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CN-121990317-A - Accurate positioning control method for rail trolley

CN121990317ACN 121990317 ACN121990317 ACN 121990317ACN-121990317-A

Abstract

The invention relates to the technical field of trolley control, in particular to a precise positioning control method for a rail trolley. The invention discloses a trolley positioning device, which comprises an underground tunnel, wherein two tracks are arranged in the underground tunnel, a conveying vehicle is arranged on the tracks, a control mechanism is arranged on the conveying vehicle, the control mechanism comprises a PLC (programmable logic controller) and a driving motor, the PLC is in communication connection with the driving motor, a plurality of operation positions are arranged on an outer platform of the underground tunnel at intervals, each operation position is provided with an electronic tag, a reader-writer is arranged on the conveying vehicle, positioning metal blocks corresponding to the electronic tags one by one are arranged at the bottom of the underground tunnel, a sensor is arranged at the bottom of the conveying vehicle, the reader-writer is connected with the PLC, and the sensor is connected with the PLC.

Inventors

  • MAO JIANJUN
  • LI XIAOLONG
  • LIU DING
  • TANG KUN
  • MAO HAOYU
  • ZHANG QINRUI

Assignees

  • 中国石油天然气集团有限公司
  • 中国石油集团宝石管业有限公司
  • 资阳石油钢管有限公司

Dates

Publication Date
20260508
Application Date
20241108

Claims (10)

  1. 1. The precise positioning control method for the track trolley comprises an underground tunnel (1), wherein two tracks (11) are arranged in the underground tunnel (1), a conveying trolley (2) is arranged on each track (11), a control mechanism is arranged on each conveying trolley (2), each control mechanism comprises a PLC (programmable logic controller) (3) and a driving motor (4), the PLC (3) is in communication connection with the driving motors (4), the driving motors (4) drive the conveying trolley (2) to move on the tracks (11), a plurality of operation positions (5) are arranged on a platform (6) on the outer side of the underground tunnel (1) at intervals, and the precise positioning control method is characterized in that each operation position (5) is provided with an electronic tag (7), a reader-writer (8) for identifying the electronic tag (7) is arranged on the conveying trolley (2), positioning metal blocks (9) corresponding to each operation position (5) one by one are arranged at the bottom of the underground tunnel (1), and the reader-writer (8) is in communication with a sensor (9) for identifying the positioning metal blocks (9), and the reader-writer (9) is in communication with the PLC; comprises the following steps of the method, S1, numbering the electronic tags (7) in sequence from small to large along the length direction of the tunnel (1), reading the electronic tags (7) at the position of the conveying vehicle (2) as initial tags Sn by a reader-writer (8), and inputting the initial tags Sn into a PLC (programmable logic controller) 3; S2, inputting the target label Sm into a PLC (programmable logic controller) 3, judging the moving direction by the PLC 3, driving a conveying vehicle 2 to move forward by a driving motor 4 if m is more than n, driving the conveying vehicle 2 to move reversely by the driving motor 4 if m is less than n, and continuously reading the electronic label 7 by a reader 8 in the continuous moving process of the conveying vehicle 2; S3, when the reader-writer (8) reads the target label Sm and the sensor (9) identifies the positioning metal block (9) corresponding to the target label Sm, the driving motor (4) stops driving the conveying vehicle (2), the conveying vehicle (2) stops braking, the conveying vehicle (2) reaches the target position, and the positioning of the conveying vehicle (2) is completed.
  2. 2. A precise positioning control method for a small rail car as set forth in claim 1, wherein a step S21 is provided between the step S2 and the step S3, wherein a target area is determined, the range of the electronic tags (7) S m-1 to S m+1 is determined as the target area according to the moving direction of the transport car (2), the transport car (2) is driven by an area driving motor (4) outside the range of the target area to travel at a first speed, and the transport car (2) is driven by the driving motor (4) within the target area to travel at a second speed, which is smaller than the first speed.
  3. 3. The precise positioning control method of the trolley according to claim 2, wherein in the step S3, if the reader/writer (8) reads the target tag Sm and S m-1 or S m+1 adjacent to the target tag Sm at the same time, the PLC controller (3) judges whether the trolley moves forward or backward according to the moving direction of the trolley (2) until the sensor (9) identifies the positioning metal block (9) corresponding to the target tag Sm.
  4. 4. The precise positioning control method of the small rail car as claimed in claim 1, wherein the electronic tag (7) is an RFID electronic tag (7).
  5. 5. The precise positioning control method of the small rail car of claim 4, wherein the electronic tag (7) has unique position information and ID codes.
  6. 6. The precise positioning control method of the track trolley is characterized in that the electronic tag (7) is arranged on the side wall of the tunnel (1).
  7. 7. The precise positioning control method for the rail trolley is characterized in that an alarm system (12) is arranged on the conveying trolley (2), the alarm system (12) is in communication connection with the PLC (3), and in the step S2, if special conditions occur on the electronic tag (7) read by the reader-writer (8) in the continuous moving process of the conveying trolley (2), the PLC (3) controls the alarm system (12) to give a warning.
  8. 8. The method for precisely positioning a small rail car according to claim 7, wherein the special condition comprises the loss, failure or repetition of the electronic tag (7).
  9. 9. The method for precisely positioning a small rail car according to claim 8, wherein the alarm system (12) comprises a warning lamp or a warning sound.
  10. 10. The precise positioning control method of the rail car of claim 1, further comprising a mobile terminal (13), wherein the mobile terminal (13) is in communication connection with the PLC (3).

Description

Accurate positioning control method for rail trolley Technical Field The invention relates to the technical field of trolley control, in particular to a precise positioning control method for a rail trolley. Background Among a plurality of stations for material processing, a rail transverse trolley is often adopted for transverse conveying of materials. This type of conveyance requires a trolley to convey material from the previous station to the next station or storage rack. In the aspect of automatic control function, the trolley is required to judge the material accumulation condition of each station and the rack, the running direction of the trolley is determined according to the current accurate position of the trolley, and the trolley is moved to the corresponding position to perform material taking, material pouring or material discharging operations. The existing positioning method of the rail trolley is mostly realized by adopting modes such as an encoder, laser ranging and the like. The encoder is mechanically connected with the trolley operation shaft through a coupler, a belt pulley or a gear box, and when the machinery is loose or has a problem, the encoder is damaged or the data is inaccurate. The laser ranging mode avoids mechanical connection, but is easily affected by light, dust, greasy dirt, shielding of articles and other environmental factors. Disclosure of Invention The invention aims to solve the technical problem of providing a precise positioning control method for a trolley, which is used for controlling the trolley to precisely move to a required position. The technical scheme adopted by the invention for solving the technical problems is that the precise positioning control method of the track trolley comprises an underground tunnel, two tracks are arranged in the underground tunnel, a conveying trolley is arranged on the tracks, a control mechanism is arranged on the conveying trolley, the control mechanism comprises a PLC (programmable logic controller) and a driving motor, the PLC is in communication connection with the driving motor, the driving motor drives the conveying trolley to move on the tracks, a plurality of operation positions are arranged on a platform outside the underground tunnel at intervals, each operation position is provided with an electronic tag, a reader-writer for identifying the electronic tag is arranged on the conveying trolley, positioning metal blocks corresponding to each operation position one by one are arranged at the bottom of the underground tunnel, a sensor for identifying the positioning metal blocks is arranged at the bottom of the conveying trolley, and the reader-writer is in communication connection with the PLC and is in switching value signal connection with the PLC; comprises the following steps of the method, S1, numbering the electronic tags in sequence from small to large along the length direction of the tunnel, reading the electronic tag at the position of the conveying vehicle as an initial tag Sn by a reader-writer, and inputting the initial tag Sn into a PLC (programmable logic controller); S2, inputting the target label Sm into a PLC controller, judging the moving direction by the PLC controller, driving the conveying vehicle to move forward if m is more than n, driving the conveying vehicle to move backward if m is less than n, and continuously reading the electronic label by a reader-writer in the continuous moving process of the conveying vehicle; And S3, when the reader reads the target label Sm and the sensor identifies the positioning metal block corresponding to the target label Sm, the driving motor stops driving the conveying vehicle, the conveying vehicle stops braking, the conveying vehicle reaches the target position, and the positioning of the conveying vehicle is completed. Further, a step S21 is provided between the step S2 and the step S3, wherein a target area is determined, the range of the electronic tags S m-1 to S m+1 is determined as the target area according to the moving direction of the conveyor vehicle, the conveyor vehicle is driven by the driving motor to travel at a first speed in an area outside the range of the target area, and the conveyor vehicle is driven by the driving motor to travel at a second speed within the target area, and the second speed is smaller than the first speed. Further, in step S3, if the reader/writer reads the target tag Sm and S m-1 or S m+1 adjacent to the target tag Sm at the same time, the PLC controller determines that the transport cart is moving forward or backward according to the transport cart moving direction until the sensor recognizes the positioning metal block corresponding to the target tag Sm. Further, the electronic tag is an RFID electronic tag. Further, the electronic tag has unique location information and an identity ID code. Further, the electronic tag is arranged on the side wall of the tunnel. In step S2, if the electronic tag read by the reader-w