
This section is for the purpose of summarizing some aspects of embodiments of the invention and to briefly introduce some preferred embodiments. In this section, as well as in the abstract and the title of the invention of this application, simplifications or omissions may be made to avoid obscuring the purpose of the section, the abstract and the title, and such simplifications or omissions are not intended to limit the scope of the invention.
The present invention has been made in view of the above and/or other problems associated with the use of the existing mobile cart positioning methods.
Therefore, an object of the present invention is to provide a special positioning method, which uses RFID technology to complete the identification and deceleration control of the equipment, uses a laser sensor disposed on the body of the mobile car to achieve the precise positioning of the mobile car, and completely uses non-contact detection, thereby avoiding various defects of the contact sensor, and improving the reliability and positioning precision of the mobile positioning.
In order to solve the technical problems, the invention provides the following technical scheme: a positioning method of a mobile trolley comprises the steps of identifying target equipment information and feeding the target equipment information back to a PLC and a control system when the mobile trolley approaches the target equipment; when the mobile trolley reaches the target position, laser emitted by the laser sensor is reflected back to the laser sensor through a reflecting plate on the positioning plate, and the laser sensor receives a position signal and transmits the signal to the PLC and the control system; wherein, the travelling car includes: the RFID reader, the reflection-type laser sensor, the frequency converter, the PLC and the control system are installed on a trolley body, the RFID tag and the adjustable positioning device are installed on target equipment, and the reflecting plate is installed on the adjustable positioning device.
As a preferable scheme of the positioning method of the mobile trolley, the method is characterized in that: the fact that the moving trolley is close to the target equipment means that the distance between the RFID reader and the target equipment is 15-20 cm.
As a preferable scheme of the positioning method of the mobile trolley, the method is characterized in that: and the information of the target equipment is identified and fed back to the PLC and the control system, if the target equipment is detected, the PLC gives a deceleration instruction after judging, and the moving trolley advances at a low speed. .
The invention has the beneficial effects that:
1. the structure is simplified, 10 devices are taken as an example, 40 sensors and a plurality of circuits are originally needed, only 1 RFID reader, 1 laser sensor, 10 RFID labels and 10 positioning reflecting plates are needed at present, wiring is not needed, and a large amount of cost is saved;
2. the positioning precision and the reliability are high, and the problems and faults of the travel switch are avoided due to the adoption of a reliable non-contact technology;
3. the information quantity is richer, a stronger error-proofing function can be realized, original position detection is only provided by a stop signal, the current position information is provided by the RFID and the laser sensor, particularly, the RFID can store a lot of information, and equipment can be identified more accurately.
Detailed Description
The present invention will be described in detail with reference to the following embodiments in order to make the aforementioned objects, features and advantages of the invention more comprehensible.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those specifically described and will be readily apparent to those of ordinary skill in the art without departing from the spirit of the present invention, and therefore the present invention is not limited to the specific embodiments disclosed below.
Furthermore, reference herein to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one implementation of the invention. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments.
The positioning method provided by the invention comprises two steps, one of which is as follows: when the mobile trolley approaches the target equipment, identifying the target equipment information and feeding the target equipment information back to the PLC and the control system; the second step is as follows: when the movable trolley reaches a target position, laser emitted by the laser sensor is reflected back to the laser sensor through a reflecting plate on the positioning plate, and the laser sensor receives a position signal and transmits the signal to the PLC and the control system; wherein, the travelling car includes: the RFID reader, the reflection-type laser sensor, the frequency converter, the PLC and the control system are installed on a trolley body, the RFID tag and the adjustable positioning device are installed on target equipment, and the reflecting plate is installed on the adjustable positioning device.
The conventional positioning system for the moving cart of the heat treatment apparatus includes: the device comprises a movable trolley positioning pressure rod, a travel switch, a frequency converter, a PLC and a control system. When the trolley moves and approaches a target device, the positioning pressure rod firstly contacts the speed reduction travel switch and transmits a signal to the PLC, the PLC gives a speed reduction instruction after judging, the trolley moves forwards at a low speed, when the trolley reaches a target position, the positioning pressure rod contacts the stop travel switch and transmits the signal to the PLC, the PLC gives a stop instruction after judging, and the trolley stops. Since the mobile carriage is usually moving in both the left and right directions, the deceleration detection and stopping needs to be configured and adjusted separately.
The positioning system of the mobile trolley comprises: the RFID system comprises an RFID reader, an RFID label, a reflection-type laser sensor, an adjustable positioning device, a reflecting plate, a frequency converter, a PLC and a control system. The RFID reader, the reflection-type laser sensor, the frequency converter, the PLC and the control system are installed on a moving trolley body, the RFID tag and the adjustable positioning device are installed on target equipment, and the reflecting plate is installed on the adjustable positioning device.
When the trolley moves and approaches a target device, the RFID reader recognizes device information at a position 15-20CM away from the target device, the information is transmitted to the PLC in real time, if the target device is the target device, the PLC gives a deceleration instruction after judging, the trolley moves forwards at a low speed, when the trolley reaches a target position, laser emitted by the laser sensor is reflected back to the laser sensor through a reflecting plate on the positioning plate, the laser sensor receives a position signal and transmits the signal to the PLC, the PLC gives a stop instruction after judging, and the trolley stops. Since the identification of the RFID reader is contactless and does not divide the direction, the deceleration signal can be given only within a suitable range, and therefore, there is no need to provide two deceleration detections. Similarly, because the detection light spot of the laser sensor is very small, the laser sensor can move from left to right to detect and can be superposed at a point, and therefore, accurate positioning can be realized only by one sensor.
The RFID sensor is very suitable for the severe working environment of heat treatment, is free of contact, is oil-resistant, dirty-resistant, temperature-resistant, chemical-resistant, and works reliably. The laser sensor has the advantages of concentrated light spots, high precision and no influence of ambient light, and is not interfered by oil stains and dust by being matched with a protection plate on the positioning device, so that the reliability is greatly improved.
Through the improvement of the device, the positioning precision and the reliability of the movable trolley are greatly improved.
Therefore, the structure of the invention is simplified, taking 10 devices as an example, originally 40 sensors and a plurality of circuits are needed, only 1 RFID reader, 1 laser sensor, 10 RFID labels and 10 positioning reflecting plates are needed at present, wiring is not needed, and a large amount of cost is saved; the positioning precision and the reliability are high, and the problems and faults of the travel switch are avoided due to the adoption of a reliable non-contact technology; the information quantity is richer, a stronger error-proofing function can be realized, original position detection is only provided by a stop signal, the current position information is provided by the RFID and the laser sensor, particularly, the RFID can store a lot of information, and equipment can be identified more accurately.
It should be noted that the above-mentioned embodiments are only for illustrating the technical solutions of the present invention and not for limiting, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, which should be covered by the claims of the present invention.
Claims (3)
1. A positioning method of a mobile trolley is characterized in that: comprises the steps of (a) preparing a mixture of a plurality of raw materials,
when the mobile trolley approaches the target equipment, identifying the target equipment information and feeding the target equipment information back to the PLC and the control system; and the number of the first and second groups,
when the movable trolley reaches a target position, laser emitted by the laser sensor is reflected back to the laser sensor through a reflecting plate on the positioning plate, and the laser sensor receives a position signal and transmits the signal to the PLC and the control system; wherein,
the travelling car includes: the RFID reader, the reflection-type laser sensor, the frequency converter, the PLC and the control system are installed on a trolley body, the RFID tag and the adjustable positioning device are installed on target equipment, and the reflecting plate is installed on the adjustable positioning device.
2. The method for positioning a mobile cart according to claim 1, wherein: the fact that the moving trolley is close to the target equipment means that the distance between the RFID reader and the target equipment is 15-20 cm.
3. The method for positioning a mobile cart according to claim 1, wherein: and the information of the target equipment is identified and fed back to the PLC and the control system, if the target equipment is detected, the PLC gives a deceleration instruction after judging, and the moving trolley advances at a low speed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510716764.5A CN105303136A (en) | 2015-10-29 | 2015-10-29 | Method for positioning mobile trolley |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510716764.5A CN105303136A (en) | 2015-10-29 | 2015-10-29 | Method for positioning mobile trolley |
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| CN105303136A true CN105303136A (en) | 2016-02-03 |
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| CN201510716764.5A Pending CN105303136A (en) | 2015-10-29 | 2015-10-29 | Method for positioning mobile trolley |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107144855A (en) * | 2017-07-13 | 2017-09-08 | 浙江科钛机器人股份有限公司 | A kind of laser positioning and air navigation aid based on double reflectors |
| CN107273950A (en) * | 2017-06-13 | 2017-10-20 | 浙江中产科技有限公司 | A kind of acquisition system for merging material mouth and material position data |
| CN110065558A (en) * | 2019-04-22 | 2019-07-30 | 深圳创维－Rgb电子有限公司 | A kind of back Kun formula AGV auxiliary locator and its method |
| CN112258812A (en) * | 2020-11-12 | 2021-01-22 | 广州市番禺区中心医院 | Wireless voice reminding device for arrival of rail logistics trolley |
| CN114376845A (en) * | 2021-12-30 | 2022-04-22 | 深圳市科曼医疗设备有限公司 | Operating bed management system and method |
| CN114510058A (en) * | 2022-02-24 | 2022-05-17 | 江苏丰东热技术有限公司 | Method and system for calibrating left and right moving positions of trolley |
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| CN101870433A (en) * | 2010-07-13 | 2010-10-27 | 大连斯博瑞科技有限公司 | Crane positioning device |
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| CN104442452A (en) * | 2014-11-14 | 2015-03-25 | 杨鹏波 | Unmanned electric trackless three-direction stacking forklift truck |
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2015
- 2015-10-29 CN CN201510716764.5A patent/CN105303136A/en active Pending
Patent Citations (5)
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| WO2004109583A1 (en) * | 2003-06-06 | 2004-12-16 | Stemco Llc | Wireless communication device, system for communication and communication method |
| CN101025632A (en) * | 2007-03-23 | 2007-08-29 | 南京航空航天大学 | Track type conveyor control device |
| CN101870433A (en) * | 2010-07-13 | 2010-10-27 | 大连斯博瑞科技有限公司 | Crane positioning device |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107273950A (en) * | 2017-06-13 | 2017-10-20 | 浙江中产科技有限公司 | A kind of acquisition system for merging material mouth and material position data |
| CN107273950B (en) * | 2017-06-13 | 2020-02-07 | 浙江中产科技有限公司 | Collection system fusing material port data and material level data |
| CN107144855A (en) * | 2017-07-13 | 2017-09-08 | 浙江科钛机器人股份有限公司 | A kind of laser positioning and air navigation aid based on double reflectors |
| CN107144855B (en) * | 2017-07-13 | 2019-08-13 | 浙江科钛机器人股份有限公司 | A kind of laser positioning and air navigation aid based on double reflectors |
| CN110065558A (en) * | 2019-04-22 | 2019-07-30 | 深圳创维－Rgb电子有限公司 | A kind of back Kun formula AGV auxiliary locator and its method |
| CN112258812A (en) * | 2020-11-12 | 2021-01-22 | 广州市番禺区中心医院 | Wireless voice reminding device for arrival of rail logistics trolley |
| CN114376845A (en) * | 2021-12-30 | 2022-04-22 | 深圳市科曼医疗设备有限公司 | Operating bed management system and method |
| CN114510058A (en) * | 2022-02-24 | 2022-05-17 | 江苏丰东热技术有限公司 | Method and system for calibrating left and right moving positions of trolley |
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| TA01 | Transfer of patent application right |
Effective date of registration: 20180716 Address after: 211200 Industrial Park, Yong Yang Town, Lishui District, Nanjing, Jiangsu, China Applicant after: Nanjing Feng Feng Heat Treatment Engineering Co., Ltd. Address before: 224199 No. 333 Nanxiang Road, Yancheng City economic and Technological Development Zone, Jiangsu Applicant before: Jiangsu Fengdong Thermal Technology Co., Ltd. |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20160203 |
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| RJ01 | Rejection of invention patent application after publication |