CN107879137B - System, method and readable storage medium storing program for executing for being positioned to railway carriage hook - Google Patents
System, method and readable storage medium storing program for executing for being positioned to railway carriage hook Download PDFInfo
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- CN107879137B CN107879137B CN201710992639.6A CN201710992639A CN107879137B CN 107879137 B CN107879137 B CN 107879137B CN 201710992639 A CN201710992639 A CN 201710992639A CN 107879137 B CN107879137 B CN 107879137B
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- positioning vehicle
- railway carriage
- positioning
- large arm
- hook
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- 238000000034 method Methods 0.000 title claims abstract description 26
- 238000003860 storage Methods 0.000 title claims abstract description 13
- 238000001514 detection method Methods 0.000 claims description 5
- 238000006243 chemical reaction Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 4
- 238000013459 approach Methods 0.000 description 3
- 230000006399 behavior Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 238000000151 deposition Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G67/00—Loading or unloading vehicles
- B65G67/02—Loading or unloading land vehicles
- B65G67/24—Unloading land vehicles
- B65G67/32—Unloading land vehicles using fixed tipping installations
- B65G67/48—Vehicle tipplers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0266—Control or detection relating to the load carrier(s)
- B65G2203/0283—Position of the load carrier
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The embodiment of the present invention provides a kind of system, method and readable storage medium storing program for executing for being positioned to railway carriage hook, belongs to vehicular field.The system comprises: locating module, for determining position of the positioning vehicle on walking track；Control module, present position determines position at the positioning vehicle railway carriage hook to be positioned when for executing large arm retraction operation according to the positioning vehicle；And execution module, position at the positioning vehicle railway carriage hook to be positioned is gone to for controlling the positioning garage.It by the application above-mentioned technical proposal, solves the problems, such as automatic positioning railway carriage hook, realizes positioning vehicle Exact Travelling and go to position at corresponding railway carriage hook.
Description
Technical field
The present invention relates to vehicular field, more particularly to a kind of system for being positioned to railway carriage hook, method and
Readable storage medium storing program for executing.
Background technique
With the development of train wagon technology, gradually instead of stay hook railway carriage, tippler can not have to rotary hook railway carriage
Decoupling device dumping train wagon, to improve car dumper operation efficiency.Since tippler is once merely able to dumping 1-4 section railway carriage,
Therefore it needs to position vehicle during dumping and railway carriage is promoted and positioned, to guarantee continuous dumping operation.In positioning vehicle
During railway carriage is promoted and positioned, needs to position vehicle and run to corresponding railway carriage hook, and stretch out large arm and push away railway carriage
Into overturning machine platform.It can be realized the method for being automatically positioned above-mentioned railway carriage hook however, lacking in the prior art.
Summary of the invention
The purpose of the embodiment of the present invention is that providing a kind of system for being positioned to railway carriage hook, method and readable depositing
Storage media can not be automatically positioned above-mentioned railway carriage hook at least to solve the problems, such as in the prior art.
To achieve the goals above, the embodiment of the present invention provides a kind of system for being positioned to railway carriage hook, institute
The system of stating includes: locating module, for determining position of the positioning vehicle on walking track；Control module, for according to described fixed
Vehicle position present when executing large arm retraction operation in position determines position at the positioning vehicle railway carriage hook to be positioned
It sets；And execution module, it is gone at the positioning vehicle railway carriage hook to be positioned for controlling the positioning garage
Position.
Optionally, the system also includes the left grating module and right grating module that are located at left and right sides of the large arm, institutes
Left grating module and right grating module are stated for detecting whether front is blocked, wherein the control module passes through following at least one
Person determines hook position: present position subtracts the vehicle of default joint number when by the way that the positioning vehicle being executed large arm retraction operation
Skin length determines first position, when the positioning parking stall in the first position and the left grating module and right grating module it is equal
In the case where being blocked in front of being not detected, determine the first position locating for the positioning vehicle railway carriage hook to be positioned
In position；The railway carriage length of present position and default joint number determines when executing large arm retraction operation by the positioning vehicle
The second position, when the positioning parking stall is when the second position, the positioning vehicle walks on until the right grating module
Detect front when being no longer blocked, the positioning vehicle reduces speed now walking, when in front of the left grating module detects no longer
The positioning vehicle stops walking and determine the positioning vehicle current location by the positioning vehicle railway carriage to be positioned when being blocked
Position at hook；And present position and default joint number when by the positioning vehicle executing large arm retraction operation
Railway carriage length determines the second position, and when the positioning parking stall is when the second position, the positioning vehicle walks on until institute
It states right grating module and detects that record current location is the third place when front is no longer blocked, by subtracting the third place
Reducing internal heat hitch shelves length determines position at the positioning vehicle railway carriage hook to be positioned.
Optionally, the system also includes close switches, when by detecting the large arm retraction in place close to switch,
Determine that the positioning vehicle executes position present when large arm retraction operation.
Optionally, the locating module is absolute value encoder.
Optionally, the control module is programmable logic controller (PLC).
Optionally, the execution module is frequency converter.
The embodiment of the present application also provides a kind of method positioned to railway carriage hook executed by positioning vehicle, the method
Comprise determining that the positioning vehicle executes position present when large arm retraction operation；Large arm is executed according to the positioning vehicle to retract
Present position when operation determines position at the positioning vehicle railway carriage hook to be positioned；And described in control
Positioning garage goes to position at the positioning vehicle railway carriage hook to be positioned.
Optionally, it is by the left grating module being located at left and right sides of the large arm and right grating module detection front
It is no to be blocked, wherein position present when according to the positioning vehicle execution large arm retraction operation, determines that the positioning vehicle is intended to
Position at the railway carriage hook of positioning include it is following at least one: by by the positioning vehicle execute large arm retraction operation when
The railway carriage length that present position subtracts default joint number determines first position, when the positioning parking stall in the first position and
The left grating module and right grating module be not detected front be blocked in the case where, determine that the first position is described
Position position at the vehicle railway carriage hook to be positioned；It is present when by positioning vehicle execution large arm retraction operation
The railway carriage length of position and default joint number determines the second position, when the positioning parking stall is when the second position, the positioning
Vehicle walks on when the right grating module detects that front is no longer blocked, and the positioning vehicle reduces speed now walking, when
The left grating module detects that the positioning vehicle stops walking and determines the positioning vehicle present bit when front is no longer blocked
It is set to position at the positioning vehicle railway carriage hook to be positioned；And large arm is executed by the positioning vehicle and retracts behaviour
The railway carriage length of present position and default joint number determines the second position when making, when the positioning parking stall is in the second position
When, positioning vehicle record current location when the right grating module detects that front is no longer blocked that walks on is the
Three positions are determined locating for the positioning vehicle railway carriage hook to be positioned by the way that the third place is subtracted train hook length
In position.
Optionally, when by detecting that the large arm retracts in place close to switch, determine that the positioning vehicle executes large arm
Present position when retraction operation.
The embodiment of the present application also provides a kind of machine readable storage medium, and finger is stored on the machine readable storage medium
It enables, which is used for so that machine executes the above-mentioned method of the application.
In the application above-mentioned technical proposal, it is present when large arm retraction operation that locating module can determine that positioning vehicle executes
Position, present position determines that positioning vehicle be intended to position when control module can execute large arm retraction operation according to positioning vehicle
Railway carriage hook at position, and control execution module control positioning garage go to positioning the vehicle railway carriage hook to be positioned
Present position realizes positioning vehicle Exact Travelling and goes to corresponding vehicle to solve the problems, such as automatic positioning railway carriage hook
Position at skin hook.
The other feature and advantage of the embodiment of the present invention will the following detailed description will be given in the detailed implementation section.
Detailed description of the invention
Attached drawing is to further understand for providing to the embodiment of the present invention, and constitute part of specification, under
The specific embodiment in face is used to explain the present invention embodiment together, but does not constitute the limitation to the embodiment of the present invention.Attached
In figure:
Fig. 1 is the block diagram for the system for being positioned to railway carriage hook that a kind of embodiment of the application provides；
Fig. 2 is the schematic diagram for the system for being positioned to railway carriage hook that a kind of embodiment of the application provides；With
And
Fig. 3 is the method positioned to railway carriage hook executed by positioning vehicle that one embodiment of the present invention provides
Flow chart.
Description of symbols
10 locating module, 20 control module
The left grating module of 30 execution module 40
50 right 60 semi-girders of grating module are in place close to switch
Specific embodiment
It is described in detail below in conjunction with specific embodiment of the attached drawing to the embodiment of the present invention.It should be understood that this
Locate described specific embodiment and be merely to illustrate and explain the present invention embodiment, is not intended to restrict the invention embodiment.
Fig. 1 is the block diagram for the system for being positioned to railway carriage hook that a kind of embodiment of the application provides.Such as Fig. 1
It is shown, a kind of system for being positioned to railway carriage hook is provided in the application embodiment, the system comprises: positioning mould
Block 10, for determining position of the positioning vehicle on walking track；Control module 20 retracts behaviour for executing large arm according to positioning vehicle
Present position determines position at the positioning vehicle railway carriage hook to be positioned when making；And execution module 30, it is used for
Control positioning garage goes to position at the positioning vehicle railway carriage hook to be positioned.
Wherein, the locating module 10 may, for example, be absolute value encoder or incremental value encoder etc., the control
Module 20 may, for example, be programmable logic controller (PLC), single-chip microcontroller or processor etc., and the execution module 30 may, for example, be change
Frequency device or servo controller etc..
In a kind of optional embodiment of the application, locating module 10 is absolute value encoder, and control module 20 is that can compile
Journey logic controller (PLC), execution module 30 are frequency converter.Wherein, absolute value encoder can for example be mounted on positioning vehicle vehicle
On body, pass through physical location of the measurement detection positioning vehicle of the absolute value encoder on walking track.Programmable logical controller
Device can be for example mounted in tippler electric panel room, which can be automatic according to pre-set positioning vehicle
It seeks hook program and determines position at the positioning vehicle railway carriage hook to be positioned.It is electromechanical that frequency converter can for example be mounted on overturning
Gas chamber, the frequency converter is under the control of programmable logic controller (PLC), the start and stop and speed of control positioning vehicle movable motor, and then controls
It formulates position garage and goes to position at the positioning vehicle railway carriage hook to be positioned.
In the application above-mentioned technical proposal, it is locating when large arm retraction operation that locating module 10 can determine that positioning vehicle executes
In position, present position determines that positioning vehicle be intended to when control module 20 can execute large arm retraction operation according to positioning vehicle
Position at the railway carriage hook of positioning, and control the control positioning of execution module 30 garage and go to the positioning vehicle vehicle to be positioned
Position at skin hook realizes positioning vehicle Exact Travelling and goes to phase to solve the problems, such as automatic positioning railway carriage hook
Position at the railway carriage hook answered.
Fig. 2 is the schematic diagram for the system for being positioned to railway carriage hook that a kind of embodiment of the application provides.Such as
Shown in Fig. 2, in a kind of optional embodiment of the application, the system for being positioned to railway carriage hook further includes being located at
The left grating module 40 and right grating module 50 on vehicle, the left grating module 40 and right grating module 50 are positioned for detecting front
Whether it is blocked.Wherein, left grating module 40 positioning vehicle large arm overturning machine platform side, right grating module 50 with Zuo Guang
Grid module 40 is relative to positioning vehicle large arm opposite side.The position of left grating module 40 and right grating module 50 on positioning vehicle by
The length and on-site actual situations of railway carriage hook determine, and for different types of railway carriage, position the position of grating module on vehicle
It sets also different.
Wherein, the grating module may, for example, be scattered reflection type photoelectric sensor etc., the transmitter of the grating module and
Receiver can be placed in one.Under normal circumstances, receiver can not receive the optical signal of transmitter sending；When detectable substance passes through
When having obstructed light, and light part being reflected, receiver receives optical signal, and exports a control signal.
In a kind of optional embodiment of the application, the system for being positioned to railway carriage hook can also include
Close to switching, this can be installed on positioning vehicle car body close to switch, and this may include that semi-girder connects in place close to switching
Nearly switch 60 and contracting arm in place close to switch (not shown), for detect respectively position vehicle large arm whether stretch out in place be retracted into
Position.When by detecting that the large arm retracts in place close to switch, the record of control module 20 is determined by what locating module 10 determined
Position vehicle is currently in the position on track of walking.Since when executing large arm retraction and extending action, positioning vehicle is on walking track
In halted state, therefore the position that control module 20 records is to position vehicle to execute position present when large arm retraction operation
It sets.
In a kind of optional embodiment of the application, control module 20 by the following method determine hook position: pass through by
The railway carriage length that positioning vehicle position present when executing large arm retraction operation subtracts default joint number determines first position, when
The positioning parking stall is not detected front in the first position and the left grating module 40 and 50 pieces of right grating mould and is hindered
In the case where gear, first position position at the positioning vehicle railway carriage hook to be positioned is determined.
In the present embodiment, locating module 10 can be absolute value encoder, and control module 20 can patrol to be programmable
It collects controller (PLC), execution module 30 can be frequency converter, and the column train wagon to dumping can be the C70 railway carriage of standard
Or C80 railway carriage (length of i.e. every section railway carriage is all a standard value), two section railway carriage of dumping of tippler.Specific control method
As follows: positioning vehicle navigates to two section train wagons in tippler, and positioning vehicle starts to execute the movement of contracting arm, positions when PLC is determined
When vehicle large arm retracts in place (such as PLC detects contracting arm in place close to switch for indicating that large arm retracts approach signal in place
When triggering), the current location for positioning vehicle (numerical value of absolute encoder on positioning vehicle) is stored in the register of PLC by PLC,
Middle tippler direction is the big numerical value direction of absolute value encoder, and PLC is by subtracting the numerical value for positioning vehicle large arm retracted position
Two section train wagon length, calculate the first position, then PLC by control frequency converter realize positioning vehicle reach this first
Position and position vehicle and stop walking, if positioning two grating modules of vehicle detect front without train wagon, namely positioning vehicle
There is no train cover in front of large arm, then the first position is to position position, i.e. Fig. 2 at the vehicle railway carriage hook to be positioned
In the second railway carriage hook position, in the position position vehicle start execute stretch.If positioning two grating modules on vehicle
When detecting that there is train wagon in front, positioning vehicle does not execute stretch, staff can be notified manually to determine whether at this time
Execute stretch or adjustment positioning truck position.
In the application another kind optional embodiment, control module 20 determines hook position by the following method: passing through
The railway carriage length of the positioning vehicle position and default joint number present when executing large arm retraction operation determines the second position, works as institute
Positioning parking stall is stated when the second position, the positioning vehicle walks on until the right grating module 50 detects front not
When being blocked again, the positioning vehicle reduces speed now walking, when the left grating module 40 detects that front is no longer blocked when institute
Positioning vehicle is stated to stop walking and determine the positioning vehicle current location at the positioning vehicle railway carriage hook to be positioned
Position.
In the present embodiment, locating module 10 can be absolute value encoder, and control module 20 can patrol to be programmable
It collects controller (PLC), execution module 30 can be frequency converter, and the column train wagon to dumping can be the C70 railway carriage of standard
Or C80 railway carriage (length of i.e. every section railway carriage is all a standard value), two section railway carriage of dumping of tippler.Specific control process
It can be such that positioning vehicle navigates to two section train wagons in tippler, positioning vehicle starts to execute the movement of contracting arm, when PLC is determined
Positioning vehicle large arm retract in place when (such as PLC detect contracting arm in place close to switch for indicate large arm retract in place approach
When signal triggers), position and two section railway carriage length PLC present when executing large arm retraction operation by the positioning vehicle determine
The second position.As shown in Fig. 2, the second position can be between the first railway carriage hook and the second railway carriage hook, and close to
Two railway carriage hooks, specific location can be selected according to the actual situation, and can execute large arm retraction by that will position vehicle
Present position subtracts that the second position is obtained after the numerical value after two section railway carriage length is modified is corresponding absolutely when operation
It is worth the numerical value of encoder.PLC reaches the second position and positions vehicle and walks on by control frequency converter realization positioning vehicle, directly
When can't detect front to the positioning right grating module 50 of vehicle has railway carriage, positioning vehicle reduces speed now walking, and when left grating module 40
When can't detect front has railway carriage, positioning vehicle stops walking, and positioning vehicle current location is to position the vehicle railway carriage hook to be positioned
Position at shelves, i.e. position at the second railway carriage hook in Fig. 2.In addition, in order to ensure equipment safety, in positioning vehicle
After stopping walking, whether can also there are train wagon and then determination in front of the large arm for detecting positioning vehicle by grating module
Whether large arm executes stretch.
In the application another kind optional embodiment, control module 20 determines hook position by the following method: passing through
The railway carriage length of the positioning vehicle position and default joint number present when executing large arm retraction operation determines the second position, works as institute
Positioning parking stall is stated when the second position, the positioning vehicle walks on until the right grating module 50 detects front not
When being blocked again record current location be the third place, by by the third place subtract train hook length determine it is described fixed
Position at the vehicle railway carriage hook to be positioned of position.
In the present embodiment, locating module 10 can be absolute value encoder, and control module 20 can patrol to be programmable
It collects controller (PLC), execution module 30 can be frequency converter, and the column train wagon to dumping can be the C70 railway carriage of standard
Or C80 railway carriage (length of i.e. every section railway carriage is all a standard value), two section railway carriage of dumping of tippler.Therefore control process
It can be such that positioning vehicle navigates to two section train wagons in tippler, positioning vehicle starts to execute the movement of contracting arm, when PLC is determined
Positioning vehicle large arm retract in place when (such as PLC detect contracting arm in place close to switch for indicate large arm retract in place approach
When signal triggers), position and two section railway carriage length PLC present when executing large arm retraction operation by the positioning vehicle determine
The second position.PLC realizes that positioning vehicle reaches the second position and positions vehicle by control frequency converter and walks on, until positioning
The right grating module 50 of vehicle can't detect front when having railway carriage, and the current location (i.e. the third place) for positioning vehicle is stored in PLC's
In register, PLC calculates the positioning vehicle railway carriage to be positioned by the way that the numerical value of the third place to be subtracted to the length of railway carriage hook
Position at hook, the i.e. position of the second railway carriage hook in Fig. 2.Since the hook length of different railway carriage types is different, because
Hook length is stored in PLC register by this needs in advance according to railway carriage type.PLC realizes positioning vehicle by control frequency converter
The third place stopping is reached, whether positioning vehicle there can be train in front of the large arm by two grating module detection positioning vehicles
After railway carriage, determine whether large arm executes stretch.
Fig. 3 is the method positioned to railway carriage hook executed by positioning vehicle that one embodiment of the present invention provides
Flow chart.As shown in figure 3, embodiment of the present invention provides a kind of side positioned to railway carriage hook executed by positioning vehicle
Method, which comprises
Step S301 determines that positioning vehicle executes position present when large arm retraction operation.
Step S302, present position, determines that positioning vehicle is intended to position when according to positioning vehicle execution large arm retraction operation
Railway carriage hook at position.
Step S303, control positioning garage go to position at the positioning vehicle railway carriage hook to be positioned.
In a kind of optional embodiment of the application, by be located at left grating module at left and right sides of the large arm and
Whether right grating module detection front is blocked, wherein position present when according to positioning vehicle execution large arm retraction operation, really
Positioning the vehicle railway carriage hook to be positioned at position include it is following at least one:
It is determined by the railway carriage length that position present when positioning vehicle execution large arm retraction operation is subtracted default joint number
First position, when positioning parking stall is in first position and the feelings that front is blocked are not detected in left grating module and right grating module
Under condition, determine first position for position at the positioning vehicle railway carriage hook to be positioned；
The railway carriage length of present position and default joint number determines second when executing large arm retraction operation by positioning vehicle
Position, when positioning parking stall is when the second position, positioning vehicle walks on until right grating module detects that front is no longer blocked
When, positioning vehicle reduces speed now walking, and when left grating module detects that front is no longer blocked, positioning vehicle stops walking and determining
Vehicle current location is positioned as position at the positioning vehicle railway carriage hook to be positioned；And
The railway carriage length of present position and default joint number determines second when executing large arm retraction operation by positioning vehicle
Position, when positioning parking stall is when the second position, positioning vehicle walks on until right grating module detects that front is no longer blocked
The current location Shi Jilu is the third place, determines that positioning vehicle is intended to position by the way that the third place is subtracted train hook length
Railway carriage hook at position.
In a kind of optional embodiment of the application, when by detecting that the large arm retracts in place close to switch, really
It positions vehicle and executes position present when large arm retraction operation.
The application embodiment also provides a kind of machine readable storage medium, and finger is stored on the machine readable storage medium
It enables, which is used for so that machine executes the above-mentioned method of the application.
By the above scheme of the application, can fast and accurately determine at the positioning vehicle railway carriage hook to be positioned
Position, solve the problems, such as that positioning vehicle seeks hook, ensure that production is gone on smoothly.And by being detected using grating module,
It ensures that positioning vehicle will not scratch during semi-girder with train wagon, protects equipment safety.In addition, it is above-mentioned for pair
The system that railway carriage hook is positioned has the advantages that structure is simple, convenient and reliable and be easily achieved.
The optional embodiment of the embodiment of the present invention is described in detail in conjunction with attached drawing above, still, the embodiment of the present invention is simultaneously
The detail being not limited in above embodiment can be to of the invention real in the range of the technology design of the embodiment of the present invention
The technical solution for applying example carries out a variety of simple variants, these simple variants belong to the protection scope of the embodiment of the present invention.
It is further to note that specific technical features described in the above specific embodiments, in not lance
In the case where shield, it can be combined in any appropriate way.In order to avoid unnecessary repetition, the embodiment of the present invention pair
No further explanation will be given for various combinations of possible ways.
It will be appreciated by those skilled in the art that implementing the method for the above embodiments is that can pass through
Program is completed to instruct relevant hardware, which is stored in a storage medium, including some instructions are used so that single
Piece machine, chip or processor (processor) execute all or part of the steps of each embodiment the method for the application.And it is preceding
The storage medium stated includes: USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory
The various media that can store program code such as (RAM, Random Access Memory), magnetic or disk.
In addition, any combination can also be carried out between a variety of different embodiments of the embodiment of the present invention, as long as it is not
The thought of the embodiment of the present invention is violated, equally should be considered as disclosure of that of the embodiment of the present invention.
Claims (8)
1. a kind of system for being positioned to railway carriage hook, which is characterized in that the system comprises:
Locating module, for determining position of the positioning vehicle on walking track；
Control module, present position determines the positioning vehicle institute when for executing large arm retraction operation according to the positioning vehicle
Position at the railway carriage hook to be positioned；And
Execution module goes to position at the positioning vehicle railway carriage hook to be positioned for controlling the positioning garage
It sets,
The system also includes the left grating module and right grating module that are located at left and right sides of the large arm, the left grating modules
With right grating module for detecting whether front is blocked, wherein the control module passes through at least one following determination hook position
It sets:
The railway carriage length that present position subtracts default joint number when by the way that the positioning vehicle being executed large arm retraction operation determines
First position, before the positioning parking stall is not detected in the first position and the left grating module and right grating module
In the case that side is blocked, first position position at the positioning vehicle railway carriage hook to be positioned is determined；
The railway carriage length of present position and default joint number determines second when executing large arm retraction operation by the positioning vehicle
Position, when the positioning parking stall is when the second position, the positioning vehicle walks on until the right grating module detects
When being no longer blocked to front, the positioning vehicle reduces speed now walking, when the left grating module detects that front is no longer hindered
The positioning vehicle stops walking and determine the positioning vehicle current location by the positioning vehicle railway carriage hook to be positioned when gear
Present position；And
The railway carriage length of present position and default joint number determines second when executing large arm retraction operation by the positioning vehicle
Position, when the positioning parking stall is when the second position, the positioning vehicle walks on until the right grating module detects
It is the third place that current location is recorded when being no longer blocked to front, true by the way that the third place is subtracted train hook length
Position at the fixed positioning vehicle railway carriage hook to be positioned.
2. system according to claim 1, which is characterized in that the system also includes close to switch, opened by close
When pass detects that the large arm is retracted in place, determine that the positioning vehicle executes position present when large arm retraction operation.
3. system described in any one of -2 claims according to claim 1, which is characterized in that the locating module is absolute value
Encoder.
4. system described in any one of -2 claims according to claim 1, which is characterized in that the control module is programmable
Logic controller.
5. system described in any one of -2 claims according to claim 1, which is characterized in that the execution module is frequency conversion
Device.
6. a kind of method positioned to railway carriage hook executed by positioning vehicle, which is characterized in that the described method includes:
Determine that the positioning vehicle executes position present when large arm retraction operation；
Present position, determines the positioning vehicle railway carriage to be positioned when according to the positioning vehicle execution large arm retraction operation
Position at hook；And
It controls the positioning garage and goes to position at the positioning vehicle railway carriage hook to be positioned,
Whether it is blocked by the left grating module being located at left and right sides of the large arm and right grating module detection front,
Middle present position when executing large arm retraction operation according to the positioning vehicle, determines the positioning vehicle railway carriage hook to be positioned
Shelves at position include it is following at least one:
The railway carriage length that present position subtracts default joint number when by the way that the positioning vehicle being executed large arm retraction operation determines
First position, before the positioning parking stall is not detected in the first position and the left grating module and right grating module
In the case that side is blocked, first position position at the positioning vehicle railway carriage hook to be positioned is determined；
The railway carriage length of present position and default joint number determines second when executing large arm retraction operation by the positioning vehicle
Position, when the positioning parking stall is when the second position, the positioning vehicle walks on until the right grating module detects
When being no longer blocked to front, the positioning vehicle reduces speed now walking, when the left grating module detects that front is no longer hindered
The positioning vehicle stops walking and determine the positioning vehicle current location by the positioning vehicle railway carriage hook to be positioned when gear
Present position；And
The railway carriage length of present position and default joint number determines second when executing large arm retraction operation by the positioning vehicle
Position, when the positioning parking stall is when the second position, the positioning vehicle walks on until the right grating module detects
It is the third place that current location is recorded when being no longer blocked to front, true by the way that the third place is subtracted train hook length
Position at the fixed positioning vehicle railway carriage hook to be positioned.
7. according to the method described in claim 6, it is characterized in that, by detecting that the large arm retracts in place close to switch
When, determine that the positioning vehicle executes position present when large arm retraction operation.
8. a kind of machine readable storage medium, it is stored with instruction on the machine readable storage medium, which is used for so that machine
Execute method described in any one of the application the claims 6-7 claim.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710992639.6A CN107879137B (en) | 2017-10-23 | 2017-10-23 | System, method and readable storage medium storing program for executing for being positioned to railway carriage hook |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710992639.6A CN107879137B (en) | 2017-10-23 | 2017-10-23 | System, method and readable storage medium storing program for executing for being positioned to railway carriage hook |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107879137A CN107879137A (en) | 2018-04-06 |
| CN107879137B true CN107879137B (en) | 2019-07-23 |
Family
ID=61782051
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| CN110092153A (en) * | 2019-06-17 | 2019-08-06 | 安徽马钢张庄矿业有限责任公司 | A kind of rail mine truck positioning system and its localization method |
| CN114873314B (en) * | 2022-05-13 | 2024-03-01 | 河北华电曹妃甸储运有限公司 | Sectional positioning method for positioning vehicle of dumper |
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