CN116974231A - Logistics trolley travel control system and control method thereof - Google Patents
Logistics trolley travel control system and control method thereof Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
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- G05B2219/25257—Microcontroller
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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]
Abstract
The invention belongs to the field of logistics trolley control, and particularly discloses a logistics trolley travel control system, which comprises the following components: the device comprises a track, at least two markers arranged on the track, at least two sensors arranged on a logistics trolley and capable of sensing the markers, and an encoder arranged in the sensors; the length of the marker is L, the length of the sensors is L, the number of the sensors is n, the distance between the two sensors is m, L is more than or equal to nl+m, the distance D between the heads and the tails of the adjacent markers is more than or equal to nl+m; at least two sensors are distributed along the travelling direction of the logistics trolley, when the induction state between the marker and the sensors changes, the signals of the encoder jump, and the instructions for controlling the movement of the logistics trolley are obtained through the signal jump condition. The invention realizes the accurate control of the position of the logistics trolley on the track by adopting the AB phase principle of the encoder and the photoelectric sensor technology, is not influenced by external interference, accurately controls the position of the logistics trolley on the track, realizes the purposes of accurately controlling the logistics trolley, avoiding collision, reducing the damage rate of goods and the like, and has the advantages of good stability, high precision, high refinement degree and the like.
Description
Technical Field
The invention belongs to the technical field of logistics trolley control, and particularly relates to a logistics trolley travel control system and a logistics trolley travel control method.
Background
In the logistics industry, accurate control of logistics trolleys is critical to cargo safety and work efficiency. Generally, the logistics trolley is required to be placed on a track, distance measuring elements are placed at two ends of the track, and the current position of the logistics trolley is judged according to the distance between the logistics trolley and the end part of the track, so that the speed of the logistics trolley is changed, and the purpose of controlling the logistics trolley to stably run on the track is achieved.
Generally, the distance measuring elements used at two ends of the track include a laser distance measuring sensor, an infrared sensor, a hall sensor, an ultrasonic sensor, and the like. However, the above sensors have obvious drawbacks, such as: the laser ranging sensor, the infrared sensor and the ultrasonic sensor have high requirements on the motion trail of the logistics trolley, the logistics trolley can only perform linear motion, and once the motion trail is deviated, errors can occur in detection. If a hall element or a photoelectric sensor is used for detecting the motion state of the wheel, the defects of insufficient precision, easy interference and the like are often caused.
In conclusion, the logistics trolley in the prior art is insufficient in detection precision, easy to interfere and low in operation efficiency when operated, so that damage to goods is likely to occur.
Disclosure of Invention
The invention provides a logistics trolley traveling control system and a control method thereof, which are used for solving the problems that the control precision of the current logistics trolley is insufficient and is easy to interfere.
In order to solve the technical problems, the technical scheme of the invention is as follows: a logistics trolley travel control system, comprising: the device comprises a track, at least two markers arranged on the track, at least two sensors arranged on the logistics trolley and capable of sensing the markers, and an encoder arranged in the sensors; the length of the marker is L, the length of the sensors is L, the number of the sensors is n, the distance between the two sensors is m, L is more than or equal to nl+m, the distance D between the heads and the tails of the adjacent markers is more than or equal to nl+m; at least two sensors are distributed along the travelling direction of the logistics trolley, when the induction state between the marker and the sensors changes, the signals of the encoder jump, and the command for controlling the movement of the logistics trolley is obtained through the signal jump condition.
In a preferred embodiment of the invention, the markers are sensed by the sensor by structural, material or/and colour differentiation.
In a preferred embodiment of the present invention, the structural differences refer to through holes, grooves or protrusions; the material difference is that the material of the track and the marker is two different materials selected from metal, wood and polymer materials; the color distinction refers to a marker formed by the difference between the color of a coating coated on the surface of a track and the color of the surface of the track.
In a preferred embodiment of the present invention, the sensor is a photoelectric sensor, a metal sensor, a gray sensor, an ultrasonic sensor, or an infrared sensor.
In a preferred embodiment of the present invention, the marker is an elongated marker hole.
In a preferred embodiment of the present invention, the marking hole is a first marking hole, a second marking hole, a third marking hole and a fourth marking hole in sequence along an initial movement direction of the logistics trolley, and the sensor is located in the first marking hole when the logistics trolley initially moves; when the two sensors are positioned in the fourth marking hole, the logistics trolley moves reversely.
The invention also discloses a control method of the logistics trolley traveling control system, which comprises the following steps:
s1: drawing a waveform diagram according to pulse change of an encoder, drawing a plurality of coding values according to the waveform diagram, and drawing a logistics trolley motion state table according to the coding values;
s2: the logistics trolley is placed on a track to run, signal changes of all encoders are obtained, the encoders calculate real-time encoding values according to the signal changes, and a logistics trolley movement state control instruction is obtained according to the encoding values; s3: and sending the movement state control instruction of the logistics trolley to the logistics trolley so as to control the movement state of the logistics trolley.
In a preferred embodiment of the present invention, a travelling control system for a logistics trolley according to claim 7, characterized in that: the logistics trolley comprises an end A and an end B, wherein an encoder close to the end A of the logistics trolley is an encoder A, a signal of the encoder A is a signal a, an encoder close to the end B of the logistics trolley is an encoder B, and a signal of the encoder is a signal B; when the signal a or the signal b is changed, the coding value is changed, so that the movement state of the logistics trolley is changed.
In a preferred embodiment of the present invention, the signal of the encoder is 0 when the marker is detected, and 1 when the marker is not detected;
the code value is incremented by one when the signal changes as follows:
when the signal a is 0 and the signal b is a rising edge;
or, when the signal a is a rising edge and the signal b is 1;
or, when the signal a is 1 and the signal b is a falling edge;
or, when the signal a is a falling edge and the signal b is 0;
the code value is decremented by one when the signal changes:
when the signal a is a rising edge and the signal b is 0;
or, when signal a is 1 and signal b is a rising edge;
or, when the signal a is a falling edge and the signal b is 1;
or, when the signal a is 0 and the signal b is a falling edge.
In a preferred embodiment of the invention, when the code value is increased, the logistics trolley is in an acceleration stage when the code value is smaller than a preset threshold value, the logistics trolley is in a high-speed uniform speed stage when the code value is equal to the preset threshold value, and the logistics trolley is in a deceleration stage when the code value is greater than the preset threshold value;
when the code value is decreased, the logistics trolley is in a deceleration stage when the code value is smaller than a preset threshold value, the logistics trolley is in a high-speed uniform speed stage when the code value is equal to the preset threshold value, and the logistics trolley is in an acceleration stage when the code value is larger than the preset threshold value.
Compared with the prior art, the technical scheme provided by the invention has the following advantages:
the invention realizes the accurate control of the position of the logistics trolley on the track by adopting the AB phase principle of the encoder and the photoelectric sensor technology, is not influenced by external interference, accurately controls the position of the logistics trolley on the track, realizes the purposes of accurately controlling the logistics trolley, avoiding collision, reducing the damage rate of goods and the like, and has the advantages of good stability, high precision, high refinement degree and the like.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other embodiments of the drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of a first stage of a logistics trolley travel control system in accordance with one embodiment of the present invention;
FIG. 2 is a schematic diagram of a second stage of a logistics trolley travel control system in accordance with one embodiment of the present invention;
FIG. 3 is a schematic view of a third stage of a logistics trolley travel control system in accordance with one embodiment of the present invention;
FIG. 4 is a fourth stage schematic diagram of a logistics trolley travel control system in accordance with one embodiment of the present invention;
FIG. 5 is a fifth stage schematic diagram of a logistics trolley travel control system in accordance with one embodiment of the present invention;
FIG. 6 is a sixth stage schematic of a logistics trolley travel control system in accordance with one embodiment of the present invention;
FIG. 7 is a seventh stage schematic diagram of a logistics trolley travel control system in accordance with an embodiment of the present invention;
FIG. 8 is a schematic view of an eighth stage of a logistics trolley travel control system in accordance with an embodiment of the present invention;
FIG. 9 is a ninth stage schematic diagram of a logistics trolley travel control system in accordance with an embodiment of the present invention;
FIG. 10 is a schematic view of a tenth stage of a logistics trolley travel control system in accordance with an embodiment of the present invention;
FIG. 11 is a schematic view of an eleventh stage of a logistics trolley travel control system in accordance with an embodiment of the present invention;
FIG. 12 is a schematic view of a twelfth stage of a logistics trolley travel control system in accordance with an embodiment of the present invention;
FIG. 13 is a thirteenth stage schematic view of a logistics trolley travel control system in accordance with an embodiment of the present invention;
FIG. 14 is a schematic view of a fourteenth stage of a logistics trolley travel control system in accordance with an embodiment of the present invention;
fig. 15 is a schematic diagram of encoder signals and motion phases of a logistics trolley travel control system in accordance with an embodiment of the present invention.
Detailed Description
For ease of understanding, one of the logistics trolley travel control systems is described below in connection with the examples, it being understood that these examples are intended to illustrate the invention and are not intended to limit the scope of the invention.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions and positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
In order that the invention may be readily understood, a more complete description of the invention will be rendered by reference to the appended drawings. The drawings illustrate preferred embodiments of the invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
As shown in fig. 1, the present invention discloses a logistics trolley travel control system, comprising: the device comprises a track, at least two markers arranged on the track, at least two sensors arranged on the logistics trolley and capable of sensing the markers, and an encoder arranged in the sensors; the length of the marker is L, the length of the sensors is L, the number of the sensors is n, the distance between the two sensors is m, L is more than or equal to nl+m, the distance D between the heads and the tails of the adjacent markers is more than or equal to nl+m; at least two sensors are distributed along the travelling direction of the logistics trolley, when the induction state between the marker and the sensors changes, the signals of the encoder jump, and the instructions for controlling the movement of the logistics trolley are obtained through the signal jump condition.
The labels are sensed by the sensor by structural, material or/and color differentiation. The structural differences are through holes, grooves or bulges; the material difference is that the material of the track and the marker is selected from two different materials of metal, wood and polymer materials; the color difference refers to a marker formed by the difference between the color of a coating coated on the surface of the track and the color of the surface of the track. The sensor is a photoelectric sensor, a metal sensor, a gray sensor, an ultrasonic sensor or an infrared sensor.
In one embodiment of the invention, the marker is a marker well. The marking holes are a first marking hole, a second marking hole, a third marking hole and a fourth marking hole in sequence along the initial movement direction of the logistics trolley, and the sensor is positioned in the first marking hole when the logistics trolley initially moves; when the two sensors are positioned in the first marking hole again, the logistics trolley stops moving.
Specifically, the number of the marking holes set in the invention is 4, wherein the first marking hole is used for controlling the starting of the logistics trolley, and the fourth marking hole is used for controlling the reversing of the logistics trolley. In order to improve the transportation efficiency of the logistics trolley, a second marking hole and a third marking hole are arranged for accelerating the logistics trolley; considering the motion inertia of the logistics trolley, the second marking hole and the third marking hole are arranged for preliminary deceleration, and when the logistics trolley reaches the first marking hole, the logistics trolley is completely stopped. Four marking holes are arranged and correspond to the starting-accelerating-decelerating-stopping states of the logistics trolley so as to facilitate the stable running of the logistics trolley.
Specifically, according to the AB phase principle of the encoder, when the photoelectric sensor detects the hole, an AB phase output signal is generated, and the position of the vehicle on the track is judged through the change of the signal. And updating the position information of the logistics trolley on the track in real time according to the AB phase signal change condition of the photoelectric sensor in the program, and performing corresponding acceleration and deceleration control to realize the stable running of the logistics trolley and avoid collision.
Compared with the traditional logistics trolley control method, the method has higher precision and stability, and can better realize the position control of the logistics trolley on the track and avoid collision, thereby better protecting the safety of goods, simultaneously having lower damage rate of the goods and industrial accident rate, saving labor cost and obviously improving the safety of the goods
The bottom of commodity circulation dolly is provided with two photoelectric sensor, and wherein, the commodity circulation dolly includes A end and B end, and the A end of commodity circulation dolly is the car tail, and the B end is the locomotive, and two photoelectric sensor set up in the centre of commodity circulation dolly side by side.
Be provided with a plurality of markers on the track, when photoelectric sensor passed through the marker, photoelectric sensor sent position signal to the host computer, can acquire the real-time positional information of commodity circulation dolly through this position signal, calculates the state of commodity circulation dolly through the positional information of commodity circulation dolly to control the commodity circulation dolly.
The method comprises the following steps of:
s1: drawing a waveform diagram according to pulse change of an encoder, drawing a plurality of coding values according to the waveform diagram, and drawing a logistics trolley motion state table according to the coding values;
s2: the logistics trolley is placed on a track to run, signal changes of all encoders are obtained, the encoders calculate real-time encoding values according to the signal changes, and a logistics trolley movement state control instruction is obtained according to the encoding values;
s3: and sending the movement state control instruction of the logistics trolley to the logistics trolley so as to control the movement state of the logistics trolley.
The photoelectric sensor close to the end A on the logistics trolley is used as a sensor a, the encoder signal in the logistics trolley is used as a signal a, the photoelectric sensor close to the end B is used as a sensor B, the encoder signal in the logistics trolley is used as a signal B, the signals a and B are both 0-1 signals, when a marking hole is detected, the signal is 0, and when the marking hole is not detected, the signal is 1. Specifically, the logistics trolley motion state table is:
the signal of the encoder is 0 when the marker is detected, and 1 when the marker is not detected;
the code value is incremented by one when the signal changes as follows:
when the signal a is 0 and the signal b is a rising edge;
or, when the signal a is a rising edge and the signal b is 1;
or, when the signal a is 1 and the signal b is a falling edge;
or, when the signal a is a falling edge and the signal b is 0;
when the code value is increased, the logistics trolley is in an acceleration stage when the code value is smaller than a preset threshold value, is in a high-speed uniform-speed stage when the code value is equal to the preset threshold value, and is in a deceleration stage when the code value is larger than the preset threshold value;
the code value is decremented by one when the signal changes:
when the signal a is a rising edge and the signal b is 0;
or, when signal a is 1 and signal b is a rising edge;
or, when the signal a is a falling edge and the signal b is 1;
or, when the signal a is 0 and the signal b is a falling edge.
When the code value is decreased, the logistics trolley is in a deceleration stage when the code value is smaller than a preset threshold value, is in a high-speed uniform-speed stage when the code value is equal to the preset threshold value, and is in an acceleration stage when the code value is larger than the preset threshold value.
In one embodiment of the invention, the marker is a marker well, 4 in number, so the predetermined threshold is 7.
Taking the unidirectional movement of the logistics trolley from A to B as an example, the logistics trolley can be divided into the following stages altogether.
Step1: referring to fig. 1, the logistics trolley is in a starting stage, and a sensor a and a sensor b face to the first marking hole, so that a signal a and a signal b are both 0, and at the moment, the coded value is 1, and the logistics trolley is set to be in an initial stage and starts to accelerate.
Step2: referring to fig. 2, the logistics trolley stably runs forward until the sensor b is separated from the first marking hole, the signal b is converted from 0 to 1, and the sensor a is still in the first marking hole, so that the signal a is still 0, the signal a is 0 at the moment, the signal b is a rising edge, the real-time coding value at the moment is 2, and the logistics trolley is in an acceleration stage.
Step3: referring to fig. 3, the logistics trolley continues to travel forward until the sensor a is separated from the first marking hole, the signal a is converted from 0 to 1, and the sensor b does not reach the next marking hole, so the signal b is still 1, at this time, the signal a is a rising edge, the signal b is 1, at this time, the real-time code value is 3, and the logistics trolley is in an acceleration stage.
Step4: referring to fig. 4, the logistics trolley continues to travel forward until the sensor b enters the second marking hole, the signal b is converted from 1 to 0, and the sensor a does not reach the second marking hole, so the signal a is still 1, the signal a is 1 at this time, the signal b is a falling edge, the real-time coding value at this time is 4, and the logistics trolley is in an acceleration stage.
Step5: referring to fig. 5, the logistics trolley continues to travel forward until the sensor a enters the second marking hole, the signal a is converted from 1 to 0, and the sensor b is still located in the second marking hole, so that the signal b is still 0, the signal a is a falling edge, the signal b is 0, the real-time coding value is 5, and the logistics trolley is located in an acceleration stage.
Step6: referring to fig. 6, the logistics trolley continues to travel forward until the sensor b is disengaged from the second marking aperture, and the signal b is converted from 0 to 1. The sensor a is still located in the second marking hole, so that the signal a is still 0, the signal a is 0 at the moment, the signal b is a rising edge, the real-time coding value at the moment is 6, and the logistics trolley is in an acceleration stage.
Step7: referring to fig. 7, the logistics trolley continues to travel forward until the sensor a is disengaged from the second marking aperture, and the signal a is converted from 0 to 1. The sensor b does not reach the third marking hole yet, so the signal b is still 1, the signal a is a rising edge, the signal b is 1, the real-time coding value is 7, and the logistics trolley is in a high-speed constant-speed stage.
Step8: referring to fig. 8, the logistics trolley continues to travel forward until the sensor b enters the third marking hole, the signal b is converted from 1 to 0, and the sensor a does not reach the third marking hole, so the signal a is still 1, the signal a is 1 at this time, the signal b is a falling edge, the real-time coding value at this time is 8, and the logistics trolley is in a deceleration stage.
Step9: referring to fig. 9, the logistics trolley continues to travel forward until the sensor a enters the third marking hole, the signal a is converted from 1 to 0, and the sensor b is still located in the third marking hole, so that the signal b is still 0, the signal a is a falling edge, the signal b is 0, the real-time coding value at the moment is 9, and the logistics trolley is in a deceleration stage.
Step10: referring to fig. 10, the logistics trolley continues to travel forward until the sensor b is disengaged from the third marking aperture, and the signal b is converted from 0 to 1. The sensor a is still located in the third marking hole, so that the signal a is still 0, the signal a is 0 at the moment, the signal b is a rising edge, the real-time coding value at the moment is 10, and the logistics trolley is in a deceleration stage.
Step11: referring to fig. 11, the logistics trolley continues to travel forward until the sensor a is disengaged from the third marking aperture, and the signal a is converted from 0 to 1. The sensor b has not reached the fourth marking hole, so the signal b is still 1, the signal a is a rising edge, the signal b is 1, the real-time code value is 11, and the logistics trolley is in a deceleration stage.
Step12: referring to fig. 12, the logistics trolley continues to travel forward until the sensor b enters the fourth marking hole, the signal b is converted from 1 to 0, and the sensor a does not reach the fourth marking hole, so the signal a is still 1, the signal a is 1 at this time, the signal b is a falling edge, the real-time code value at this time is 12, and the logistics trolley is in a deceleration stage.
Step13: referring to fig. 13, the trolley continues to travel forward until the sensor a enters the fourth marking hole, the signal a is converted from 1 to 0, and the sensor b is still located in the fourth marking hole, so the signal b is still 0, at this time, the signal a is a falling edge, the signal b is 0, the trolley stops and moves in the reverse direction, and the real-time code value at this time is 13, so the trolley is in the deceleration stage. .
So far, the unidirectional movement of the logistics trolley is ended and the reverse movement is started.
Step14: referring to fig. 14, the logistics trolley runs in the reverse direction until the sensor a is separated from the fourth marking hole, and the signal a is converted from 0 to 1. Sensor b is still located in the fourth marking aperture and therefore signal b is still 0. At this time, the signal a is a rising edge, the signal b is 0, the code value at this time is reduced, the code value is 12, and the trolley is in an acceleration stage.
Similarly, in connection with fig. 15, the reverse travel of the trolley from B to a, the coded value is progressively changed, and the movement state of the trolley is thus changed until it is stopped when it returns to the first marking hole.
The invention realizes the accurate control of the position of the logistics trolley on the track by adopting the AB phase principle of the encoder and the photoelectric sensor technology, is not influenced by external interference, accurately controls the position of the logistics trolley on the track, realizes the purposes of accurately controlling the logistics trolley, avoiding collision, reducing the damage rate of goods and the like, and has the advantages of good stability, high precision, high refinement degree and the like.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting. Although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments may be modified or some or all of the technical features may be replaced with other technical features, which do not depart from the scope of the technical scheme of the embodiments of the present invention.
Claims (10)
1. A logistics trolley travel control system, comprising: the device comprises a track, at least two markers arranged on the track, at least two sensors arranged on the logistics trolley and capable of sensing the markers, and an encoder arranged in the sensors; the length of the marker is L, the length of the sensors is L, the number of the sensors is n, the distance between the two sensors is m, L is more than or equal to nl+m, the distance D between the heads and the tails of the adjacent markers is more than or equal to nl+m; at least two sensors are distributed along the travelling direction of the logistics trolley, when the induction state between the marker and the sensors changes, the signals of the encoder jump, and the command for controlling the movement of the logistics trolley is obtained through the signal jump condition.
2. A logistics trolley travel control system in accordance with claim 1, wherein: the labels are sensed by the sensor by structural, material or/and color differentiation.
3. A logistics trolley travel control system in accordance with claim 2, wherein: the structural differences are through holes, grooves or bulges; the material difference is that the material of the track and the marker is two different materials selected from metal, wood and polymer materials; the color distinction refers to a marker formed by the difference between the color of a coating coated on the surface of a track and the color of the surface of the track.
4. A logistics trolley travel control system in accordance with claim 3, wherein: the sensor is a photoelectric sensor, a metal sensor, a gray sensor, an ultrasonic sensor or an infrared sensor.
5. A logistics trolley travel control system in accordance with claim 1, wherein: the marker is a strip-shaped marking hole.
6. The logistics trolley control system of claim 5, wherein: the marking holes are a first marking hole, a second marking hole, a third marking hole and a fourth marking hole in sequence along the initial movement direction of the logistics trolley, and the sensor is positioned in the first marking hole when the logistics trolley initially moves; when the two sensors are positioned in the fourth marking hole, the logistics trolley moves reversely.
7. A control method of a logistics trolley advancing control system as claimed in any one of claims 1 to 6, characterized by comprising the steps of:
s1: drawing a waveform diagram according to pulse change of an encoder, drawing a plurality of coding values according to the waveform diagram, and drawing a logistics trolley motion state table according to the coding values;
s2: the logistics trolley is placed on a track to run, signal changes of all encoders are obtained, the encoders calculate real-time encoding values according to the signal changes, and a logistics trolley movement state control instruction is obtained according to the encoding values;
s3: and sending the movement state control instruction of the logistics trolley to the logistics trolley so as to control the movement state of the logistics trolley.
8. The control method of the logistics trolley advancing control system of claim 7, wherein: the logistics trolley control system of claim 7, wherein: the logistics trolley comprises an end A and an end B, wherein an encoder close to the end A of the logistics trolley is an encoder A, a signal of the encoder A is a signal a, an encoder close to the end B of the logistics trolley is an encoder B, and a signal of the encoder is a signal B; when the signal a or the signal b is changed, the coding value is changed, so that the movement state of the logistics trolley is changed.
9. The control method of a logistics trolley advancing control system of claim 8, wherein: the signal of the encoder is 0 when the marker is detected, and 1 when the marker is not detected;
the code value is incremented by one when the signal changes as follows:
when the signal a is 0 and the signal b is a rising edge;
or, when the signal a is a rising edge and the signal b is 1;
or, when the signal a is 1 and the signal b is a falling edge;
or, when the signal a is a falling edge and the signal b is 0;
the code value is decremented by one when the signal changes:
when the signal a is a rising edge and the signal b is 0;
or, when signal a is 1 and signal b is a rising edge;
or, when the signal a is a falling edge and the signal b is 1;
or, when the signal a is 0 and the signal b is a falling edge.
10. The control method of a logistics trolley advancing control system of claim 9, wherein: when the code value is increased, the logistics trolley is in an acceleration stage when the code value is smaller than a preset threshold value, the logistics trolley is in a high-speed uniform-speed stage when the code value is equal to the preset threshold value, and the logistics trolley is in a deceleration stage when the code value is larger than the preset threshold value;
when the code value is decreased, the logistics trolley is in a deceleration stage when the code value is smaller than a preset threshold value, the logistics trolley is in a high-speed uniform speed stage when the code value is equal to the preset threshold value, and the logistics trolley is in an acceleration stage when the code value is larger than the preset threshold value.
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| CN202311077719.0A CN116974231A (en) | 2023-08-25 | 2023-08-25 | Logistics trolley travel control system and control method thereof |
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