CN114510058A - Method and system for calibrating left and right moving positions of trolley - Google Patents
Method and system for calibrating left and right moving positions of trolley Download PDFInfo
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- CN114510058A CN114510058A CN202210173661.9A CN202210173661A CN114510058A CN 114510058 A CN114510058 A CN 114510058A CN 202210173661 A CN202210173661 A CN 202210173661A CN 114510058 A CN114510058 A CN 114510058A
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- 238000000034 method Methods 0.000 title claims abstract description 22
- 238000010438 heat treatment Methods 0.000 claims abstract description 46
- 238000005192 partition Methods 0.000 claims description 78
- 238000004891 communication Methods 0.000 claims description 7
- 238000005496 tempering Methods 0.000 claims description 6
- 238000004140 cleaning Methods 0.000 claims description 5
- 230000003247 decreasing effect Effects 0.000 claims description 4
- 238000004519 manufacturing process Methods 0.000 description 11
- 238000005259 measurement Methods 0.000 description 4
- 230000000087 stabilizing effect Effects 0.000 description 4
- 238000001514 detection method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000002035 prolonged effect Effects 0.000 description 2
- 230000032683 aging Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The embodiment of the invention provides a calibration method and a calibration system for left and right moving positions of a trolley, and relates to the technical field of heat treatment. Compared with the prior art, the transplanting vehicle is divided into the sections according to the movement track, so that the section number of the transplanting vehicle can be acquired in real time, and the position of the transplanting vehicle can be mastered in real time according to the section number, thereby avoiding blind motion, saving time and reducing power consumption.
Description
Technical Field
The invention relates to the technical field of heat treatment, in particular to a method and a system for calibrating left and right moving positions of a trolley.
Background
The existing automatic production line of a heat treatment box type furnace is generally composed of a heating furnace, a cleaning machine, a tempering furnace, a movable trolley and the like which are arranged in a straight line. The 'moving trolley' is mainly responsible for transferring and conveying the same batch of 'processed workpieces' among the equipment. The position of the 'moving trolley' which is stopped in front of the equipment at a certain moment is generally judged by touching the stroke switch in front of the equipment by the 'moving trolley', namely the 'moving trolley' can be judged to be stopped in front of the equipment by pressing down the stroke switch in front of the equipment.
If the "dolly" is moved between two devices, i.e. the travel switch in front of any one device is not touched at this time, the system does not know the specific position of the "dolly". If the system sends an instruction at this time, the "moving trolley" is moved forward to a certain device, and the "moving trolley" can blindly move for a certain distance (for example, leftward) in a fixed direction, and after touching the travel switches of other devices, the moving direction of the "moving trolley" to the left or the right is judged according to the "current" position and the "target" position of the "moving trolley", so that the possibility of turning back and moving the "moving trolley" is caused, time is wasted, and power consumption is increased.
Disclosure of Invention
The invention aims to provide a calibration method and a calibration system for left and right moving positions of a trolley, which can divide the moving track of a transplanting vehicle, and grasp the position of the transplanting vehicle in real time according to a division number, thereby avoiding blind motion, saving time and reducing power consumption.
Embodiments of the invention may be implemented as follows:
in a first aspect, the present invention provides a method for calibrating left and right movement positions of a cart, including:
dividing the movement track of the transplanting vehicle into a plurality of subareas, and sequentially numbering the plurality of subareas by natural numbers along a preset direction;
acquiring the partition number of the position of the transplanting vehicle;
acquiring a target number of the target position of the transplanting vehicle;
if the partition number is smaller than the target number, controlling the transplanting vehicle to move along the preset direction;
if the partition number is larger than the target number, controlling the transplanting vehicle to move along the direction opposite to the preset direction;
if the partition number is equal to the target number, controlling the transplanting vehicle to stop;
detecting whether the transplanting vehicle reaches a target position;
the transplanting vehicle is characterized in that the plurality of partitions comprise working partitions and interval partitions which are sequentially arranged in a staggered mode, travel switches used for detecting whether the transplanting vehicle is located in the working partitions are arranged in the working partitions, and the target numbers are partition numbers of the working partitions.
In an optional implementation manner, the step of obtaining the partition number of the position where the transplanting vehicle is located includes:
carrying out real-time partition assignment on the transplanting vehicle according to the position of the transplanting vehicle;
and acquiring the partition number of the transplanting vehicle according to the assignment result.
In an optional implementation manner, the step of assigning the value of the transplanting vehicle in real time includes:
when the transplanting vehicle enters a touch area of the travel switch, natural number assignment is carried out on the transplanting vehicle according to the working area where the travel switch is located;
and when the transplanting vehicle leaves the touch area of the travel switch, increasing 1 or decreasing 1 according to the assignment result of the transplanting vehicle in the advancing direction of the transplanting vehicle.
In an optional embodiment, the step of increasing or decreasing the value result of the transplanting vehicle by 1 according to the advancing direction of the transplanting vehicle includes:
when the advancing direction of the transplanting vehicle is the same as the preset direction, increasing 1 to the assignment result of the transplanting vehicle;
and when the advancing direction of the transplanting vehicle is opposite to the preset direction, subtracting 1 from the assignment result of the transplanting vehicle.
In an optional embodiment, the step of detecting whether the transplanting vehicle reaches the target position comprises:
acquiring an actual distance La between the transplanting vehicle and a reference object;
if the error between the actual distance La and the standard distance Lb exceeds a preset range, judging that the transplanting vehicle does not reach the target position;
and if the error between the actual distance La and the standard distance Lb is within a preset range, judging that the transplanting vehicle reaches the target position.
In an alternative embodiment, the step of obtaining the actual distance La between the transplanting vehicle and the reference object comprises:
and measuring the distance between the transplanting vehicle and the reference object by using a laser range finder arranged on the transplanting vehicle.
In a second aspect, the present invention provides a system for calibrating left and right movement positions of a vehicle, which is suitable for the method for calibrating left and right movement positions of a vehicle as described in any one of the foregoing embodiments, the calibration system for the left and right movement of the trolley at each position comprises a transplanting vehicle, a plurality of heat treatment devices and a PLC (programmable logic controller), wherein the heat treatment devices are distributed at intervals along the same straight line, each heat treatment device is provided with a travel switch, the transplanting vehicle is used for moving along the front sides of the heat treatment devices, the movement track of the transplanting vehicle comprises a plurality of subareas, the plurality of subareas comprise working subareas and interval subareas which are arranged in a staggered mode in sequence, the working partition corresponds to the heat treatment equipment, the interval partition corresponds to an area between the two heat treatment equipment, and the PLC is in communication connection with the travel switches and the transplanting vehicle;
the PLC is used for controlling the transplanting vehicle to move according to the partition number of the position where the transplanting vehicle is located and the target number of the target position of the transplanting vehicle;
the PLC is also used for detecting whether the transplanting vehicle reaches a target position.
In an optional implementation manner, the calibration system for each position of the left and right movement of the trolley further comprises a reference object, the reference object is arranged at one end of the movement track of the transplanting vehicle, the transplanting vehicle is further provided with a laser range finder, the laser range finder is in communication connection with the PLC controller and is used for measuring an actual distance La between the transplanting vehicle and the reference object, a standard distance Lb is built in the PLC controller, and the PLC controller is further used for judging whether the transplanting vehicle reaches a target position according to an error between the actual distance La and the standard distance Lb.
In an optional embodiment, the reference object includes a light reflecting plate, and the light reflecting plate corresponds to the laser range finder and is used for reflecting the ranging laser emitted by the laser range finder.
In an alternative embodiment, a plurality of the heat treatment apparatuses include a washer, a tempering furnace, and at least one heating furnace.
The beneficial effects of the embodiment of the invention include, for example:
the calibration method for the left and right movement positions of the trolley comprises the steps of dividing a movement track of a transplanting vehicle into a plurality of subareas, numbering the subareas along a preset direction, obtaining the subarea numbers of the positions of the transplanting vehicle, obtaining the target numbers of the target positions of the transplanting vehicle, controlling the transplanting vehicle to move along the preset direction if the subarea numbers are smaller than the target numbers, controlling the transplanting vehicle to move along the opposite direction of the preset direction if the subarea numbers are larger than the target numbers, and controlling the transplanting vehicle to stop moving if the subarea numbers are equal to the preset numbers, wherein the subareas comprise working subareas and interval subareas which are arranged in a staggered mode in sequence, travel switches used for detecting whether the transplanting vehicle is located in the working subareas are arranged in the working subareas, and the target numbers are the subarea numbers of the working subareas. Compared with the prior art, the transplanting vehicle is divided into the sections according to the movement track, so that the section number of the transplanting vehicle can be acquired in real time, and the position of the transplanting vehicle can be mastered in real time according to the section number, thereby avoiding blind motion, saving time and reducing power consumption.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a schematic diagram of a calibration system for left-right movement of a cart according to a first embodiment of the present invention;
fig. 2 is a block diagram of steps of a calibration method for left-right movement positions of a cart according to a second embodiment of the present invention.
Icon: 100-a calibration system for left and right movement of the trolley; 110-a transplanting vehicle; 130-heat treatment equipment; 131-a cleaning machine; 133-tempering furnace; 135-heating furnace; 150-a PLC controller; 170-laser rangefinder; 180-travel switch; 190-reference.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. 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 invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that if the terms "upper", "lower", "inside", "outside", etc. indicate an orientation or a positional relationship based on that shown in the drawings or that the product of the present invention is used as it is, this is only for convenience of description and simplification of the description, and it does not indicate or imply that the device or the element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention.
Furthermore, the appearances of the terms "first," "second," and the like, if any, are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
As disclosed in the background art, in the prior art, when the "mobile cart" is stopped between two devices, the system cannot determine the actual position of the "mobile cart" because the corresponding travel switch is not touched. When the 'moving trolley' is required to move to the front of a certain device in the next step, the trolley can firstly walk for a certain distance in a blind mode, and the system can judge the position of the 'moving trolley' only after the trolley touches a certain travel switch, so that the direction which the trolley needs to walk is given. Causing the trolley to move back and forth. Time and power consumption are wasted. In addition, the specific position of the 'moving trolley' can not be displayed on the workshop billboard, and an invisible picture defect is formed.
In addition, in the prior art, the stop mode of the 'moving trolley' is usually that a travel switch or laser ranging is utilized, the travel switch is specifically utilized to touch a front travel switch touch rod of the equipment, the PLC obtains a signal and feeds back the signal to the moving motor to stop running and stop moving. Due to the aging of the travel switch or the unintentional displacement of the body, the phenomena of failure of the travel switch and occasional unprepared positioning of the 'moving trolley' can be caused. In this case, if the "traveling carriage" is moved forward and backward, an accident may occur. In actual production, after the 'moving trolley' is stopped, an operator needs to visually confirm before arriving equipment, and after the stopping position of the trolley is confirmed to be correct, the operator can carry out front and back conveying actions. The other is to use laser ranging to locate the stopping position of the trolley, however, the laser is normally on, which has the following disadvantages. 1, laser ranging requires an optical system to be kept clean, otherwise, the measurement precision is also influenced; 2, when the movable trolley moves on the running track, the measurement of the distance measuring instrument can be influenced by the shaking of the trolley caused by various reasons; 3, if the laser distance measuring instrument always opens the laser beam, the service life is shortened.
In order to solve the problems, the invention provides a calibration method for left and right moving positions of a trolley, which can divide the moving track of a transplanting vehicle, and master the position of the transplanting vehicle in real time according to a division number, thereby avoiding blind motion, saving time and reducing power consumption. And the transplanting vehicle is controlled to stop by combining a travel switch and a laser ranging mode, so that the problem of inaccurate positioning is completely solved, and the operator does not need to confirm again. The participation of personnel is reduced, the subjective judgment is realized, the full-automatic production is suitable, and the efficiency is improved. It should be noted that the features of the embodiments of the present invention may be combined with each other without conflict.
First embodiment
Referring to fig. 1, the present embodiment provides a calibration system 100 for left and right movement positions of a cart, which can partition the movement track of a transplanting vehicle 110, and grasp the position of the transplanting vehicle 110 in real time according to partition numbers, thereby avoiding blind movement, saving time, and reducing power consumption. And the stop control is carried out on the transplanting vehicle 110 by combining the travel switch 180 and the laser ranging mode, the condition of inaccurate positioning is completely solved, and the reconfirmation of operators is not needed. The participation of personnel is reduced, the subjective judgment is realized, the full-automatic production is suitable, and the efficiency is improved.
The calibration system 100 for left-right movement of each position of the trolley provided by this embodiment includes a transplanting vehicle 110, a plurality of heat treatment devices 130 and a PLC controller 150, the plurality of heat treatment devices 130 are distributed at intervals along the same straight line, each heat treatment device 130 is provided with a travel switch 180, the transplanting vehicle 110 is used for moving along the front sides of the plurality of heat treatment devices 130, a movement track of the transplanting vehicle 110 includes a plurality of partitions, the plurality of partitions include work partitions and interval partitions which are sequentially arranged in a staggered manner, the work partitions correspond to the heat treatment devices 130, the interval partitions correspond to areas between the two heat treatment devices 130, and the PLC controller 150 is in communication connection with the plurality of travel switches 180 and the transplanting vehicle 110; the PLC 150 is used for controlling the transplanting vehicle 110 to move according to the partition number of the position of the transplanting vehicle 110 and the target number of the target position of the transplanting vehicle 110; the PLC controller 150 is also used to detect whether the transplanting vehicle 110 reaches the target position.
In this embodiment, the transplanting vehicle 110 is driven by a motor and linearly reciprocates along a fixed track, and the PLC controller 150 is in communication with the motor on the transplanting vehicle 110, and can control the transplanting vehicle 110 to move and stop in a manner consistent with that of a conventional moving vehicle, which is not specifically described herein.
In the present embodiment, the plurality of heat treatment apparatuses 130 include a cleaning machine 131, a tempering furnace 133, and at least one heating furnace 135. Specifically, as shown in the figure, the present embodiment includes two heating furnaces 135, a cleaning furnace, and a tempering furnace 133, which are sequentially arranged from left to right.
In this embodiment, the PLC controller 150 may further partition the movement track of the transplanting vehicle 110, and number the working partitions and the spacing partitions by natural numbers along a preset direction, where the preset direction is a direction from left to right, for example, in this embodiment, numbers 1 to 9 are sequentially numbered from left to right, and then the partition number of the position where the transplanting vehicle 110 is located may be obtained through the travel switch 180.
Specifically, when the transplanting vehicle 110 moves to the right, when the transplanting vehicle 110 touches the travel switch 180 in front of the first heating furnace 135, the PLC controller 150 assigns a value of "current position" of 2 to the transplanting vehicle 110; if the transplanting vehicle 110 continues to move rightwards at the moment and leaves the travel switch 180 in front of the first heating furnace 135, the system will add 1 to the value of the "current position" of the transplanting vehicle 110, namely 3; continuing to move to the right, and when touching a travel switch 180 in front of the second heating furnace 135, assigning a value of 4 to the current position of the transplanting vehicle 110 by the PLC 150; continuing to the right and leaving the travel switch 180 before the second heating furnace 135, the PLC controller 150 will add 1 to the value of the "current position", and the value of the "current position" of the transplanting vehicle 110 is 5; and so on to the right.
When the transplanting vehicle 110 moves leftwards, when the transplanting vehicle 110 touches the travel switch 180 in front of the second heating furnace 135, the PLC 150 assigns a value of 4 to the 'current position' of the transplanting vehicle 110; if the transplanting vehicle 110 continues to move leftwards and leaves the travel switch 180 in front of the second heating furnace 135, the PLC controller 150 will subtract 1 from the value of the "current position", and the value of the "current position" of the transplanting vehicle 110 is 3 at this time; continuing to move to the left, and when touching the travel switch 180 in front of the first heating furnace 135, the PLC controller 150 assigns a value of 2 to the "current position" of the transplanting vehicle 110; continuing further to the left and leaving the travel switch 180 in front of the first furnace 135, the PLC controller 150 will decrement the "current position" value by 1, i.e., 1.
Through the above manner, the PLC controller 150 can directly assign and acquire the partition number of the current position of the transplanting vehicle 110. When the PLC controller 150 receives the target number of the target position, the target number is compared with the current partition number of the cart 110, if the partition number is smaller than the target number, the cart 110 is controlled to move in a preset direction, if the partition number is greater than the target number, the cart 110 is controlled to move in a direction opposite to the preset direction, and if the partition number is equal to the preset number, the cart 110 is controlled to stop moving. The target number is only the number of the partition corresponding to the thermal processing apparatus 130.
It should be noted that the position of the transplanting vehicle 110 between the two heat treatment devices 130 is calibrated by the even number calibration of the above devices and the relationship between the actual moving of the transplanting vehicle 110 and the touching and releasing of the travel switch 180 and the moving direction, so that the complete numerical relationship is provided for the position of each track of the whole transplanting vehicle 110. When the system needs to move the transplanting vehicle 110 to the front of the target equipment, the system commands the moving direction of the trolley according to the relation between the target number and the partition number.
In addition, the workshop kanban can well show the position of the transplanting vehicle 110 at each moment, namely not only the original situation, but also the pattern of the transplanting vehicle 110 can be displayed when the transplanting vehicle is in front of a certain device, but also the pattern of the transplanting vehicle 110 can be displayed even between two devices, and the position of the transplanting vehicle 110 can be grasped in real time.
In this embodiment, the calibration system 100 for left and right movement of the cart at each position further includes a reference 190, the reference 190 is disposed at one end of the movement track of the cart 110, the cart 110 is further provided with a laser range finder 170, the laser range finder 170 is in communication connection with the PLC controller 150 and is used for measuring an actual distance La between the cart 110 and the reference 190, the PLC controller 150 is provided with a standard distance Lb, and the PLC controller 150 is further used for determining whether the cart 110 reaches a target position according to an error between the actual distance La and the standard distance Lb.
The reference 190 includes a light reflecting plate corresponding to the laser range finder 170 for reflecting the ranging laser emitted from the laser range finder 170. Laser ranging can be realized through the reflector, wherein the reflector can be arranged on the left side of the movement track and is opposite to the movement track of the transplanting vehicle 110.
Specifically, the reference 190 and the laser range finder 170 function when the transplanting vehicle 110 stops, the transplanting vehicle 110 receives a PLC control command and moves to a target position, and when the transplanting withdrawal body touches the travel switch 180 at the target position, the PLC controller 150 sends feedback to turn off the operation of the left and right traveling motor on the transplanting vehicle 110, so that the transplanting vehicle 110 stops at the target position. After the transplanting vehicle 110 stops stabilizing, the laser range finder 170 is turned on. The laser range finder 170 is installed on the transplanting vehicle 110 and moves along with the transplanting vehicle 110, after the laser range finding is started, a light beam is opened and projected on a reflector fixed on the ground at one end of the equipment production line, the distance is measured, the laser range finding is stopped after the distance is kept for two seconds. At this time, the PLC controller 150 compares the actual distance La measured by the laser range finder 170 with the standard distance Lb previously preset in the PLC controller 150 at the target position: if the distance is within the qualified range, the PLC 150 considers that the distance is qualified and sends out an instruction prompt that the vehicle can be conveyed forwards and backwards; and if the detection result is not qualified, sending an alarm signal until an operator checks and intervenes.
In summary, the calibration system 100 for left and right movement of the trolley provided by this embodiment assigns the position of the transplanting vehicle 110 by the partition numbers and the PLC controller 150, so as to grasp the partition numbers of the current position of the transplanting vehicle 110 in real time, and then grasp the position of the transplanting vehicle 110 in real time according to the partition numbers, thereby avoiding blind motion, saving time, and reducing power consumption. Meanwhile, the precise shutdown of the transplanting vehicle 110 is realized through the combination of the laser range finder 170 and the travel switch 180, so that the condition that whether the stopping position of the transplanting vehicle 110 is correct or not is frequently and visually checked by personnel in the production process is avoided, the participation of the personnel is reduced, and the requirement of automatic production is met; meanwhile, the laser distance measuring opening time is short, and the laser distance measuring instrument 170 is opened to start measuring after the moving trolley stops stabilizing, so that the service life of the laser distance measuring instrument 170 is prolonged; and the problem that the laser ranging is opened in the moving process of the transplanting vehicle 110, and the transplanting vehicle 110 influences the measurement precision due to shaking is avoided.
Second embodiment
Referring to fig. 2 in combination, the embodiment provides a method for positioning and moving a transplanting vehicle 110, which is suitable for the calibration system 100 for left and right movement of the trolley provided in the first embodiment. The moving track of the transplanting vehicle 110 can be partitioned, and the position of the transplanting vehicle 110 is mastered in real time according to the partition number, so that blind motion is avoided, time is saved, and power consumption is reduced. And the stop control is carried out on the transplanting vehicle 110 by combining the travel switch 180 and the laser ranging mode, the condition of inaccurate positioning is completely solved, and the reconfirmation of operators is not needed. The participation of personnel is reduced, the subjective judgment is realized, the full-automatic production is suitable, and the efficiency is improved.
The method for positioning and moving the transplanting vehicle 110 provided by the embodiment comprises the following steps:
s1: the movement track of the transplanting vehicle 110 is divided into a plurality of subareas, and natural number numbering is sequentially performed on the plurality of subareas along a preset direction.
Specifically, the plurality of subareas include work subareas and interval subareas which are sequentially arranged in a staggered manner, the travel switches 180 for detecting whether the transplanting vehicle 110 is located in the work subareas are arranged in the work subareas, and the target numbers are the subarea numbers of the work subareas. The PLC controller 150 may also partition the movement track of the transplanting vehicle 110, and number the working partitions and the spacing partitions by natural numbers along a preset direction, where the preset direction is a left-to-right direction, for example, numbers 1 to 9 are sequentially numbered from left to right in this embodiment.
S2: and acquiring the partition number of the position of the transplanting vehicle 110.
Specifically, the PLC 150 is used for firstly carrying out real-time partition assignment on the transplanting vehicle 110 according to the position of the transplanting vehicle 110; and then acquiring the partition number of the transplanting vehicle 110 according to the assignment result, so as to acquire the actual position information of the transplanting vehicle 110 through the partition number.
When the real-time partition assignment is performed on the transplanting vehicle 110, the following modes can be adopted: when the transplanting vehicle 110 enters the touch area of the travel switch 180, natural number assignment is carried out on the transplanting vehicle 110 according to the working area where the travel switch 180 is located; when the transplanting vehicle 110 leaves the touch area of the travel switch 180, the assignment result to the transplanting vehicle 110 increases by 1 or decreases by 1 depending on the traveling direction of the transplanting vehicle 110. Specifically, when the transplanting vehicle 110 touches the travel switch 180, assignments, such as 2, 4, 6, and 8, can be assigned to the transplanting vehicle 110 by a knuckle, and when the traveling direction of the transplanting vehicle 110 is the same as the preset direction, the assignment result of the transplanting vehicle 110 is increased by 1; and when the advancing direction of the transplanting vehicle 110 is opposite to the preset direction, subtracting 1 from the assignment result of the transplanting vehicle 110.
Specifically, when the transplanting vehicle 110 moves to the right, when the transplanting vehicle 110 touches the travel switch 180 in front of the first heating furnace 135, the PLC controller 150 assigns a value of "current position" of 2 to the transplanting vehicle 110; if the transplanting vehicle 110 continues to move rightwards at the moment and leaves the travel switch 180 in front of the first heating furnace 135, the system will add 1 to the value of the "current position" of the transplanting vehicle 110, namely 3; continuing to move to the right, and when touching a travel switch 180 in front of the second heating furnace 135, assigning a value of 4 to the current position of the transplanting vehicle 110 by the PLC 150; continuing to the right and leaving the travel switch 180 before the second heating furnace 135, the PLC controller 150 will add 1 to the value of the "current position", and the value of the "current position" of the transplanting vehicle 110 is 5; and so on to the right.
When the transplanting vehicle 110 moves leftwards, when the transplanting vehicle 110 touches the travel switch 180 in front of the second heating furnace 135, the PLC 150 assigns a value of 4 to the 'current position' of the transplanting vehicle 110; if the transplanting vehicle 110 continues to move leftwards and leaves the travel switch 180 in front of the second heating furnace 135, the PLC controller 150 will subtract the value of the "current position" by 1, and the value of the "current position" of the transplanting vehicle 110 is 3 at this time; continuing to move to the left, and when touching the travel switch 180 in front of the first heating furnace 135, assigning a value 2 of the 'current position' of the transplanting vehicle 110 by the PLC 150; continuing further to the left and leaving the travel switch 180 in front of the first furnace 135, the PLC controller 150 will decrement the "current position" value by 1, i.e., 1.
S3: and acquiring the target number of the target position of the transplanting vehicle 110.
Specifically, a target number of the target position may be input to the PLC by way of instruction input.
If the partition number is smaller than the target number, go to step S4: and controlling the transplanting vehicle 110 to move along a preset direction.
If the partition number is greater than the target number, go to step S5: the transplanting vehicle 110 is controlled to move in a direction opposite to the preset direction.
If the partition number is equal to the target number, go to step S6: the transplanting vehicle 110 is controlled to stop.
Through the step S2, the PLC controller 150 can directly assign and acquire the partition number of the current position of the cart 110. When step S3 is executed, the PLC controller 150 compares the target number with the current partition number of the cart 110 when receiving the target number of the target position, controls the cart 110 to move in the preset direction if the partition number is smaller than the target number, controls the cart 110 to move in the direction opposite to the preset direction if the partition number is greater than the target number, and controls the cart 110 to stop moving if the partition number is equal to the preset number. The target number is only the number of the partition corresponding to the thermal processing apparatus 130.
S5: it is detected whether the transplanting vehicle 110 reaches the target position.
Specifically, the PLC controller 150 obtains an actual distance La between the transplanting vehicle 110 and the reference 190, and if an error between the actual distance La and the standard distance Lb exceeds a preset range, it is determined that the transplanting vehicle 110 does not reach the target position; if the error between the actual distance La and the standard distance Lb is within the preset range, it is determined that the transplanting vehicle 110 reaches the target position.
In the present embodiment, the distance between the transplanting vehicle 110 and the reference 190 may be measured using the laser rangefinder 170 provided on the transplanting vehicle 110. The reference object 190 and the laser range finder 170 play a role when the transplanting vehicle 110 stops, the transplanting vehicle 110 receives the PLC control command and moves to a target position, and when the transplanting withdrawal body touches the travel switch 180 at the target position, the PLC controller 150 sends feedback to turn off the running of the left and right running motor on the transplanting vehicle 110, so that the transplanting vehicle 110 stops at the target position. After the transplanting vehicle 110 stops stabilizing, the laser range finder 170 is turned on. The laser range finder 170 is installed on the transplanting vehicle 110 and moves along with the transplanting vehicle 110, after the laser range finding is started, a light beam is opened and projected on a reflector fixed on the ground at one end of the equipment production line, the distance is measured, the laser range finding is stopped after the distance is kept for two seconds. At this time, the PLC controller 150 compares the actual distance La measured by the laser range finder 170 with the standard distance Lb previously preset in the PLC controller 150 at the target position: if the current time is within the qualified range, the PLC 150 considers the current time as qualified and sends out an instruction prompt that the vehicle can be conveyed forwards and backwards; and if the detection result is not qualified, sending an alarm signal until an operator checks and intervenes.
In summary, in the method for positioning and moving the transplanting vehicle 110 provided in this embodiment, the movement track of the transplanting vehicle 110 is first divided into a plurality of sections, the sections are numbered along the preset direction, then the section number of the position where the transplanting vehicle 110 is located is obtained, the target number of the target position of the transplanting vehicle 110 is obtained, if the section number is smaller than the target number, the transplanting vehicle 110 is controlled to move along the preset direction, if the section number is larger than the target number, the transplanting vehicle 110 is controlled to move along the direction opposite to the preset direction, if the section number is equal to the preset number, the transplanting vehicle 110 is controlled to stop moving, and finally, the laser range finder 170 and the reference 190 are combined with the travel switch 180 to determine whether the transplanting vehicle 110 is moved in place. In the embodiment, the partition numbers are used, and the PLC 150 assigns the positions of the transplanting vehicles 110, so that the partition numbers of the current positions of the transplanting vehicles 110 are mastered in real time, and then the positions of the transplanting vehicles 110 are mastered in real time according to the partition numbers, thereby avoiding blind motion, saving time and reducing power consumption. Meanwhile, the precise shutdown of the transplanting vehicle 110 is realized through the combination of the laser range finder 170 and the travel switch 180, so that the condition that whether the stopping position of the transplanting vehicle 110 is correct or not is frequently and visually checked by personnel in the production process is avoided, the participation of the personnel is reduced, and the requirement of automatic production is met; meanwhile, the laser distance measuring opening time is short, and the laser distance measuring instrument 170 is opened to start measuring after the moving trolley stops stabilizing, so that the service life of the laser distance measuring instrument 170 is prolonged; and the problem that the laser ranging is opened in the moving process of the transplanting vehicle 110, and the transplanting vehicle 110 influences the measurement precision due to shaking is avoided.
The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (10)
1. A calibration method for left and right movement positions of a trolley is characterized by comprising the following steps:
dividing the movement track of the transplanting vehicle into a plurality of subareas, and sequentially numbering the plurality of subareas by natural numbers along a preset direction;
acquiring the partition number of the position of the transplanting vehicle;
acquiring a target number of the target position of the transplanting vehicle;
if the partition number is smaller than the target number, controlling the transplanting vehicle to move along the preset direction;
if the partition number is larger than the target number, controlling the transplanting vehicle to move along the direction opposite to the preset direction;
if the partition number is equal to the target number, controlling the transplanting vehicle to stop;
detecting whether the transplanting vehicle reaches a target position;
the transplanting vehicle is characterized in that the plurality of partitions comprise working partitions and interval partitions which are sequentially arranged in a staggered mode, travel switches used for detecting whether the transplanting vehicle is located in the working partitions are arranged in the working partitions, and the target numbers are partition numbers of the working partitions.
2. The method for calibrating the left and right movement positions of the trolley according to claim 1, wherein the step of obtaining the partition number of the position of the transplanting trolley comprises the following steps:
carrying out real-time partition assignment on the transplanting vehicle according to the position of the transplanting vehicle;
and acquiring the partition number of the transplanting vehicle according to the assignment result.
3. The method for calibrating left and right movement positions of a trolley according to claim 2, wherein the step of assigning values to the transplanting vehicles in real time comprises the following steps:
when the transplanting vehicle enters a touch area of the travel switch, natural number assignment is carried out on the transplanting vehicle according to the working subarea where the travel switch is located;
and when the transplanting vehicle leaves the touch area of the travel switch, increasing 1 or decreasing 1 according to the assignment result of the transplanting vehicle in the advancing direction of the transplanting vehicle.
4. The method for calibrating left and right movement positions of a trolley according to claim 3, wherein the step of increasing or decreasing 1 for the assignment result of the transplanting vehicle according to the traveling direction of the transplanting vehicle comprises:
when the advancing direction of the transplanting vehicle is the same as the preset direction, increasing 1 to the assignment result of the transplanting vehicle;
and when the advancing direction of the transplanting vehicle is opposite to the preset direction, subtracting 1 from the assignment result of the transplanting vehicle.
5. The method for calibrating left and right movement positions of a trolley according to claim 1, wherein the step of detecting whether the transplanting vehicle reaches the target position comprises the following steps:
acquiring an actual distance La between the transplanting vehicle and a reference object;
if the error between the actual distance La and the standard distance Lb exceeds a preset range, judging that the transplanting vehicle does not reach the target position;
and if the error between the actual distance La and the standard distance Lb is within a preset range, judging that the transplanting vehicle reaches the target position.
6. The method for calibrating left and right movement positions of a trolley according to claim 5, wherein the step of obtaining the actual distance La between the transplanting trolley and the reference object comprises the following steps:
and measuring the distance between the transplanting vehicle and the reference object by using a laser range finder arranged on the transplanting vehicle.
7. A calibration system for left and right movement positions of a trolley, which is suitable for the calibration method for left and right movement positions of the trolley as claimed in any one of claims 1-6, it is characterized in that the calibration system for the left and right movement of the trolley comprises a transplanting vehicle, a plurality of heat treatment devices and a PLC (programmable logic controller), the heat treatment devices are distributed at intervals along the same straight line, each heat treatment device is provided with a travel switch, the transplanting vehicle is used for moving along the front sides of the heat treatment devices, the movement track of the transplanting vehicle comprises a plurality of subareas, the plurality of subareas comprise working subareas and interval subareas which are arranged in a staggered mode in sequence, the working partition corresponds to the heat treatment equipment, the interval partition corresponds to an area between the two heat treatment equipment, and the PLC is in communication connection with the travel switches and the transplanting vehicle;
the PLC is used for controlling the transplanting vehicle to move according to the partition number of the position where the transplanting vehicle is located and the target number of the target position of the transplanting vehicle;
the PLC is also used for detecting whether the transplanting vehicle reaches a target position.
8. The system for calibrating the left and right movement positions of the trolley according to claim 7, further comprising a reference object, wherein the reference object is arranged at one end of the movement track of the transplanting trolley, the transplanting trolley is further provided with a laser range finder, the laser range finder is in communication connection with the PLC and used for measuring an actual distance La between the transplanting trolley and the reference object, a standard distance Lb is arranged in the PLC, and the PLC is further used for judging whether the transplanting trolley reaches a target position according to an error between the actual distance La and the standard distance Lb.
9. The system for calibrating left and right movement positions of a trolley according to claim 8, wherein the reference object comprises a reflector corresponding to the laser range finder for reflecting the ranging laser emitted from the laser range finder.
10. The system for calibrating left and right movement positions of a cart according to claim 7, wherein said plurality of heat treatment apparatuses comprise a cleaning machine, a tempering furnace and at least one heating furnace.
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