CN113200314A

CN113200314A - Discharging trolley position detection system and method

Info

Publication number: CN113200314A
Application number: CN202110583654.1A
Authority: CN
Inventors: 张斌; 邱立运
Original assignee: Mcc Changtian Changsha Intelligent Technology Co ltd; Zhongye Changtian International Engineering Co Ltd
Current assignee: Mcc Changtian Changsha Intelligent Technology Co ltd; Zhongye Changtian International Engineering Co Ltd
Priority date: 2021-05-27
Filing date: 2021-05-27
Publication date: 2021-08-03

Abstract

The application provides a position detection system and a method for a dump truck, wherein a positioning scale with unchanged relative position is arranged on a first side surface of the dump truck, the positioning scale is formed by connecting a plurality of positioning labels, the position data corresponding to the positioning labels are different, in the moving process of the dump truck on a moving track, code reading equipment which is arranged outside the moving track corresponding to the first side surface and has the same mounting height with the positioning scale is used for acquiring first position data stored in the first positioning label entering the signal detection range of the dump truck, and simultaneously acquiring signal intensity data of a communication signal generated by the first positioning label, so that signal processing equipment determines the relative displacement data between the code reading equipment and the first positioning label according to the signal intensity data, and then the current position data of the dump truck can be accurately obtained by combining the first position data, the system design is simplified, the installation and maintenance cost is reduced, and the position detection precision and reliability are improved.

Description

Discharging trolley position detection system and method

Technical Field

The application relates to the field of positioning control application, in particular to a discharging trolley position detection system and method.

Background

In the present industrial production, the tripper is often used in stock ground and batching workshop, transports the material to a plurality of feed bins of fixed position in, satisfies the demand of follow-up production to various materials. Wherein, in the automatic control process of tripper, can adopt positioning methods such as proximity switch, limit switch and rotary encoder usually, come to detect whether tripper reaches fixed unloading point.

However, the existing discharge trolleys have poor reliability in positioning mode, are troublesome to install, maintain and use, are easy to cause the position of the detected discharge trolley to be staggered due to the loss of switching signals or pulse signals at one or more discharge points, and the like, so that the position detection accuracy and reliability of the discharge trolley are reduced, the normal operation of the whole production system is influenced, the production efficiency is reduced, and even mixing accidents and safety accidents can occur.

Disclosure of Invention

In view of this, in order to realize the accurate reliable location of tripper, reduce the equipment maintenance cost, guarantee the safe and reliable operation of production system, this application provides following technical scheme:

on the one hand, this application provides a tripper position detection system, the system includes:

the positioning scale is arranged on the first side surface of the discharging trolley, and the relative position between the positioning scale and the discharging trolley is unchanged; the first side surface is a surface parallel to the running track of the discharge trolley, the positioning scale is formed by connecting a plurality of positioning labels, and the corresponding position data of the plurality of positioning labels are different;

the code reading equipment is arranged outside the running track corresponding to the first side surface of the unloading trolley and has the same installation height as the positioning scale, and the code reading equipment can establish communication connection with a first positioning label entering a signal detection range of the code reading equipment to obtain first position data stored by the first positioning label and signal intensity data of a communication signal generated by the first positioning label;

the signal processing equipment is in communication connection with the code reading equipment and is used for acquiring the first position data and the signal intensity data, determining relative displacement data between the code reading equipment and the first positioning tag according to the signal intensity data, and determining current position data of the discharging trolley by using the first position data and the relative displacement data.

Optionally, a first fixed support is fixedly mounted on a first side surface of the dump car, and the positioning scale is mounted on the first fixed support;

and/or a second fixed support arranged outside the running track corresponding to the first side surface of the unloading trolley, so that the mounting height of the code reading equipment arranged at the support end of the second fixed support is the same as that of the positioning scale, and the mounting distance between the code reading equipment and the positioning scale is smaller than the signal detection range of the code reading equipment.

Optionally, the positioning scale is composed of a plurality of detachably connected positioning scale segments, and each positioning scale segment is provided with at least one positioning label.

Optionally, the discharge trolley is provided with two discharge openings, and the distance between the two discharge openings is a multiple of the distance between two adjacent storage bins, so that the discharge belt connecting the two discharge openings runs in different directions, and the material on the discharge belt can be transported to the storage bin located at the discharge opening through the discharge opening in the corresponding direction;

the system further comprises:

the material level detection equipment is arranged at a feeding port of the storage bin and is used for detecting the surface position of the material stored in the storage bin to obtain material level height data;

the signal processing equipment is further used for being in communication connection with the material level detection equipment, acquiring the material level height data, determining that the material level height data reaches a preset material level height, stopping conveying materials to the material bin, controlling the discharging trolley to run to the next discharging position or controlling the discharging belt to run reversely.

Optionally, the signal processing device is integrated in the code reading device, or is a separate device different from the code reading device;

the positioning tag is an RFID electronic tag;

the system further comprises:

and the alarm device is used for receiving and outputting alarm information sent by the signal processing device, wherein the alarm information is generated under the condition that the unloading instruction aiming at the first storage bin is detected, but the current position data of the unloading trolley is inconsistent with the unloading position of the first storage bin.

In another aspect, the present application further provides a method for detecting a position of a dump truck, where the method includes:

detecting that a first positioning tag enters a signal detection range of the code reading equipment, and establishing communication connection with the first positioning tag; the first positioning label is any one of a plurality of positioning labels forming a positioning scale, and the position data corresponding to the plurality of positioning labels are different; the positioning scale is arranged on the first side surface of the discharge trolley, and the relative position between the positioning scale and the discharge trolley is unchanged; the code reading equipment is arranged outside the running track corresponding to the first side surface of the unloading trolley, and the installation height of the code reading equipment is the same as that of the positioning scale;

acquiring first position data stored by the first positioning tag and signal intensity data of a communication signal generated by the first positioning tag;

determining relative displacement data between the code reading equipment and the first positioning tag according to the signal intensity data;

and determining the current position data of the discharging trolley by using the first position data and the relative displacement data.

Optionally, the determining, according to the signal strength data, the relative displacement data between the code reading device and the first positioning tag includes:

acquiring a linear relation between signal intensity data of a positioning label and relative displacement data relative to the code reading equipment;

and determining the relative displacement data between the code reading equipment and the first positioning label by utilizing the linear relation and the acquired signal intensity data.

Optionally, the determining the current position data of the dump truck by using the first position data and the relative displacement data includes:

and summing the first position data and the relative displacement data to obtain the current position data of the discharging trolley.

Optionally, the method further includes:

obtaining a discharging instruction for conveying materials to a first bin at a first discharging position;

detecting whether the current position data of the discharging trolley is matched with the first discharging position;

if not, controlling the discharging trolley to move to the first discharging position;

and if the materials are matched, controlling the discharging belt to run, and conveying the materials loaded by the discharging trolley into the first storage bin.

Optionally, if the discharging trolley is provided with two discharging openings; the control belt operation of unloading, with the material that the tripper loaded is carried to in the first feed bin, include:

detecting whether a feeding opening of the first bin corresponds to a first discharging opening of the discharging trolley or not;

if so, controlling a discharging belt to move towards the direction of a first discharging opening, and conveying the material loaded by the discharging trolley into the first storage bin through the first discharging opening;

and if not, controlling the discharging belt to move towards the direction far away from the first discharging opening, and conveying the materials loaded by the discharging trolley into a second storage bin through a second discharging opening, wherein the first storage bin is a storage bin which is away from the first storage bin by the distance of the double discharging openings.

Based on the technical scheme, the application provides that a positioning scale with unchanged relative position with the unloading trolley is installed on the first side surface of the unloading trolley, the positioning scale is formed by connecting a plurality of positioning labels, and the position data corresponding to the plurality of positioning labels are different, so that in the process of moving the unloading trolley on a running track, code reading equipment which is installed outside the running track corresponding to the first side surface and has the same installation height with the positioning scale can establish communication connection with the first positioning label entering the signal detection range of the code reading equipment to acquire the first position data stored by the first positioning label and simultaneously acquire the signal intensity data of a communication signal generated by the first positioning label, so that the signal processing equipment determines the relative displacement data between the code reading equipment and the first positioning label according to the signal intensity data and then combines the first position data, can accurately obtain the current position data of tripper, need not be for the power supply of positioning scale, system design is simple, has reduced equipment fixing cost and follow-up maintenance cost, and has improved position detection precision and reliability, helps guaranteeing production system safe and reliable operation.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

Fig. 1 is a schematic structural plan view of an alternative example of a discharge carriage position detection system proposed in the present application;

FIG. 2 is a schematic diagram of a signal intensity data detection principle in the dump truck position detection system provided by the present application;

FIG. 3 is a side view of an alternative example of a tripper car position detection system according to the present application

FIG. 4 is a schematic structural view of yet another alternative example of a tripper car position detection system according to the present application;

FIG. 5 is an optional schematic diagram of the application principle of the positioning scale in the discharge carriage position detecting system provided by the present application;

fig. 6 is a schematic flow chart of an alternative example of the dump truck position detection method proposed in the present application;

fig. 7 is a schematic flow chart of yet another alternative example of the dump truck position detection method proposed in the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

Referring to fig. 1, a schematic diagram of an alternative example of a discharge carriage position detection system proposed in the present application is shown in fig. 1, which may include, but is not limited to: positioning scale 100, code reading apparatus 200, and signal processing apparatus 300, wherein:

the positioning scale 100 can be arranged on a first side surface of the discharging trolley, and the relative position between the positioning scale 100 and the discharging trolley is unchanged, as shown in fig. 1, the discharging trolley moves back and forth along the running track to convey the same or different types of materials to a plurality of bins (in the embodiment, the 8 bins 1# -8 # shown in fig. 1 are taken as examples for explanation, but the application does not limit the number of the bins, and is optional), so that the positioning scale 100 moves along with the discharging trolley, the physical position where the positioning scale is located at present is determined, the physical position where the discharging trolley is located is also determined, and whether the discharging scale reaches the preset discharging position is determined, and accurate control over the transportation of the corresponding materials by the different bins is realized.

The first side surface of the discharge trolley may be a surface parallel to the running track of the discharge trolley, such as the top view shown in fig. 1, or a surface below the discharge trolley in fig. 1, but is not limited to the surface, and the position of the code reading device 200 deployed according to the system is determined, that is, the first side surface can be close to one surface of the code reading device 200, so that it is ensured that no shielding exists between the code reading device 200 and the positioning scale, and the reliability and accuracy of signal detection are improved.

In this embodiment of the present application, the positioning scale 200 may be formed by connecting a plurality of positioning tags, and the respective corresponding position data of the plurality of positioning tags are different, so that when the dump truck moves to different positions on the running track, different positioning tags may enter the signal detection range of the code reading device, so as to determine the current position of the dump truck by using the position data stored in the positioning tags, and further determine whether the preset dump position is reached, which is not described in detail herein in this embodiment of the present application.

The positioning tag can comprise but is not limited to an RFID (Radio Frequency Identification) electronic tag and the like, and compared with positioning devices such as a proximity switch, a limit switch, a rotary encoder and the like which can work only by supplying power, the positioning tag can realize transmission of position data by adopting Radio Frequency signals and the like without supplying power to the positioning devices, so that the technical problem that the power supply design of a system is difficult due to the fact that power is not conveniently supplied to the discharging trolley in a scene that the discharging trolley needs to be moved frequently due to the fact that power is not supplied to the discharging trolley is solved.

In some embodiments, the positioning scale 100 may be formed by a plurality of detachably connected positioning scale segments, and each positioning scale segment may be configured with at least one positioning label, and specifically, one or more positioning labels may be connected to form one positioning scale segment. Like this, when a certain positioning scale section breaks down, if at least one positioning label that disposes on it damages, is polluted by the severity etc. and leads to unable reliability identification etc. can directly use the new positioning scale section that stores corresponding position data, replace the positioning scale section of trouble, simple and convenient has guaranteed positioning accuracy.

The segmentation of the whole positioning scale 100 can be realized according to actual requirements, for example, a positioning scale segment is formed at an interval of 2m (unit: meter); of course, the lengths of the plurality of positioning scale segments may also be different, and the application is not limited thereto.

The code reading device 200 can be installed outside the running track corresponding to the first side surface of the discharging trolley, and the installation height of the code reading device 200 is the same as that of the positioning scale 100, so that the reliability and accuracy of reading the signal of the positioning tag entering the signal detection range of the code reading device 200 are improved.

It can be seen that, in the embodiment of the present application, the code reading device 200 may be fixed on the ground outside the running track, as shown in fig. 1, during the movement of the discharging trolley on the running track, since the position 200 of the code reading device is unchanged, but the positioning scale 100 installed on the discharging trolley moves along with the discharging trolley, the relative displacement between each positioning tag forming the positioning scale 100 and the code reading device 200 changes.

For any positioning tag, even in the signal detection range of the code reading device 200, as the distance between the positioning tag and the code reading device 200 increases, the signal strength of the communication signal (such as a radio frequency signal) generated by the code reading device 200 detecting the positioning tag gradually decreases until the signal detection range is exceeded, and the communication connection between the positioning tag and the code reading device 200 is disconnected. Based on the method, the relation between the signal intensity change and the distance (namely the relative displacement) change is analyzed through a large amount of experimental data, so that in practical application, the relation is utilized to determine the relative displacement between the identified positioning label and the code reading equipment, and the positioning accuracy of the discharging trolley is improved.

Specifically, referring to the schematic diagram of the signal strength data detection principle shown in fig. 2, during the movement of the dump car on the moving track, the relative position relationship between the positioning scale 100 and the code reading device 200 changes continuously, so that the distance between each positioning tag on the positioning scale 100 and the code reading device 200 also changes. Assuming that the mounting distance between two adjacent positioning tags in the positioning scale 100 is L, the movement beyond the mounting distance L (which refers to the displacement generated by the movement of the positioning scale relative to the code reading device) can be determined by the position data stored in different identification tags detected by the code reading device 200, and the embodiment will not be described in detail here.

For movement within the mounting distance L, in conjunction with the above analysis, the present embodiment can be determined using the signal strength variation of the same identification tag detected by the code reading device 200. Specifically, as shown in fig. 2, taking any one of the positioning tags (No. 2 positioning tag shown in fig. 2, hereinafter referred to as positioning tag 2) included in the positioning scale as an example for description, in the moving process of the dump truck, if the positioning tag 2 is located directly above the code reading device 200, the code reading device 200 can detect the positioning tag 2 entering its signal detection range, and the detected signal intensity of the radio frequency signal generated by the positioning tag 2 is the maximum, as shown in the signal intensity variation graph below fig. 2, the signal intensity value at the position corresponding to the positioning tag 2 is the peak value in the entire signal intensity variation curve.

Then, as the unloading trolley moves to the left, the positioning tag 2 will gradually get away from the code reading device 200, and accordingly, the signal intensity generated by the positioning tag 2 detected by the code reading device 200 gradually decreases until the signal detection range boundary, for example, if the code reading device 200 is located right below the middle position between the positioning tag 2 and the positioning tag 3, as shown by the position relationship between the code reading device and the positioning scale shown by the dotted line in fig. 2, at this time, the code reading device 200 detects that the signal intensity of the positioning tag 2 is minimum, that is, the trough value of the position corresponding to the signal intensity variation graph below fig. 2.

Based on the analysis, the relative displacement y between a certain positioning label and the code reading equipment can be known during the period that the moving distance of the discharging trolley is less than L₁And the signal intensity data x of the positioning label detected by the code reading equipment meets the following linear formula:

y₁＝k*x+b； (1)

in the formula (1), k is a slope of a linear formula, b is an intercept of the linear formula, specific values of the two parameters can be determined experimentally by using a large amount of data according to the analysis, and the application does not limit the specific values of the two parameters. It is to be understood that b is 0 when the identification tag moves to a position directly above the code reading device (taking a top view as an example, the side view may refer to a position where the identification tag is located directly to the right/left of the code reading device, that is, a position where the distance between the identification tag and the code reading device is the shortest).

Therefore, in practical applications, when any one of the positioning tags (denoted as a first positioning tag) in the positioning scale enters a signal detection range of the code reading device 200, the code reading device 200 can establish a communication connection with the first positioning tag entering the signal detection range thereof, and obtain first position data stored in the first positioning tag and signal strength data of a communication signal generated by the first positioning tag, and a specific implementation process may refer to an information reading principle of an electronic tag, which is not described in detail herein.

In some embodiments, in order to fix the code reading device 200 and make it and the positioning scale be at the same installation height, and improve the detection reliability and accuracy of the positioning label, referring to the side view shown in fig. 3, a first fixing bracket 400 may be fixedly installed on the first side surface of the discharge car, so that the positioning scale 100 can be fixedly installed on the first fixing bracket 400, and the relative position between the positioning scale 100 and the discharge car is maintained by the first fixing bracket 400. Of course, the positioning scale 100 may be directly mounted on the first side surface, and the positioning detection object of the present invention can be achieved without configuring a fixed position.

In addition, as shown in fig. 3, a second fixing bracket 500 may be further installed outside the running track corresponding to the first side surface of the discharging car, a fixed end of the second fixing bracket 500 is fixedly installed on the ground, and the code reading device 200 is installed at a bracket end of the second fixing bracket 500, so that an installation height of the code reading device 500 is the same as an installation height of the positioning scale 100, and an installation distance (here, the minimum detection distance D shown in fig. 3) between the code reading device 200 and the positioning scale 100 is smaller than a signal detection range of the code reading device, and is usually close to a smaller signal detection value within the signal detection range.

The signal processing device 300 can establish a communication connection with the code reading device 200, acquire the first position data and the signal strength data acquired by the code reading device 200, determine the relative displacement data between the code reading device and the first positioning tag according to the signal strength data, and determine the current position data of the dump truck by using the first position data and the relative displacement data.

In combination with the above analysis, after the signal processing device 300 obtains the signal intensity data currently detected by the code reading device 200, the linear relationship shown in the above formula (1) can be used to calculate and obtain the relative displacement data y between the first positioning tag currently entering the signal detection range and the code reading device 200₁Referring to fig. 2, the relative displacement data may refer to a horizontal moving distance of the first positioning tag from the position right above the code reading device 200 to the current position. It can then be associated with the position data y stored in the first positioning tag₂And summing to obtain the current position data Pos of the dump car, and determining whether the dump car reaches the required dump position.

In some embodiments, the signal processing device 300 may be integrated in the code reading device 200 or a separate device from the code reading device 200, as the case may be, and the present application is not limited thereto. And the signal processing apparatus 300 may include, but is not limited to, a PLC (Programmable Logic Controller).

In practical applications, the signal processing device may load and execute a pre-stored program to implement the steps of the discharge car detection method described in the signal processing device side, and the specific implementation process may refer to, but is not limited to, the description of the corresponding parts of the following method embodiments, and will not be described in detail herein.

Therefore, in the whole discharging trolley position detection system provided by the application, each positioning label of the positioning scale does not need to provide any power supply and communication environment, and communication connection can be established to realize detection of position data and signal intensity as long as the positioning label enters a signal detection range of code reading equipment, so that the system design difficulty and cost are reduced, and later maintenance is facilitated. Moreover, this application provides above-mentioned phase displacement data's detection mode, has greatly improved the tripper location precision, and whole testing process does not need artifical inspection, has solved operation under the special operational environment, to the threat of staff healthy and safe.

In some further embodiments provided in the present application, referring to a schematic structural diagram of another example of the position detecting system of the dump truck shown in fig. 4, in order to improve the material transportation efficiency, the dump truck described in the above embodiments may be configured with a plurality of discharge openings, and the present application takes the structure in which one discharge opening is configured on each of the left and right sides of the dump truck, which is denoted as a first discharge opening and a second discharge opening as an example. It should be noted that the distance between these two discharge openings is the multiple of two adjacent feed bin distances to make the belt of unloading of connecting two discharge openings move to equidirectional not, can transport the material on the belt of unloading to being located the feed bin that this discharge opening was issued through the discharge opening that corresponds ascending in side.

Specifically, as shown in fig. 4, the example that the distance between two discharge openings is 4 times the distance between two adjacent bins is taken as an example for explanation, that is, when the discharge car moves and the first discharge opening is located above the 1# bin, the two discharge openings can respectively convey materials (i.e., discharge) to the 1# bin and the 5# bin; when the first discharge opening is positioned above the No. 2 bin, the materials can be respectively discharged to the No. 2 bin and the No. 6 bin through the two discharge openings; when the first discharge opening is positioned above the 3# bin, the materials can be respectively discharged to the 3# bin and the 7# bin through the two discharge openings; when the first discharge opening is located above the 4# bin, the material can be discharged to the 4# bin and the 8# bin through the two discharge openings respectively. Like this, to the system scene that has 8 feed bins, can only detect 4 discharge positions, can utilize the tripper of two discharge openings, realize carrying the material of these 8 feed bins.

According to the above detection mode to the current position of tripper, refer to the application schematic diagram of the positioning scale shown in fig. 5, if with the different discharge positions of first discharge opening displacement 1# feed bin ~ 4# feed bin, the code reading equipment can normally read the positioning scale value on the positioning scale and can show for scale 1 ~ 4 of unloading in proper order, when first discharge opening is located 1# feed bin top, discharge position x1, the positioning value of the positioning scale who reads is scale 1 of unloading, other positions of unloading are similar with the reading process of the scale of unloading, because this application adopts two discharge opening dollies, fig. 5 has only shown 4 scales of unloading.

In the material transportation process, in order to avoid the position error, realize accurate unloading, can be earlier according to the mode of above-mentioned description, detect tripper's current position data, confirm whether it reaches this required discharge position in view of the above, if first discharge opening reaches the discharge position etc. of corresponding feed bin, if reach, can be through this discharge opening to this feed bin transported substance material, simultaneously, under the unmovable condition in the tripper position, also can pass through the second discharge opening, to another feed bin transportation material with this feed bin interval 4. Otherwise, the unloading trolley can be continuously controlled to continuously move until the required unloading position is reached.

In the unloading process, in order to avoid material overflow, as shown in fig. 4, material level detection equipment 600 can be installed near the feeding port of each bin, and is used for detecting the surface position of the material stored in the bin to obtain material level height data, and the detailed description is not given in the present application of the specific detection principle.

Based on this, the signal processing device 300 may further establish a communication connection with each material level detecting device 600, receive material level height data of a corresponding bin sent by each material level detecting device 600, and stop conveying the material to the bin when determining that the material level height data reaches a preset material level height, control the discharging trolley to run to a next discharging position, or control the discharging belt to run in reverse, and convey the material to another bin through another discharging opening.

In still other embodiments, the system may further include:

and the alarm device is used for receiving and outputting the alarm information sent by the signal processing device.

The alarm information can be generated under the condition that the discharging instruction aiming at the first bin is detected, but the current position data of the discharging trolley is inconsistent with the discharging position of the first bin, and the content contained in the alarm information and the output mode of the content are not limited by the application.

Optionally, the alarm device can be deployed on the work site of the dump car, specifically, the alarm device can be a voice alarm device, a display device, a mobile terminal and the like, and the alarm device is not limited to specific product types according to the conditions.

Based on the structure of the system for detecting the position of the dump truck described in the foregoing embodiments, a specific implementation process of the system for detecting the position of the dump truck will be described in detail below, referring to fig. 6, which is a schematic flow chart of an alternative example of a method for detecting the position of the dump truck provided by the present application, and the method may be applied to the system for detecting the position of the dump truck described in the foregoing embodiments, as shown in fig. 6, and the method may include, but is not limited to, the following steps:

step S11, detecting that the first positioning label enters the signal detection range of the code reading device, and establishing communication connection with the first positioning label;

in combination with the above description of the corresponding part of the system embodiment, the first positioning tag refers to any one of a plurality of positioning tags that form the positioning scale, and the plurality of positioning tags have different corresponding position data; the positioning scale can be arranged on the first side surface of the unloading trolley, and the relative position between the positioning scale and the unloading trolley is unchanged, namely, the positioning scale is synchronously moved along with the movement of the unloading trolley, is installed outside a running track corresponding to the first side surface of the unloading trolley and is matched with code reading equipment with the same installation height as the positioning scale, so that the positioning detection of the unloading trolley is realized, and the specific implementation process is described in the following steps.

In practical application, based on the operating principle of near field communication, refer to the system structure shown in fig. 4, under the scene that the dump truck needs to be used to transport materials to each bin, the materials can be transported to the dump truck for loading through the feed inlet of the feeding device arranged above the dump truck, and then the dump truck can be controlled to move to the bin for loading the materials until the discharge opening of the dump truck is located above the bin, the operation of a discharge belt can be controlled, the materials loaded by the dump truck are transported to the bin, and the detailed description is not given in the application of the specific control process.

In the process of controlling the discharge trolley to move, in order to ensure that the discharge trolley reaches the specified discharge position, the discharge opening of the discharge trolley is aligned to the inlet of the corresponding storage bin, materials in the discharge trolley can be accurately conveyed into the storage bin, and whether the discharge trolley reaches the specified discharge position needs to be monitored.

Specifically, because the signal detection range of the code reading device is limited, only the communication connection with the positioning tag entering the signal detection range can be established, and the information content recorded by the positioning tag can be identified. Based on this, in the positioning scale along with the travelling process of tripper, the relative distance between the location label that constitutes this positioning scale and the reading equipment can corresponding change, if certain location label (note first location label) gets into the signal detection scope of this reading equipment, this first location label can establish communication connection with this reading equipment, and concrete implementation does not do not detailed in this application.

Step S12, acquiring first location data stored in the first positioning tag and signal strength data of the communication signal generated by the first positioning tag;

in some embodiments, the positioning tag may be an electronic tag, such as an RFID tag, and the code reading device may include a card reader, where when the RFID tag approaches the card reader continuously and enters into its signal detection range, the card reader will establish a communication connection with the RFID tag to read information content stored in the RFID tag, and the working principle of how the code reading device reads information from the electronic tag will not be described in detail in this application.

In the present application, in combination with the description of the corresponding part of the above embodiment, each positioning tag may store position data for positioning the position of the discharging car, so that, in combination with the relative displacement between the positioning tag and the code reading device, the current position of the discharging car may be positioned. The position data corresponding to each positioning tag is fixed, and the position data corresponding to each positioning tag can be determined in a certain coordinate system, and the specific numerical value is not limited.

In combination with the above description of the calculation principle of the relative displacement between the positioning tag and the code reading device, when the code reading device reads the first position data stored in the first positioning tag, the signal strength data of the communication signal with the first positioning tag also needs to be acquired, and the specific acquisition process is not limited.

Step S13, determining the relative displacement data between the code reading device and the first positioning label according to the signal intensity data;

and step S14, determining the current position data of the discharging trolley by using the first position data and the relative displacement data.

In the embodiment of the present application, in combination with the calculation principle of the relative displacement described in the above formula (1), the code reading device may determine the relative displacement data between the code reading device and the first positioning tag, specifically, if the relative position relationship between the code reading device and the first positioning tag shows a position relationship state between the position of the code reading device and the positioning tag 2 shown by a dotted line in fig. 2, the relative displacement data between the code reading device and the positioning tag 2 may refer to the horizontal distance between the code reading device and the positioning tag 2.

After the relative displacement data is obtained, the relative displacement data can be directly summed with the first position data stored by the first positioning tag, and the obtained position data is the current position data of the discharging trolley. The position data of the dump car may be a position coordinate of a central point of the dump car, or a position coordinate of a discharge opening, or a position coordinate of another reference point, which may be determined as the case may be, but needs to be matched with the above-mentioned manner of determining the position data stored in each positioning tag, and a detailed implementation process is not described in detail in this application.

It should be noted that, the above steps may be executed by a signal processing device in the system, and the signal processing device may be integrated in the code reading device; in still other embodiments, the signal processing device may also be an independent device, in which case, the code reading device establishes a communication connection with the first positioning tag, and after reading the first position data stored in the first positioning tag, the code reading device may send the first position data to the signal processing device, and the signal processing device determines the current position data of the dump truck according to the method described above. The type of the signal processing device and the configuration thereof are not limited in the present application and may be determined as appropriate.

In summary, in the embodiment of the present application, a positioning scale with a fixed relative position with respect to the discharge carriage is installed on the first side surface of the discharge carriage, the positioning scale is formed by connecting a plurality of positioning tags, the respective corresponding position data of the plurality of positioning tags are different, a code reading device with the same installation height as that of the positioning scale is installed outside the running track corresponding to the first side surface, and a signal processing device capable of being in communication connection with the code reading device is configured, during the actual movement of the discharge carriage, the positioning tag in the positioning scale is moved, the relative distance between the code reading device and the discharge carriage changes, when the first positioning tag enters the signal detection range of the code reading device, the two positioning tags will establish communication connection, and the code reading device will acquire the communication signal generated by the first positioning tag and read the position data borne by the first positioning tag, and then sent to the signal processing device.

Then, the signal processing device acquires signal intensity data of a communication signal between the current code reading device and the first positioning tag, relative displacement data between the current code reading device and the first positioning tag is obtained through calculation, and current position data of the current discharging trolley is obtained through combination of position data corresponding to the first positioning tag, so that whether the specified discharging position is reached or not is judged according to the current position data, discharging is started, and various problems caused by the fact that discharging operation is executed when the specified discharging position is not reached are avoided.

Moreover, in the method for detecting the position of the discharging trolley, the communication between the positioning tag and the code reading device is not required to be powered, the system design is simple, the equipment installation cost and the subsequent maintenance cost are reduced, the position detection accuracy, the reliability and the convenience are improved, and the safe and reliable operation of a production system is guaranteed.

Referring to fig. 7, a schematic flow chart of another optional example of the method for detecting the position of the dump truck is provided for the present application, and this embodiment describes an optional detailed implementation process of the method for detecting the position of the dump truck described in the above embodiment, but is not limited to the detailed implementation method described in this embodiment, and one or more execution steps may be adaptively adjusted according to a specific application scenario, which all belong to the protection scope of the present application, and this application is not described in detail. As shown in fig. 7, the refinement implementation method proposed in this embodiment may include:

step S21, detecting that the first positioning label enters the signal detection range of the code reading device, establishing communication connection with the first positioning label, and acquiring first position data stored by the first positioning label and signal intensity data of a communication signal generated by the first positioning label;

step S22, calling the signal intensity data of the positioning label and the linear relation between the relative displacement data of the positioning label relative to the code reading equipment;

step S23, determining the relative displacement data between the code reading device and the first positioning label by using the linear relation and the acquired signal intensity data;

step S24, summing the first position data and the relative displacement data to obtain the current position data of the dump car;

for the specific implementation process of step S21 to step S24, reference may be made to the description of the corresponding parts in the foregoing embodiments, which are not described herein again. It should be understood that the linear relationship in step S22 may be the linear relationship expressed by the above formula (1), but is not limited thereto, and the process of the linear relationship is as described above, and the present embodiment is not described in detail.

Step S25, obtaining a discharging instruction for conveying materials to a first bin at a first discharging position;

it is understood that the step S25 may be executed during the execution of any of the above steps, or after determining the current position data of the dump truck, and the application is not limited to the obtaining of the position of the dump truck and the obtaining of the execution sequence of the dump instruction.

In practical application of the method, corresponding unloading positions of different bins are different, types of materials to be stored in the different bins are possibly different, an unloading instruction for any bin is determined according to working requirements, and specifically, a worker on site can operate a corresponding control button to generate an unloading instruction for a first bin; or according to a preset unloading control rule aiming at a plurality of bins, generating unloading instructions of the corresponding bins, and the like.

S26, detecting whether the current position data of the dump car is matched with the first dump position, if not, entering S27; if yes, go to step S28;

according to the material transportation requirement described above, after the signal processing device obtains a discharging instruction, the discharging instruction cannot be directly executed in the application, but whether the current position data of the discharging trolley is matched with the first discharging position or not is detected, that is, whether the discharging opening of the discharging trolley is corresponding to the first storage bin or not is detected, so that the discharging instruction is directly executed under the condition that the mismatching is avoided, and the situation that the material in the discharging trolley possibly falls out of the first storage bin is caused. It should be noted that, the fact that the current position data of the dump truck is matched with the first discharge position does not mean that the current position data of the dump truck is the same as the position coordinates of the first discharge position, and the matching relationship between the position data of the dump truck and the discharge position may be defined by combining the determination manner of the position data corresponding to the positioning tags, the determination manner of the discharge position, and other data. It will be appreciated that whatever the matching relationship involves, in the event that the two match, the discharge opening of the tripper car is aligned with the inlet of the respective bin.

Step S27, controlling the dump car to move towards the corresponding direction according to the matching result of the current position data and the first unloading position, and continuously detecting the position data of the dump car after the dump car moves;

the method comprises the steps of detecting that the dump car does not reach the first unloading position according to the mode, needing to adjust the position of the dump car, specifically determining the relative position relationship between the current dump car and the first unloading position according to the matching result of the current position data of the dump car and the first unloading position, controlling the dump car to be close to the first unloading position according to the relative position relationship, such as the fact that the dump car is located on the left side or the right side of the first unloading position, and the like.

Step S28, controlling the operation of a discharging belt, and conveying the material loaded by the discharging trolley into a first storage bin;

as described above, when it is determined that the current position data of the dump car matches the first unloading position, the unloading belt on the dump car may be controlled to move towards the first bin, so that the material in the dump car is conveyed into the first bin along with the unloading belt, for example, the dump car with double unloading openings shown in fig. 4 may be controlled to move towards the right side, and the material is conveyed to the # 6 bin; the discharging belt is controlled to run to the left side, and materials can be conveyed to the 2# storage bin. It should be noted that the discharge opening quantity of tripper is not limited to 2, and can be decided as the case may be, to the tripper of different quantity discharge openings, the process that its belt of unloading of control transported material to the feed bin can adaptability adjustment, and this application does not do the detail one by one.

For the double-discharge-opening type discharge trolley shown in fig. 4, in the process of transporting materials, whether a feeding opening of a first storage bin corresponds to a first discharge opening of the discharge trolley or not can be detected, if yes, a discharge belt can be controlled to move towards the direction of the first discharge opening, and the materials loaded by the discharge trolley are conveyed into the first storage bin through the first discharge opening; if not, the discharging belt can be controlled to move towards the direction far away from the first discharging opening, and the materials loaded by the discharging trolley are conveyed into a second storage bin through a second discharging opening, wherein the second storage bin is a storage bin which is far away from the first storage bin by the distance of the double discharging openings.

Need explain, to the tripper of two discharge openings, this application also can detect whether the pan feeding mouth of second feed bin corresponds the second discharge opening of tripper, according to above-mentioned mode, according to this testing result, control the belt of unloading and carry the material to first feed bin and second feed bin, and concrete realization process is not repeated.

And step S29, stopping conveying the material to the first bin when the material level height data of the surface of the material stored in the first bin is detected to reach the preset material level height.

Because the storage space of feed bin is limited, as shown in fig. 4, material level check out test set 600 is installed near the pan feeding mouth of each feed bin to this application, and the belt of unloading is to first feed bin transported substance in-process, can be by this material level check out test set 600 to the height on material surface in the first feed bin detect, obtain corresponding material level height data, if it reaches preset material level height, stop transporting substance to first feed bin.

In still other embodiments, the present application may also detect a distance between a surface of the material in the first bin and the opening of the first bin, and if the distance is less than a predetermined distance, the first bin may be considered to be sufficiently filled with the material, and to avoid overflowing, the continued feeding of the material to the first bin may be stopped.

The embodiment of the present application further provides a computer-readable storage medium, which stores a program for implementing the method for detecting a position of a dump truck, where the program is suitable for being loaded by a processor to execute the method for detecting a position of a dump truck, and a specific execution process may refer to descriptions of corresponding parts in the above embodiments, which is not described herein again.

The embodiment of the application further provides a computer program product, which can execute the program for implementing the steps of the method for detecting the position of the dump car, so as to meet the application requirements, and specific contents can refer to the description of the corresponding parts of the embodiment of the method, which is not described herein again.

Finally, it is to be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.

The embodiments in the present description are described in a progressive or parallel manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The method disclosed by the embodiment corresponds to the system disclosed by the embodiment, so that the description is simple, and relevant parts can be explained by referring to the system part.

Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the disclosure. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A tripper car position detection system, characterized in that, the system includes:

2. The system according to claim 1, wherein a first fixed bracket is fixedly mounted on a first side surface of the dump car, and the positioning scale is mounted on the first fixed bracket;

3. A system according to claim 1, wherein the positioning scale is formed from a plurality of detachably connected positioning scale segments, each positioning scale segment having at least one of the positioning tags disposed thereon.

4. The system according to any one of claims 1 to 3, wherein the discharge trolley is provided with two discharge openings, and the distance between the two discharge openings is a multiple of the distance between two adjacent bins, so that the discharge belt connecting the two discharge openings runs in different directions, and materials on the discharge belt can be transported to the bins located at the discharge openings through the discharge openings in the corresponding directions;

the system further comprises:

5. A system according to any one of claims 1 to 3, wherein the signal processing device is integrated within the code reading device or is a separate device from the code reading device;

the positioning tag is an RFID electronic tag;

the system further comprises:

6. The method for detecting the position of the discharging trolley is characterized by comprising the following steps:

7. The method of claim 6, wherein determining relative displacement data between the code reading device and the first positioning tag based on the signal strength data comprises:

8. The method of claim 6, wherein said determining current position data of said tripper car using said first position data and said relative displacement data comprises:

9. The method according to any one of claims 6 to 8, further comprising:

10. The method according to claim 9, characterized in that if the discharge trolley is provided with double discharge openings; the control belt operation of unloading, with the material that the tripper loaded is carried to in the first feed bin, include:

and if not, controlling the discharging belt to move towards the direction far away from the first discharging opening, and conveying the materials loaded by the discharging trolley into a second storage bin through a second discharging opening, wherein the second storage bin is a storage bin which is at the distance of the double discharging openings from the first storage bin.