WO2023155524A1 - 一种具有自动温控功能的智能矫平系统及其方法 - Google Patents

一种具有自动温控功能的智能矫平系统及其方法 Download PDF

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Publication number
WO2023155524A1
WO2023155524A1 PCT/CN2022/134061 CN2022134061W WO2023155524A1 WO 2023155524 A1 WO2023155524 A1 WO 2023155524A1 CN 2022134061 W CN2022134061 W CN 2022134061W WO 2023155524 A1 WO2023155524 A1 WO 2023155524A1
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WIPO (PCT)
Prior art keywords
trolley
temperature
leveling
agv
measuring device
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PCT/CN2022/134061
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English (en)
French (fr)
Inventor
许静
常晓楠
杨昌文
王叶凡
谷家扬
周元凯
左雪
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江苏科技大学
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Application filed by 江苏科技大学 filed Critical 江苏科技大学
Priority to US18/259,099 priority Critical patent/US11921221B2/en
Publication of WO2023155524A1 publication Critical patent/WO2023155524A1/zh

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D1/00—Straightening, restoring form or removing local distortions of sheet metal or specific articles made therefrom; Stretching sheet metal combined with rolling
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21C—MANUFACTURE OF METAL SHEETS, WIRE, RODS, TUBES OR PROFILES, OTHERWISE THAN BY ROLLING; AUXILIARY OPERATIONS USED IN CONNECTION WITH METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL
    • B21C51/00—Measuring, gauging, indicating, counting, or marking devices specially adapted for use in the production or manipulation of material in accordance with subclasses B21B - B21F
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D37/00—Tools as parts of machines covered by this subclass
    • B21D37/16—Heating or cooling
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K1/00—Soldering, e.g. brazing, or unsoldering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
    • B23K31/003—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to controlling of welding distortion
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01K—MEASURING TEMPERATURE; MEASURING QUANTITY OF HEAT; THERMALLY-SENSITIVE ELEMENTS NOT OTHERWISE PROVIDED FOR
    • G01K13/00—Thermometers specially adapted for specific purposes
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • 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
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/22—Command input arrangements
    • G05D1/221—Remote-control arrangements
    • G05D1/225—Remote-control arrangements operated by off-board computers
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/247—Arrangements for determining position or orientation using signals provided by artificial sources external to the vehicle, e.g. navigation beacons
    • G05D1/248—Arrangements for determining position or orientation using signals provided by artificial sources external to the vehicle, e.g. navigation beacons generated by satellites, e.g. GPS
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/648—Performing a task within a working area or space, e.g. cleaning
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D23/00—Control of temperature
    • G05D23/19—Control of temperature characterised by the use of electric means
    • G05D23/1902—Control of temperature characterised by the use of electric means characterised by the use of a variable reference value
    • G05D23/1905—Control of temperature characterised by the use of electric means characterised by the use of a variable reference value associated with tele control
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2105/00—Specific applications of the controlled vehicles
    • G05D2105/80—Specific applications of the controlled vehicles for information gathering, e.g. for academic research
    • G05D2105/89—Specific applications of the controlled vehicles for information gathering, e.g. for academic research for inspecting structures, e.g. wind mills, bridges, buildings or vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2107/00—Specific environments of the controlled vehicles
    • G05D2107/95—Interior or surroundings of another vehicle
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2109/00—Types of controlled vehicles
    • G05D2109/10—Land vehicles

Definitions

  • the invention belongs to the technical field of welding deformation leveling, and in particular relates to an intelligent leveling system with an automatic temperature control function and a method thereof.
  • the invention patent application (202110386221.7) discloses an integrated method for automatic induction leveling of ship plate welding deformation.
  • a laser radar is installed on the AGV (Automated Guided Vehicle) car, and a map is generated by scanning the data of the surrounding environment through the laser radar;
  • the AGV can be controlled to reach the leveling area; after reaching the leveling area, automatic leveling can be realized with the cooperation of the distance sensor carried on the AGV; Repeat the distance measurement and leveling work until the leveling end point is reached.
  • the defect of this leveling method is the lack of control over the temperature and leveling time of the leveling area. The main reason is that the AGV trolley will block the leveling area during leveling, and it is difficult to arrange a temperature measuring device.
  • the purpose of the present invention is to overcome the defects of the prior art, to provide an intelligent leveling system with automatic temperature control function and its method, which can accurately measure the temperature of the leveling area, control the leveling temperature and time of the leveling area, Thereby improving the leveling effect of the leveling machine.
  • the present invention adopts the following technical solutions.
  • An intelligent leveling system with automatic temperature control function of the present invention comprising:
  • Trolley levelers including trolley levelers bodies
  • the indoor GPS positioning device includes two sets of indoor GPS positioning devices, which are respectively used to measure the position information of the trolley type leveler and the AGV trolley temperature measuring device, and convert the position information into position parameters; including transmitters and sensor;
  • AGV car temperature measuring device including AGV car moving module, control chip and temperature measuring module, can control the AGV car temperature measuring device to move to the designated position and measure the temperature of the position through the control chip;
  • the control system including the main control equipment installed on the trolley-type leveler, can pre-set the leveling temperature and leveling time of the leveling area; process the position parameters of the AGV trolley temperature measuring device and the trolley-type leveler: the trolley-type
  • the position parameters of the leveling machine are converted into the position parameters of the leveling area, and the temperature measuring device of the AGV trolley is controlled to reach the bottom of the leveling area through the control chip, and the temperature of the leveling area is measured; the working state of the temperature measuring device of the AGV trolley is controlled , and will carry out data transmission with the temperature measuring device of the AGV trolley.
  • the first sensor 4 is installed on the handle of the trolley-type leveler for position measurement of the trolley-type leveler.
  • the second sensor 9 is installed on the temperature measuring device of the AGV car.
  • Each set of the indoor GPS positioning device includes at least two transmitters, which are respectively installed around the trolley-type leveler and the AGV trolley temperature measuring device.
  • the temperature measurement module is placed above the AGV mobile trolley.
  • An intelligent leveling method with automatic temperature control function of the present invention comprises the following steps:
  • Step 1 Arrange transmitters around the working area of the trolley-type leveler and the AGV trolley temperature measuring device, and place the first sensor and the second sensor on the trolley-type leveler and the AGV trolley temperature measuring device to ensure that the AGV trolley When the temperature measuring device and the trolley-type leveler are working, the sensor can communicate with two or more transmitters at the same time, and set the relevant parameters at the same time;
  • Step 2 The trolley leveler moves to the working position
  • Step 3 Press the start button on the main control device, the indoor GPS positioning device starts, the transmitter communicates with the first sensor installed on the trolley leveler, converts the position information of the trolley leveler into position parameters, and transmitted to the control system;
  • Step 4 Since the first sensor is installed on the handle of the trolley leveler, the control system intelligently increases the pre-set distance d mm from the handle to the leveling area on the basis of the position parameters of the trolley leveler, Convert it into the position parameter of the leveling area, and move it to the bottom of the leveling area through the control chip in the temperature measuring device of the AGV trolley;
  • Step 5 The control system detects the position of the temperature measuring device of the AGV car through the indoor GPS positioning device, and provides route assistance to it, and the temperature measuring device of the AGV car reaches the bottom of the leveling area;
  • Step 6 The trolley-type leveler starts to work, and the display screen of the main control device shows that the trolley-type leveler is in working condition.
  • the temperature measurement module of the AGV trolley temperature measurement device also starts to measure the temperature of the leveling area, and The temperature information of the detection area is transmitted to the control system through the control chip, and finally displayed on the display screen on the main control device;
  • Step 7 When the temperature in the detection area reaches the required temperature T°C, the control system automatically controls the power of the trolley-type leveler to stabilize the temperature in the leveling area at T°C, and keep it for t s. After t s, the trolley-type leveler The leveling machine stops working automatically, the temperature measuring device of the AGV trolley remains under the leveling area, and the temperature measuring module 8 of the AGV temperature measuring device is turned off;
  • Step 8 In actual work, it is often necessary to move the trolley-type leveler to another work area: press the synchronization button to automatically repeat the above steps 3 to 7;
  • Step 9 When the leveling operation in the leveling area is completed, press the stop button, and the temperature measuring device of the AGV car will return to its original position.
  • the present invention has the following advantages and beneficial effects:
  • An intelligent leveling system with automatic temperature control function of the present invention can intelligently control the leveling temperature and leveling time in the leveling area according to the preset data parameters, and can be set according to different actual conditions Different parameters to improve the leveling effect.
  • the present invention uses a GPS indoor positioning device, which can accurately measure the temperature of the leveling area from below through the relevant calculation of the control system.
  • a control chip is used to control the temperature measurement module and the RGV trolley mobile module, and the chip can communicate with the control system through a wireless local area network, avoiding the direct control of the temperature measurement by the control system
  • the module and the RGV trolley mobile module simplify the structure of the control system and improve the operating speed of the entire system.
  • Fig. 1 is a schematic diagram of the overall structure of an intelligent leveling system with automatic temperature control function according to the present invention.
  • Fig. 2 is a partial structural schematic diagram of a trolley-type leveler of an intelligent leveling system with an automatic temperature control function according to the present invention.
  • Fig. 3 is a structural schematic diagram of an AGV trolley temperature measuring device of an intelligent leveling system with an automatic temperature control function according to the present invention.
  • Fig. 4 is a schematic diagram of a main control device of an intelligent leveling system with an automatic temperature control function according to the present invention.
  • Fig. 5 is a system block diagram of an intelligent leveling system with automatic temperature control function according to the present invention.
  • the trolley leveler 1 the transmitter 2, the AGV trolley temperature measuring device 3, the first sensor 4, the main control device 5, the AGV trolley mobile module 6, the control chip 7, the temperature measurement module 8, the second sensor 9, Button 10, display 11.
  • An intelligent leveling system with automatic temperature control function of the present invention comprises a trolley-type leveler 1, an indoor GPS (Global Positioning System, global positioning system) positioning device, and an AGV (Automated Guided Vehicle, unmanned vehicle) trolley Temperature measuring device 3 and control system.
  • a trolley-type leveler 1 an indoor GPS (Global Positioning System, global positioning system) positioning device, and an AGV (Automated Guided Vehicle, unmanned vehicle) trolley Temperature measuring device 3 and control system.
  • the trolley-type leveler 1, the first sensor 4 is installed on the handle of the trolley-type leveler 1;
  • the indoor GPS positioning device includes a transmitter 2 and a sensor for converting the position information of the trolley leveler 1 and the AGV trolley temperature measuring device 3 into position parameters;
  • the AGV trolley temperature measuring device 3 includes an AGV trolley mobile module 6, a control chip 7 and a temperature measuring module 8, and the control chip 7 can control the AGV trolley temperature measuring device 3 to move to a designated position and measure the temperature at the position;
  • the control system includes the main control device 5 installed on the trolley-type leveler 4, which can pre-set the leveling temperature and the leveling time in the leveler area; Measure the temperature below.
  • a kind of intelligent leveling system with automatic temperature control function of the present invention comprises trolley type leveler 4, indoor GPS positioning device, AGV trolley temperature measuring device 3 and control system; Flat machine 1, transmitter 2, AGV trolley temperature measuring device 3.
  • the trolley-type leveler 1 works above the leveling area, and a first sensor 4 is installed on its handle to detect the position of the trolley-type leveler 1, and the trolley can be obtained by the position of the trolley-type leveler 1
  • the position of the working area of the type leveler; the AGV trolley temperature measuring device 3 is used to measure the temperature of the working area from below. Since the first sensor 4 is installed on the handle, when determining the position of the working area of the trolley-type leveler 1, it is necessary to add the distance from the handle position to the working area, so as to obtain the position parameters of the leveling area.
  • a trolley-type leveler 1 of an intelligent leveling system with an automatic temperature control function includes a first sensor 4 and a main control device 5, and the first sensor 4 is used to measure the temperature of the leveler.
  • the position parameter of the trolley, the main control device 5 is used to control the moving position, working status and data interaction of the AGV trolley temperature measuring device 3;
  • the indoor GPS positioning device includes a transmitter 2 and a sensor; there are two sets of the indoor GPS positioning device, one is used to measure the position information of the trolley-type leveler 1, and the other is used to measure the temperature of the AGV trolley
  • an AGV trolley temperature measuring device 3 of an intelligent leveling system with an automatic temperature control function of the present invention includes an AGV trolley mobile module 6, a control chip 7, a temperature measurement module 8 and a second sensor 9;
  • the control chip 7 can control the AGV trolley mobile module 6 to move below the working area of the trolley-type leveler 1 through the instructions of the control system, and control the temperature measurement module 8 to measure the temperature of the working area, and finally through the main control device 5
  • the display screen 11 outputs temperature parameters, and the second sensor 9 can detect the position of the AGV trolley temperature measuring device 3 to make it reach a designated position.
  • the control chip 7 performs data transmission through the wireless local area network and the control system, and controls the working status of the AGV trolley mobile module 6 and the temperature measurement module 7;
  • a main control device 5 of an intelligent leveling system with an automatic temperature control function of the present invention includes some buttons 10 and a display screen 11, which are mainly used to set and display relevant parameters and control the trolley-type leveling system.
  • a control system of an intelligent leveling system with an automatic temperature control function of the present invention includes a main control device 5 installed on a trolley-type leveler for processing the AGV trolley temperature measuring device 3 and the trolley Position parameter of leveler 1: convert the position parameter of trolley leveler 1 into the position parameter of the leveling area, and control the AGV trolley temperature measuring device 3 to reach the bottom of the leveling area through the control chip 7, and control the leveling area. Measure the temperature of the area; control the working state of the temperature measuring device 3 of the AGV car, and perform data transmission with the temperature measuring device 3 of the AGV car;
  • Its working process is as follows: obtain the position parameters of the trolley-type leveler 1 through the first sensor 4, and the control system converts the obtained position data into the position parameters of the leveling area through related calculations, and controls the AGV trolley to measure the leveling area through the control chip 7.
  • the temperature device 3 moves below the leveling area; when the trolley-type leveler 1 starts to work, the temperature measurement module 8 of the AGV trolley temperature measurement device 3 starts to measure the temperature, and the control system obtains the temperature through the control chip 7 of the AGV trolley temperature measurement device 3
  • the temperature of the leveling area when the temperature of the leveling area reaches the specified temperature, the control system will control the power of the trolley-type leveler 1 to keep the temperature of the leveling area for a certain period of time.
  • An intelligent leveling method with automatic temperature control function of the present invention comprises the following steps:
  • Step 1 Arrange the transmitter 2 around the working area of the trolley of the trolley-type leveler 1 and the temperature measuring device 3 of the AGV trolley, and place the first sensor 4 and the second sensor 9 on the trolley-type leveler 1 and the AGV respectively On the trolley temperature measuring device 3, ensure that when the AGV trolley temperature measuring device 3 and the trolley-type leveler 1 are working, the sensor can communicate with two or more transmitters at the same time, and the relevant parameters are set at the same time;
  • Step 2 The trolley leveler 1 moves to the working position
  • Step 3 Press the key 10 on the main control device 5, the indoor GPS positioning device starts, the transmitter 2 communicates with the first sensor 4 installed on the trolley leveler 1, and converts the position information of the trolley leveler 1 into position parameters and transmit them to the control system;
  • Step 4 Since the sensor is installed on the handle of the trolley leveler 1, the control system intelligently increases the distance d mm from the preset handle to the leveling area on the basis of the position parameters of the trolley leveler 1, Convert it into the position parameter of the leveling area, and move it to the bottom of the leveling area through the control chip 7 in the temperature measuring device of the AGV trolley;
  • Step 5 The control system detects the position of the temperature measuring device 3 of the AGV car through the indoor GPS positioning device, and provides route assistance to it, and the temperature measuring device 3 of the AGV car reaches the bottom of the leveling area;
  • Step 6 The trolley-type leveler 1 starts to work, and the display screen 11 of the main control device 5 shows that the trolley-type leveler 1 is in the working state, and at the same time, the temperature measurement module 8 of the AGV trolley temperature measurement device 3 also starts to monitor the leveling area. The temperature is measured, and the temperature information of the detection area is transmitted to the control system through the control chip 7, and finally displayed on the display screen 11 on the main control device 5;
  • Step 7 When the temperature in the detection area reaches the required temperature T°C, the control system automatically controls the power of the trolley leveler 1 to stabilize the temperature in the leveling area at T°C, and maintain t s, and the trolley is leveled after t s The machine 1 automatically stops working, the AGV trolley temperature measuring device 3 remains below the leveling area, and the temperature measurement module 8 of the AGV trolley temperature measuring device 3 is closed;
  • Step 8 In actual work, it is often necessary to move the trolley-type leveler 1 to another work area: press the button 10 to automatically repeat the above steps 3 to 7;
  • Step 9 When the leveling operation in the leveling area is completed, press the button 10, and the AGV trolley temperature measuring device 3 returns to the original position.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Road Paving Machines (AREA)
  • Measuring Temperature Or Quantity Of Heat (AREA)

Abstract

一种具有自动温控功能的智能矫平系统及其方法，该系统包括手推车式矫平机（1）、室内GPS定位装置、AGV小车测温装置（3）和控制系统。控制系统处理AGV小车测温装置（3）和手推车式矫平机（1）的位置参数：将手推车式矫平机（1）的位置参数转换成矫平区域的位置参数，并通过控制芯片（7）控制AGV小车测温装置（3）到达矫平区域的下方，对矫平区域的温度进行测量；控制AGV小车测温装置（3）的工作状态、并将与AGV小车测温装置（3）进行数据传输。该方法可以按照预先设置好的数据参数，智能地控制矫平区域的矫平温度和矫平时间，矫平效果好。

Description

一种具有自动温控功能的智能矫平系统及其方法 技术领域
本发明属于焊接变形矫平技术领域，具体涉及一种具有自动温控功能的智能矫平系统及其方法。
背景技术
大型船舶在建造的过程中，钢板与钢板之间通常采用焊接技术进行连接，会不可不避免的在连接处产生不平整的焊缝，因此，需要使用矫平机将连接钢板的焊缝进行矫平。一种新兴的基于电磁感应加热原理的感应矫平工艺，需要将焊缝附近的区域加热到指定温度并保持一定的时间，以达到消除焊缝附近的内部应力和将焊接区域变得更加平整的目的。然而，使用这种基于感应矫平原理的矫平机，在矫平焊缝的过程中，不可避免地遮挡矫平区域的上方，不方便测温装置直接测量矫平区域的温度，从而控制矫平区域的温度与矫平时间；而矫平机在工作的过程中，矫平区域温度较高，也不方便在矫平区域的周围安装测温装置，不可避免地对矫平效果造成影响。因此，在实际工作中，对焊缝进行矫平的时间全凭工人的经验进行判断，会出现温度过高和达不到要求的情况。
发明专利申请(202110386221.7)公开了一种船板焊接变形自动感应矫平集成方法，在AGV(Automated Guided Vehicle，无人搬运车)小车上安装激光雷达，通过激光雷达扫描周围环境的数据生成地图；通过对AGV小车的起始点和路径规划，即可控制AGV小车到达矫平区域；到达矫平区域之后，在AGV小车上携带的距离传感器的配合下，可以实现自动矫平；AGV小车沿着设定的路径，重复测距和矫平工作，直至到达矫平终点。这种矫平方法的缺陷是，缺乏对矫平区域的温度和矫平时间的控制，其主要原因是AGV小车在矫平时，会对矫平区域形成遮挡，不易布置测温装置。
发明内容
本发明的目的在于克服现有技术的缺陷，提供一种具有自动温控功能的智能矫平系统及其方法，可以准确地测量矫平区域的温度、控制矫平区域的矫平温度和时间，从而提高矫平机的矫平效果。
为解决上述技术问题，本发明采用以下技术方案。
本发明的一种具有自动温控功能的智能矫平系统，包括：
手推车式矫平机，包括手推车式矫平机主体；
室内GPS定位装置，包括两套所述的室内GPS定位装置，分别用于对手推车式矫平机和AGV小车测温装置的位置信息测量，并将其位置信息转换成位置参数；包括发射器和传 感器；
AGV小车测温装置，包括AGV小车移动模块、控制芯片和测温模块，可以通过控制芯片来控制AGV小车测温装置移动到指定位置并测量该位置的温度；
控制系统，包括安装在手推车式矫平机上的主控设备，可以预先设置矫平区域的矫平温度和矫平时间；处理AGV小车测温装置和手推车式矫平机的位置参数：将手推车式矫平机的位置参数转换成矫平区域的位置参数，并通过控制芯片控制AGV小车测温装置到达矫平区域的下方，对矫平区域的温度进行测量；控制AGV小车测温装置的工作状态、并将与AGV小车测温装置进行数据传输。
所述的用于对手推车式矫平机的室内GPS定位装置，其第一传感器4安装在手推车式矫平机的手柄上，用于对手推车式矫平机的位置测量。
所述的用于AGV小车测温装置的室内GPS定位装置，其第二传感器9安装在AGV小车测温装置上。
每套所述的室内GPS定位装置，至少包括两个发射器，分别安装在手推车式矫平机和AGV小车测温装置的四周。
所述的测温模块放置在AGV移动小车的上方。
本发明的一种具有自动温控功能的智能矫平方法，包括以下步骤：
步骤1.在手推车式矫平机和AGV小车测温装置工作区域的四周布置发射器，并将第一传感器、第二传感器放置在手推车式矫平机和AGV小车测温装置上，保证AGV小车测温装置和手推车式矫平机在工作时，传感器可以同时与两个或两个以上的发射器通信，同时将相关参数进行设置；
步骤2.手推车式矫平机移动到工作位置；
步骤3.按下主控设备上的启动按钮，室内GPS定位装置启动，发射器与安装在手推车式矫平机上的第一传感器通信，将手推车式矫平机的位置信息转化成位置参数，并传输至控制系统；
步骤4.由于第一传感器安装在手推车式矫平机的手柄上，控制系统在手推车式矫平机的位置参数的基础上，智能地增加预先设置好的手柄至矫平区域的距离d mm，转化成矫平区域的位置参数，并通过AGV小车测温装置内的控制芯片控制将其移动到矫平区域的下方；
步骤5.控制系统通过室内GPS定位装置检测AGV小车测温装置的位置，并对其提供路线帮助，AGV小车测温装置到达矫平区域的下方；
步骤6.手推车式矫平机开始工作，主控设备的显示屏上显示手推车式矫平机处于工作状态，同时AGV小车测温装置的测温模块也开始对矫平区域的温度进行测量，并通过控制芯片将检测区域的温度信息传输至控制系统当中，最终通过主控设备上的显示屏显示出来；
步骤7.当检测区域的温度达到所需温度T℃时，控制系统自动控制手推车式矫平机的功率将矫平区域的温度稳定在T℃，并保持t s时间，t s之后手推车式矫平机自动停止工作，AGV小车测温装置保持在矫平区域的下方，AGV测温装置的测温模块8关闭；
步骤8.在实际工作中，经常需要将手推车式矫平机移动到另一个工作区域：按下同步按键，即可自动重复以上步骤3～7；
步骤9.当矫平区域的矫平作业完成后，按下停止按钮，AGV小车测温装置回到原位置。
与现有技术相比，本发明具有以下优点和有益效果：
1.本发明的一种具有自动温控功能的智能矫平系统，可以按照预先设置好的数据参数，智能地控制矫平区域的矫平温度和矫平时间，并可以根据不同的实际情况设置不同的参数，提高矫平效果。
2.本发明采用GPS室内定位装置，可通过控制系统的相关计算，精确地从下方测量矫平区域的温度。
3.本发明在RGV小车测温装置中，使用控制芯片用来控制测温模块和RGV小车移动模块，并且该芯片可以通过无线局域网络与控制系统进行数据交流，避免了控制系统直接控制测温模块和RGV小车移动模块，精简了控制系统的结构，提高了整个系统的运行速度。
附图说明
图1为本发明的一种具有自动温控功能的智能矫平系统的总体结构示意图。
图2为本发明的一种具有自动温控功能的智能矫平系统的手推车式矫平机的部分结构示意图。
图3为本发明的一种具有自动温控功能的智能矫平系统的AGV小车测温装置的结构示意图。
图4为本发明的一种具有自动温控功能的智能矫平系统的主控设备的示意图。
图5为本发明的一种具有自动温控功能的智能矫平系统的系统框图。
其中，手推车式矫平机1，发射器2，AGV小车测温装置3，第一传感器4、主控设备5，AGV小车移动模块6，控制芯片7，测温模块8，第二传感器9，按键10，显示屏11。
具体实施方式
本发明的一种具有自动温控功能的智能矫平系统，包括手推车式矫平机1、室内GPS(Global Positioning System，全球定位系统)定位装置、AGV(Automated Guided Vehicle，无人搬运车)小车测温装置3和控制系统。
所述的手推车式矫平机1，在手推车式矫平机1的手柄上安装第一传感器4；
所述的室内GPS定位装置，包括发射器2和传感器，用于将手推车式矫平机1和AGV小车测温装置3的位置信息转换成位置参数；
所述的AGV小车测温装置3，包括AGV小车移动模块6、控制芯片7和测温模块8，可以通过控制芯片7来控制AGV小车测温装置3移动到指定位置并测量该位置的温度；
所述的控制系统，包括安装在手推车式矫平机4上的主控设备5，可以预先设置矫平机区域的矫平温度和矫平时间；控制RGV小车测温装置3到矫平区域的下方进行测温。
下面结合附图对本发明做进一步详细说明。
如图1所示，本发明的一种具有自动温控功能的智能矫平系统，包括手推车式矫平机4、室内GPS定位装置、AGV小车测温装置3和控制系统；其中，手推车式矫平机1，发射器2，AGV小车测温装置3。手推车式矫平机1在矫平区域的上方工作，在其手柄上安装有第一传感器4，用于检测手推车式矫平机1的位置，通过手推车式矫平机1的位置即可获得手推车式矫平机工作区域的位置；AGV小车测温装置3用来从下方测量工作区域的温度。由于第一传感器4是安装在手柄上的，因此在确定手推车式矫平机1工作区域的位置时，需要加上手柄位置至工作区域的距离，从而获得矫平区域的位置参数。
如图2所示，本发明的一种具有自动温控功能的智能矫平系统的手推车式矫平机1，包括第一传感器4和主控设备5，第一传感器4用来测量矫平机手推车的位置参数，主控设备5用来控制AGV小车测温装置3的移动位置、工作状态和数据交互；
所述的室内GPS定位装置，包括发射器2和传感器；所述的室内GPS定位装置有两套，一套用于对手推车式矫平机1的位置信息测量，另一套用于对AGV小车测温装置3的位置信息的测量；传感器要分别安装在手推车式矫平机1(第一传感器4)和AGV小车测温装置2(第二传感器9)上，发射器分别安装在手推车式矫平机1和AGV小车测温装置3的四周，并且安装时发射器时，要保证传感器要同时至少与两个或两个以上的发射器通信；
如图3所示，本发明的一种具有自动温控功能的智能矫平系统的AGV小车测温装置3，包括AGV小车移动模块6、控制芯片7、测温模块8和第二传感器9；控制芯片7可以通过控制系统的指令控制AGV小车移动模块6移动到手推车式矫平机1的工作区域的下方，并且控制测温模块8对工作区域温度的测量，最终通过主控设备5上的显示屏11输出温度参数，第二传感器9可以检测AGV小车测温装置3的位置，使其到达指定位置。控制芯片7通过无线局域网络与控制系统进行数据传输，控制AGV小车移动模块6和测温模块7的工作状态；
如图4所示，本发明的一种具有自动温控功能的智能矫平系统的主控设备5，包括一些按键10和显示屏11，主要用来设置和显示相关的参数，控制手推车式矫平机1和RGV小车测温装置3的运行状态。
如图5所示，本发明的一种具有自动温控功能的智能矫平系统的控制系统，包括安装在手推车式矫平机上的主控设备5，用于处理AGV小车测温装置3和手推车式矫平机1的位置 参数：将手推车式矫平机1的位置参数转换成矫平区域的位置参数，并通过控制芯片7控制AGV小车测温装置3到达矫平区域的下方，对矫平区域的温度进行测量；控制AGV小车测温装置3的工作状态、并将与AGV小车测温装置3进行数据传输；
其工作流程为：通过第一传感器4获得手推车式矫平机1的位置参数，控制系统通过相关的运算将获得的位置数据转化成矫平区域的位置参数，并通过控制芯片7控制AGV小车测温装置3移动到矫平区域的下方；手推车式矫平机1开始工作时，AGV小车测温装置3的测温模块8开始测温，控制系统通过AGV小车测温装置3的控制芯片7获得矫平区域的温度，当矫平区域的温度达到指定温度时，控制系统会控制手推车式矫平机1的功率，将矫平区域的温度保持一定的时间。
以手推车式矫平机1的手推车沿X轴方向工作为例，并假定手推车式矫平机1上的第一传感器4至矫平区域的距离沿X轴方向的长度为d mm，矫平区域所需温度为T℃，矫平区域所需的温度需要保持时间为t s；
本发明的一种具有自动温控功能的智能矫平方法，包括以下步骤：
步骤1.在手推车式矫平机1的手推车和AGV小车测温装置3工作区域的四周布置发射器2，并将第一传感器4、第二传感器9分别放置在手推车式矫平机1和AGV小车测温装置3上，保证AGV小车测温装置3和手推车式矫平机1在工作时，传感器可以同时与两个或两个以上的发射器通信，同时将相关参数设置完毕；
步骤2.手推车式矫平机1移动到工作位置；
步骤3.按下主控设备5上的按键10，室内GPS定位装置启动，发射器2与安装在手推车式矫平机1上的第一传感器4通信，将手推车式矫平机1位置信息转化成位置参数，并传输至控制系统；
步骤4.由于传感器安装在手推车式矫平机1的手柄上，控制系统在手推车式矫平机1的位置参数的基础上，智能地增加预先设置好的手柄至矫平区域的距离d mm，转化成矫平区域的位置参数，并通过AGV小车测温装置内的控制芯片7控制将其移动到矫平区域的下方；
步骤5.控制系统通过室内GPS定位装置检测AGV小车测温装置3的位置，并对其提供路线帮助，AGV小车测温装置3到达矫平区域的下方；
步骤6.手推车式矫平机1开始工作，主控设备5的显示屏11上显示手推车式矫平机1处于工作状态，同时AGV小车测温装置3的测温模块8也开始对矫平区域的温度进行测量，并通过控制芯片7将检测区域的温度信息传输至控制系统当中，最终通过主控设备5上的显示屏11显示出来；
步骤7.当检测区域的温度达到所需温度T℃时，控制系统自动控制手推车式矫平机1的功率将矫平区域的温度稳定在T℃，并保持t s，t s之后手推车矫平机1自动停止工作， AGV小车测温装置3保持在矫平区域的下方，AGV小车测温装置3的测温模块8关闭；
步骤8.在实际工作中，经常需要将手推车式矫平机1需要移动到另一个工作区域：按下按键10，即可自动重复以上步骤3～7；
步骤9.当矫平区域的矫平作业完成后，按下按键10，AGV小车测温装置3回到原位置。

Claims (4)

  1. 一种具有自动温控功能的智能矫平系统，其特征在于，包括：
    手推车式矫平机(1)，包括手推车式矫平机(1)主体；
    室内GPS定位装置，包括两套所述的室内GPS定位装置，分别用于对手推车式矫平机(1)和AGV小车测温装置(3)的位置信息测量，并将其位置信息转换成位置参数；包括发射器(2)和传感器；
    所述的用于对手推车式矫平机(1)的室内GPS定位装置，其第一传感器(4)安装在手推车式矫平机(1)的手柄上，用于对手推车式矫平机(1)的位置测量；
    所述的用于AGV小车测温装置(3)的室内GPS定位装置，其第二传感器(9)安装在AGV小车测温装置(3)上；
    AGV小车测温装置(3)，包括AGV小车移动模块(6)、控制芯片(7)和测温模块(8)，可以通过控制芯片(7)来控制AGV小车测温装置(3)移动到指定位置并测量该位置的温度；
    控制系统，包括安装在手推车式矫平机(1)上的主控设备(5)，可以预先设置矫平区域的矫平温度和矫平时间；处理AGV小车测温装置(3)和手推车式矫平机(1)的位置参数：将手推车式矫平机(1)的位置参数转换成矫平区域的位置参数，并通过控制芯片(7)控制AGV小车测温装置(3)到达矫平区域的下方，对矫平区域的温度进行测量；控制AGV小车测温装置(3)的工作状态、并将与AGV小车测温装置(3)进行数据传输；其工作流程为：通过第一传感器4获得手推车式矫平机(1)的位置参数，控制系统通过相关的运算将获得的位置数据转化成矫平区域的位置参数，并通过控制芯片(7)控制AGV小车测温装置(3)移动到矫平区域的下方；手推车式矫平机(1)开始工作时，AGV小车测温装置(3)的测温模块(8)开始测温，控制系统通过AGV小车测温装置(3)的控制芯片(7)获得矫平区域的温度，当矫平区域的温度达到指定温度时，控制系统会控制手推车式矫平机(1)的功率，将矫平区域的温度保持一定的时间。
  2. 根据权利要求1所述的一种具有自动温控功能的智能矫平系统，其特征在于，每套所述的室内GPS定位装置，至少包括两个发射器(2)，分别安装在手推车式矫平机(1)和AGV小车测温装置(3)四周。
  3. 根据权利要求1所述的一种具有自动温控功能的智能矫平系统，其特征在于，所述的测温模块(8)放置在AGV移动小车的上方。
  4. 一种具有自动温控功能的智能矫平方法，其特征在于，包括以下步骤：
    步骤1.在手推车式矫平机(1)和AGV小车测温装置(3)工作区域的四周布置发射器(2)，并将第一传感器(4)、第二传感器(9)放置在手推车式矫平机(1)和AGV小车测温装置(3)上，保证AGV小车测温装置(3)和手推车式矫平机(1)在工作时，传感器可 以同时与两个或两个以上的发射器(2)通信，同时将相关参数进行设置；
    步骤2.手推车式矫平机(1)移动到工作位置；
    步骤3.按下主控设备(5)上的按键(10)，室内GPS定位装置启动，发射器(2)与安装在手推车式矫平机(1)上的第一传感器(4)通信，将手推车式矫平机(1)的位置信息转化成位置参数，并传输至控制系统；
    步骤4.由于第一传感器(4)安装在手推车式矫平机(1)的手柄上，控制系统在手推车式矫平机(1)的位置参数的基础上，智能地增加预先设置好的手柄至矫平区域的距离d mm，转化成矫平区域的位置参数，并通过AGV小车测温装置(3)内的控制芯片(7)控制将其移动到矫平区域的下方；
    步骤5.控制系统通过室内GPS定位装置检测AGV小车测温装置(3)的位置，并对其提供路线帮助，AGV小车测温装置(3)到达矫平区域的下方；
    步骤6.手推车式矫平机(1)开始工作，主控设备的显示屏(11)上显示手推车式矫平机(1)处于工作状态，同时AGV小车测温装置(3)的测温模块(8)也开始对矫平区域的温度进行测量，并通过控制芯片(7)将检测区域的温度信息传输至控制系统当中，最终通过主控设备(5)上的显示屏(11)显示出来；
    步骤7.当检测区域的温度达到所需温度T℃时，控制系统自动控制手推车式矫平机(1)的功率将矫平区域的温度稳定在T℃，并保持t s时间，t s之后手推车式矫平机(1)自动停止工作，AGV小车测温装置(3)保持在矫平区域的下方，AGV测温装置(3)的测温模块(8)关闭；
    步骤8.在实际工作中，经常需要将手推车式矫平机(1)移动到另一个工作区域：按下按键(10)，即可自动重复以上步骤3～7；
    步骤9.当矫平区域的矫平作业完成后，按下按键(10)，AGV小车测温装置(3)回到原位置。
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