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CN-121560029-B - Mobile house movement control method, system and terminal

CN121560029BCN 121560029 BCN121560029 BCN 121560029BCN-121560029-B

Abstract

The application relates to a mobile house movement control method, a mobile house movement control system and a mobile house movement control terminal, which relate to the technical field of equipment movement control and comprise the steps of collecting a movement trigger signal; the driving device responds to a movement trigger signal to drive the movement room to move by using a reference movement parameter, controls the stretching displacement sensor to detect the movement room to generate double-side detection displacement, performs preprocessing and calculation on the double-side detection displacement and a target movement position to generate synchronous displacement deviation and single-side displacement deviation, judges whether the synchronous displacement deviation is not smaller than a synchronous displacement threshold, if not, controls the driving device to stop when the single-side displacement deviation is smaller than the target position threshold, analyzes the double-side detection displacement, determines a movement adjustment parameter, adjusts the driving device according to the movement adjustment parameter until the synchronous displacement deviation is smaller than the synchronous displacement threshold, and controls the driving device to stop when the single-side displacement deviation is smaller than the target position threshold. The application has the effect of improving the moving accuracy of the movable telescopic house.

Inventors

  • YANG RENJUN
  • GU JIAN
  • Diao Chenghui

Assignees

  • 上海固极智能科技股份有限公司
  • 上海虎焊工业工程有限责任公司

Dates

Publication Date
20260508
Application Date
20260121

Claims (8)

  1. 1. A mobile house movement control method, characterized by comprising: acquiring a movement trigger signal of a movement room; the preset driving device responds to the movement triggering signal and drives the movement room to move by using preset reference movement parameters; controlling a preset stretching displacement sensor to detect the movable room so as to generate double-side detection displacement of the movable room; Preprocessing and calculating the double-side detection displacement and a preset target movement position to generate synchronous displacement deviation and single-side displacement deviation; judging whether the synchronous displacement deviation is not smaller than a preset synchronous displacement threshold value or not; if not, controlling the driving device to stop when the single-side displacement deviation is smaller than a preset target position threshold value; If yes, analyzing the double-side detection displacement to determine a movement adjustment parameter; adjusting the driving device according to the movement adjustment parameters until the synchronous displacement deviation is smaller than a synchronous displacement threshold value, and controlling the driving device to stop when the single-side displacement deviation is smaller than a preset target position threshold value; The step of controlling a preset stretching displacement sensor to detect the movable house so as to generate double-side detection displacement of the movable house comprises the following steps: controlling a preset cleaning noise reduction device to pretreat a pull rope of the stretching displacement sensor; Controlling a stretching displacement sensor to detect the displacement of the movable room so as to generate a basic detection displacement; collecting a displacement correction amount of the stretching displacement sensor; Correcting the basic detection displacement according to the displacement correction amount to generate double-side detection displacement of the movable house; The cleaning and noise reduction device comprises a cleaning component and a temperature control component, and the step of controlling the preset cleaning and noise reduction device to preprocess the pull rope of the stretching displacement sensor comprises the following steps of: collecting an initial detection temperature and a detection diameter of a pull rope; judging whether the initial detection temperature meets the preset requirement of influencing the temperature threshold value or not; if so, controlling the cleaning assembly to blow air to the pull rope according to the detection diameter of the pull rope so as to remove dust adhered to the pull rope; if not, analyzing the initial detection temperature and the influence temperature threshold value to determine auxiliary temperature control parameters; And controlling the temperature control assembly to adjust the cleaning assembly according to the auxiliary temperature control parameter, and controlling the cleaning assembly to blow air to the pull rope according to the detection diameter of the pull rope so as to remove dust adhered on the pull rope.
  2. 2. The mobile room movement control method according to claim 1, wherein the step of controlling the cleaning assembly to blow the drawing rope according to the drawing rope detection diameter to remove dust adhered to the drawing rope comprises: collecting the total use times of the pull rope; calculating the difference of the product between the preset standard diameter of the pull rope and the total use times and the preset wear coefficient of the pull rope so as to generate the wear diameter of the pull rope; calculating the difference between the detection diameter of the pull rope and the abrasion diameter of the pull rope to generate the dust adhesion thickness; judging whether the dust adhesion thickness is not less than a preset dust adhesion threshold value; if not, continuously collecting the detection diameter of the pull rope and the total use times of the pull rope to carry out cycle judgment; if yes, analyzing the dust adhesion thickness to determine blowing cleaning parameters; And controlling the cleaning assembly to blow the pull rope according to the blowing cleaning parameter so as to remove dust adhered on the pull rope.
  3. 3. The mobile room movement control method of claim 1 wherein the step of analyzing the initial sensed temperature and the affected temperature threshold to determine the auxiliary temperature control parameter comprises: calculating a difference between the initial detected temperature and the influencing temperature threshold to generate a pull rope influencing temperature; calculating the product of the temperature influenced by the pull rope and a preset pull rope heat exchange coefficient to generate a temperature adjustment quantity; The difference between the influencing temperature threshold and the temperature adjustment is calculated to generate an auxiliary temperature control parameter.
  4. 4. The mobile house movement control method according to claim 1, wherein the step of collecting the displacement correction amount of the tension displacement sensor comprises: Collecting the current diameter and the current temperature of a pull rope of a tension displacement sensor; analyzing the current diameter of the pull rope and the preset standard diameter of the pull rope to determine the diameter change correction; analyzing the current temperature of the pull rope and the preset ideal temperature of the pull rope to determine the temperature influence correction; the sum of the diameter change correction amount and the temperature influence correction amount is calculated to generate a displacement correction amount.
  5. 5. The method of claim 4, wherein the step of analyzing the current diameter of the rope and the preset standard diameter of the rope to determine the diameter change correction amount comprises: calculating the difference between the current diameter of the pull rope and the standard diameter of the pull rope to generate the diameter variation of the pull rope; calculating the quotient of the diameter variation of the pull rope and the preset displacement effective diameter to generate a diameter influence coefficient; the product of the diameter influence coefficient and the basic detected displacement amount is calculated to generate a diameter change correction amount.
  6. 6. The method of claim 5, wherein the step of analyzing the current temperature of the rope and the preset ideal temperature of the rope to determine the temperature-affected correction amount comprises: calculating the difference between the current temperature of the pull rope and the ideal temperature of the pull rope to generate a displacement-influencing temperature; Collecting the expansion coefficient of a pull rope; The product of the displacement-affected temperature, the expansion coefficient, and the basic detected displacement amount is calculated to generate a temperature-affected correction amount.
  7. 7. A mobile home movement control system, comprising: The acquisition module is used for acquiring the mobile trigger signal; a memory for storing a program of a mobile house movement control method according to any one of claims 1 to 6; a processor, a program in a memory being loadable by the processor and implementing a mobile house movement control method as claimed in any one of claims 1 to 6.
  8. 8. An intelligent terminal comprising a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and execute a mobile house movement control method according to any one of claims 1 to 6.

Description

Mobile house movement control method, system and terminal Technical Field The present application relates to the field of equipment movement control, and in particular, to a mobile house movement control method, system and terminal. Background The movable telescopic house is used for carrying out airtight collection and treatment on generated dust, smoke and harmful gas in polishing, welding and cutting operations of large-sized workpieces (such as a car body framework, a chassis piece, a bumper and a die casting die). In the related art, when a large-sized workpiece enters a movable telescopic house, the roof of the movable telescopic house is usually required to be moved away, the large-sized workpiece is hoisted from the top to enter the movable telescopic house, the roof of the movable telescopic house is reset, the movement of the roof is usually controlled by a servo motor to drive a planetary reducer and an encoder to be positioned, namely the servo motor provides driving force, the planetary reducer is used for reducing the rotating speed and increasing the output torque so as to drive a heavier roof, the encoder is arranged on a motor shaft of the servo motor and used for monitoring the movement positions of two sides of the roof, and when the positions of the two sides are not synchronous, a controller coordinates synchronous operation of the servo motors on the two sides to ensure synchronous movement of the roof. Aiming at the related technology, the servo motor relies on a mechanical transmission chain with high rigidity and low clearance to realize accurate position control, once the linear sliding rail has the conditions of installation error, insufficient machining precision or long-term running abrasion, the encoder still feeds back the positioning synchronization of two sides, but the actual structure is deformed to cause the position deviation of two sides of a roof, so that the moving precision of the movable telescopic house is low, and the improvement is still needed. Disclosure of Invention In order to improve the movement accuracy of a movable telescopic house, the application provides a movable house movement control method, a movable house movement control system and a movable house movement control terminal. In a first aspect, the present application provides a mobile house movement control method, which adopts the following technical scheme: A mobile home movement control method comprising: acquiring a movement trigger signal of a movement room; the preset driving device responds to the movement triggering signal and drives the movement room to move by using preset reference movement parameters; controlling a preset stretching displacement sensor to detect the movable room so as to generate double-side detection displacement of the movable room; Preprocessing and calculating the double-side detection displacement and a preset target movement position to generate synchronous displacement deviation and single-side displacement deviation; judging whether the synchronous displacement deviation is not smaller than a preset synchronous displacement threshold value or not; if not, controlling the driving device to stop when the single-side displacement deviation is smaller than a preset target position threshold value; If yes, analyzing the double-side detection displacement to determine a movement adjustment parameter; and adjusting the driving device according to the movement adjustment parameters until the synchronous displacement deviation is smaller than the synchronous displacement threshold, and controlling the driving device to stop when the single-side displacement deviation is smaller than the preset target position threshold. Optionally, the step of controlling a preset tensile displacement sensor to detect the moving room to generate a double-sided detection displacement of the moving room includes: controlling a preset cleaning noise reduction device to pretreat a pull rope of the stretching displacement sensor; Controlling a stretching displacement sensor to detect the displacement of the movable room so as to generate a basic detection displacement; collecting a displacement correction amount of the stretching displacement sensor; And correcting the basic detection displacement according to the displacement correction amount to generate double-side detection displacement of the movable house. Optionally, the cleaning noise reduction device includes cleaning assembly and temperature control assembly, and the step of controlling the cleaning noise reduction device to preprocess the pull rope of the stretching displacement sensor includes: collecting an initial detection temperature and a detection diameter of a pull rope; judging whether the initial detection temperature meets the preset requirement of influencing the temperature threshold value or not; if so, controlling the cleaning assembly to blow air to the pull rope according to the detection diameter of the pull rope