Detection control device and method for automatic centering of industrial support vehicle
A detection control and support vehicle technology, applied in the direction of program control, computer control, general control system, etc., can solve the problems of poor operability, low degree of automation, poor attitude control accuracy, etc., and achieve short adjustment period and high attitude control accuracy Effect
Active Publication Date: 2020-11-20
BEIJING MECHANICAL EQUIP INST
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Problems solved by technology
[0005] In order to solve the problems of poor operability, low degree of automation, and poor attitude control accuracy when adjusting the centering of the load carried by the support vehicle in the related art, the application provides a detection and control device and method for automatic centering of an industrial support vehicle , the centering of the load carried by the support vehicle can be achieved through the automatic adjustment of the support vehicle
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[0024] Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numerals in different drawings refer to the same or similar elements unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the present invention. Rather, they are merely examples of apparatuses and methods consistent with aspects of the invention as recited in the appended claims.
[0025] combine Figure 1-Figure 4 As shown, the detection and control device for the automatic centering of industrial support vehicles provided by the present application controls the centering of the docking end surface 10 of a cylindrical load carried by three support vehicles and the docking ring 20, and the docking ring 20 is placed vertically, so The detection control device includes a po...
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The invention discloses a detection control device and method for automatic centering of an industrial support vehicle. The detection device comprises position detection equipment and a main control unit, wherein the position detection equipment comprises three range finders which are arranged on a butt joint ring at an interval of 120 degrees, two cameras which are arranged on the butt joint ringat an interval of 180 degrees, and two target objects which are arranged on a cylindrical load butt joint end surface at an interval of 180 degrees; the main control unit calculates an azimuth angle,a pitch angle and a roll angle of the cylindrical load according to the distances measured by the three range finders and the position of the target; and controls the corresponding bracket to lift, horizontally move and axially rotate according to the azimuth angle, the pitch angle and the rolling angle. According to the invention, the effects of automatic adjustment and centering of the cylindrical load, high attitude control precision and short adjustment period are realized.
Description
technical field [0001] The invention belongs to the field of automatic attitude control of control equipment for industrial support vehicles, and relates to a detection and control device and method for automatic centering of industrial support vehicles. Background technique [0002] The docking ring remains stationary in the spatial position, and the front, middle and rear support vehicles carry cylindrical loads, and each support vehicle can freely adjust its position in three dimensions in space, so that the cylindrical load and the docking The rings are aligned, ie the centering process is complete. The alignment process is the preparation work for industrial alignment equipment to complete the operation, and it is also the most time-consuming and labor-intensive link in the entire operation process. The attitude adjustment of the support vehicle is often based on experience to artificially adjust the movement position of the three-dimensional corresponding screw, there...
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Login to View More IPC IPC(8): G05B19/042
CPCG05B19/0423G05B2219/25257
Inventor 李森张中楠郑浩然杨向东张永杰刘本勇韩士玉
Owner BEIJING MECHANICAL EQUIP INST