A unloading trolley position detection system and method

Abstract

The present application proposes a position detection system and method for an unloading trolley, wherein a positioning scale whose relative position to the first side surface of the unloading trolley remains unchanged is installed on the first side surface of the unloading trolley, and the positioning scale is formed by connecting multiple positioning tags, and the position data corresponding to each of the multiple positioning tags are different. When the unloading trolley moves on the running track, a code reading device installed outside the running track corresponding to the first side surface and at the same installation height as the positioning scale obtains the first position data stored in the first positioning tag entering its signal detection range, and simultaneously obtains the signal strength data of the communication signal generated by the first positioning tag, so that the signal processing device determines the relative displacement data between the code reading device and the first positioning tag based on the signal strength data, and then combines the first position data to accurately obtain the current position data of the unloading trolley, thereby simplifying the system design, reducing the installation and maintenance costs, and improving the accuracy and reliability of position detection.

Description

Technical Field

[0001] The present application relates to the field of positioning control applications, and specifically to a system and method for detecting the position of a discharge trolley. Background Art

[0002] In current industrial production, unloading carts are frequently used in material yards and batching workshops to transport materials to multiple fixed silos to meet the diverse material needs of subsequent production. The unloading cart's automatic control typically employs positioning methods such as proximity switches, limit switches, and rotary encoders to detect when the cart has reached a fixed unloading point.

[0003] However, the existing positioning methods of these unloading trolleys have poor reliability, and are troublesome to install, maintain and use. It is also easy for the detected position of the unloading trolley to be misplaced due to the loss of switch signals or pulse signals at one or more unloading points, thereby reducing the accuracy and reliability of the unloading trolley position detection, thereby affecting the normal operation of the entire production system, reducing production efficiency, and even causing production mixing accidents and safety accidents. Summary of the Invention

[0004] In view of this, in order to achieve accurate and reliable positioning of the unloading trolley, reduce equipment maintenance costs, and ensure the safe and reliable operation of the production system, this application provides the following technical solutions:

[0005] On the one hand, the present application proposes a unloading trolley position detection system, the system comprising:

[0006] A positioning scale provided on a first side surface of the unloading trolley and having a constant relative position with respect to the unloading trolley; wherein the first side surface is a surface parallel to the running track of the unloading trolley, and the positioning scale is formed by connecting a plurality of positioning tags, and each of the plurality of positioning tags corresponds to a different position data;

[0007] a code reading device installed outside the running track corresponding to the first side surface of the unloading trolley and at the same installation height as the positioning scale, wherein the code reading device is capable of establishing a communication connection with a first positioning tag within its signal detection range, obtaining first position data stored in the first positioning tag, and signal strength data of the communication signal generated by the first positioning tag;

[0008] A signal processing device capable of communicating with the code reading device is used to obtain the first position data and the signal strength data, determine the relative displacement data between the code reading device and the first positioning tag based on the signal strength data, and use the first position data and the relative displacement data to determine the current position data of the unloading trolley.

[0009] Optionally, a first fixing bracket is fixedly mounted on the first side surface of the unloading trolley, and the positioning scale is mounted on the first fixing bracket;

[0010] And / or, a second fixed bracket is installed outside the running track corresponding to the first side of the unloading trolley, so that the installation height of the code reading device installed at the bracket end of the second fixed bracket is the same as the installation height of the positioning scale, and the installation distance between the code reading device and the positioning scale is less than the signal detection range of the code reading device.

[0011] Optionally, the positioning scale is composed of a plurality of detachably connected positioning scale segments, and each positioning scale segment is provided with at least one positioning label.

[0012] Optionally, the unloading trolley is equipped with two unloading ports, and the distance between the two unloading ports is a multiple of the distance between two adjacent silos, so that the unloading belts connecting the two unloading ports run in different directions, and the materials on the unloading belts can be transported through the unloading ports in the corresponding directions to the silos located below the unloading ports;

[0013] The system further comprises:

[0014] A material level detection device installed at the feed port of the silo is used to detect the surface position of the material stored in the silo and obtain material level height data;

[0015] The signal processing device is also used to communicate with the material level detection device to obtain the material level height data. When it is determined that the material level height data reaches the preset material level height, it stops conveying materials to the silo, controls the unloading trolley to run to the next unloading position, or controls the unloading belt to run in the reverse direction.

[0016] Optionally, the signal processing device is integrated into the code reading device, or is an independent device different from the code reading device;

[0017] The positioning tag is an RFID electronic tag;

[0018] The system further comprises:

[0019] An alarm device is used to receive and output the alarm information sent by the signal processing device, wherein the alarm information is generated when a unloading instruction for the first silo is detected, but the current position data of the unloading trolley is inconsistent with the unloading position of the first silo.

[0020] On the other hand, the present application also proposes a method for detecting the position of a discharge trolley, the method comprising:

[0021] Upon detecting that a first positioning tag has entered the signal detection range of the code reading device, a communication connection is established with the first positioning tag; wherein the first positioning tag is any one of a plurality of positioning tags constituting a positioning scale, and the plurality of positioning tags each correspond to different position data; the positioning scale is disposed on a first side surface of the unloading trolley and its relative position to the unloading trolley remains unchanged; the code reading device is mounted outside the running track corresponding to the first side surface of the unloading trolley and at the same mounting height as the positioning scale;

[0022] Acquire first location data stored in the first positioning tag and signal strength data of a communication signal generated by the first positioning tag;

[0023] Determining relative displacement data between the code reading device and the first positioning tag based on the signal strength data;

[0024] The current position data of the unloading trolley is determined using the first position data and the relative displacement data.

[0025] Optionally, determining the relative displacement data between the code reading device and the first positioning tag based on the signal strength data includes:

[0026] Obtaining a linear relationship between the signal strength data of the positioning tag and the relative displacement data relative to the code reading device;

[0027] The relative displacement data between the code reading device and the first positioning tag is determined by using the linear relationship and the acquired signal strength data.

[0028] Optionally, the determining the current position data of the unloading trolley by using the first position data and the relative displacement data includes:

[0029] The first position data and the relative displacement data are summed to obtain the current position data of the unloading trolley.

[0030] Optionally, the method further includes:

[0031] Obtaining a discharge instruction for conveying material to a first silo at a first discharge location;

[0032] Detecting whether the current position data of the unloading trolley matches the first unloading position;

[0033] If not, control the unloading trolley to move to the first unloading position;

[0034] If they match, the unloading belt is controlled to run and the materials loaded on the unloading trolley are transported to the first silo.

[0035] Optionally, if the unloading trolley is equipped with dual unloading ports, controlling the unloading belt to operate and conveying the material loaded on the unloading trolley into the first silo includes:

[0036] Detecting whether the feed port of the first silo corresponds to the first discharge port of the discharge trolley;

[0037] If so, controlling the unloading belt to run in the direction of the first unloading port, and transporting the material loaded on the unloading trolley to the first silo through the first unloading port;

[0038] If not, control the unloading belt to run in the direction away from the first unloading port, and transport the material loaded on the unloading trolley to the second silo through the second unloading port, wherein the first silo refers to the silo whose distance from the first silo is the distance of the double unloading port.

[0039] Based on the above technical solution, the present application proposes to install a positioning scale on the first side of the unloading trolley, whose relative position with the unloading trolley remains unchanged, and the positioning scale is formed by connecting multiple positioning tags, and the position data corresponding to each of the multiple positioning tags is different. In this way, when the unloading trolley moves on the running track, the code reading device installed outside the running track corresponding to the first side and at the same installation height as the positioning scale can establish a communication connection with the first positioning tag entering its signal detection range, obtain the first position data stored in the first positioning tag, and at the same time obtain the signal strength data of the communication signal generated by the first positioning tag, so that the signal processing device determines the relative displacement data between the code reading device and the first positioning tag based on the signal strength data, and then combines the above-mentioned first position data to accurately obtain the current position data of the unloading trolley. There is no need to power the positioning scale, the system design is simple, the equipment installation cost and subsequent maintenance cost are reduced, and the position detection accuracy and reliability are improved, which helps to ensure the safe and reliable operation of the production system. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without any creative work.

[0041] Figure 1 This is a schematic top view of the structure of an optional example of the unloading trolley position detection system proposed in this application;

[0042] Figure 2 This is a schematic diagram of the signal strength data detection principle in the unloading trolley position detection system proposed in this application;

[0043] Figure 3 A side view of the structure of an optional example of the unloading trolley position detection system proposed in this application

[0044] Figure 4 This is a structural diagram of another optional example of the unloading trolley position detection system proposed in this application;

[0045] Figure 5 This is an optional schematic diagram of the application principle of the positioning scale in the unloading trolley position detection system proposed in this application;

[0046] Figure 6 This is a flow chart of an optional example of the method for detecting the position of the unloading trolley proposed in this application;

[0047] Figure 7 This is a flow chart of another optional example of the method for detecting the position of the unloading trolley proposed in this application. DETAILED DESCRIPTION

[0048] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0049] Reference Figure 1 , is a structural diagram of an optional example of the unloading trolley position detection system proposed in this application, such as Figure 1 As shown, the system may include, but is not limited to: a positioning scale 100, a code reading device 200, and a signal processing device 300, wherein:

[0050] The positioning scale 100 can be set on the first side of the unloading trolley, and the relative position between the positioning scale 100 and the unloading trolley remains unchanged, such as Figure 1 As shown, the unloading trolley moves back and forth along the running track to the multiple silos (in this embodiment, Figure 1 The eight silos 1# to 8# shown are used as examples for illustration, but this application does not limit the number of silos, which can be determined as needed. During the transportation of the same or different types of materials, the positioning scale 100 will move with the movement of the unloading trolley. In this way, the current physical position of the positioning scale is determined, and the physical position of the unloading trolley is also determined, and then it is determined whether it has reached the preset unloading position, so as to achieve precise control of the transportation of corresponding materials in different silos.

[0051] The first side surface of the unloading trolley may be a surface parallel to the running track of the unloading trolley, such as Figure 1 The top view shown can be Figure 1 The surface below the middle unloading trolley, but not limited to this surface, will be determined according to the position of the code reading device 200 deployed by the system, that is, a surface that can be close to the code reading device 200 to ensure that there is no obstruction between the code reading device 200 and the positioning scale, thereby improving the reliability and accuracy of signal detection.

[0052] In the embodiment of the present application, the above-mentioned positioning scale 200 can be formed by connecting multiple positioning tags, and the position data corresponding to each of these multiple positioning tags is different. In this way, when the unloading trolley moves to different positions on the running track, different positioning tags may enter the signal detection range of the code reading device, and the position data stored in the positioning tag can be used to determine the current position of the unloading trolley, and then determine whether the preset unloading position has been reached. The specific implementation process will not be described in detail in the embodiment of the present application.

[0053] The above-mentioned positioning tags may include but are not limited to RFID (Radio Frequency Identification) electronic tags, etc. Compared with positioning devices such as proximity switches, limit switches and rotary encoders that require power supply to work, this application can use radio frequency signals to realize the transmission of position data, and does not require power supply. This solves the technical problem that in the scenario where the unloading trolley needs to move frequently, it is inconvenient to draw power from the unloading trolley, which leads to difficulties in the system power supply design.

[0054] In some embodiments, the positioning scale 100 can be composed of a plurality of detachably connected positioning scale segments, and each positioning scale segment can be configured with at least one positioning tag. Specifically, a positioning scale segment can be formed by connecting one or more positioning tags. The present application does not limit the configuration of each positioning scale segment. Two adjacent positioning scale segments can be connected by, but not limited to, a snap-fit method. In this way, when a positioning scale segment fails, such as when at least one positioning tag configured thereon is damaged or severely contaminated, resulting in unreliable identification, a new positioning scale segment storing the corresponding position data can be directly used to replace the failed positioning scale segment. This is simple and convenient, and ensures positioning accuracy.

[0055] Among them, the segmentation of the entire positioning scale 100 can be implemented according to actual needs, such as forming a positioning scale segment every 2m (unit: meter); of course, the lengths of these multiple positioning scale segments can also be different, and this application does not impose any restrictions on this.

[0056] The code reading device 200 can be installed outside the running track corresponding to the first side of the unloading trolley and at the same installation height as the positioning scale 100 to improve the reliability and accuracy of the code reading device 200 in reading the signals of the positioning tags entering its signal detection range.

[0057] It can be seen that the embodiment of the present application can fix the code reading device 200 on the ground outside the running track, such as Figure 1 As shown, during the movement of the unloading trolley on the moving track, the position of the code reading device 200 remains unchanged, but the positioning scale 100 installed on the unloading trolley will move with the unloading trolley, thereby causing the relative displacement between the positioning labels constituting the positioning scale 100 and the code reading device 200 to change.

[0058] For any positioning tag, even if it is within the signal detection range of the code reader 200, as the distance between the positioning tag and the code reader 200 increases, the signal strength of the communication signal (e.g., radio frequency signal) generated by the positioning tag detected by the code reader 200 will gradually decrease, until it exceeds the signal detection range, and the communication connection between the positioning tag and the code reader 200 will be disconnected. Based on this, the present application can analyze the relationship between changes in signal strength and changes in distance (i.e., relative displacement) through a large amount of experimental data. In practical applications, this relationship can be used to determine the relative displacement between the identified positioning tag and the code reader, thereby improving the positioning accuracy of the unloading trolley.

[0059] Specifically, refer to Figure 2 As shown in the schematic diagram of the signal strength data detection principle, as the unloading trolley moves along the track, the relative position between the positioning scale 100 and the code reader 200 continuously changes, causing the distance between each positioning tag on the positioning scale 100 and the code reader 200 to also change. Assuming the installation spacing L between two adjacent positioning tags on the positioning scale 100, movement exceeding this spacing L (i.e., displacement of the positioning scale relative to the code reader) can be determined using the position data stored in the different identification tags detected by the code reader 200. This embodiment will not be described in detail here.

[0060] As for the movement within the installation distance L, combined with the above analysis, this embodiment can use the signal strength change of the same identification tag detected by the code reading device 200 to determine. Specifically, Figure 2 As shown, any positioning label included in the positioning ruler (such as Figure 2Taking the No. 2 positioning tag shown in the figure, hereinafter referred to as positioning tag 2) as an example, during the movement of the unloading trolley, if the positioning tag 2 is located directly above the code reading device 200, the code reading device 200 can detect the positioning tag 2 entering its signal detection range, and the signal strength of the radio frequency signal generated by the positioning tag 2 is the largest, such as Figure 2 In the following signal strength variation curve, the signal strength value at the position corresponding to positioning tag 2 is the peak value in the entire signal strength variation curve.

[0061] Afterwards, as the unloading trolley moves to the left, the positioning tag 2 will gradually move away from the code reading device 200. Accordingly, the signal strength generated by the positioning tag 2 detected by the code reading device 200 will gradually decrease until it reaches the edge of the signal detection range. For example, the code reading device 200 is located just below the middle position of the positioning tag 2 and the positioning tag 3. Figure 2 The dotted line shows the positional relationship between the code reading device and the positioning scale. At this time, the code reading device 200 detects that the signal strength of the positioning tag 2 is the smallest, that is, Figure 2 The trough value at the corresponding position of the signal strength change curve below.

[0062] Based on the above analysis, it can be seen that when the unloading trolley moves less than L, the relative displacement y1 between a positioning tag and the code reading device, and the signal strength data x detected by the code reading device for the positioning tag, satisfy the following linear formula:

[0063] y1=k*x+b; (1)

[0064] In the above formula (1), k is the slope of the linear formula, and b is the intercept of the linear formula. The specific values of these two parameters can be determined experimentally using a large amount of data according to the above analysis. This application does not impose any restrictions on the specific values of these two parameters. It can be understood that when the identification tag moves to the position directly above the code reading device (using the top view as an example for explanation, in the side view, this can refer to the identification tag being located to the right / left of the code reading device, i.e., the position where the distance between the identification tag and the code reading device is the shortest), the above b = 0.

[0065] Therefore, in actual applications, when any positioning tag in the positioning scale (referred to as the first positioning tag) enters the signal detection range of the code reading device 200, the code reading device 200 can establish a communication connection with the first positioning tag that enters its signal detection range, and obtain the first position data stored in the first positioning tag, as well as the signal strength data of the communication signal generated by the first positioning tag. The specific implementation process can refer to the information reading principle of the electronic tag, and this application will not describe it in detail here.

[0066] In some embodiments, in order to fix the code reading device 200 and make it at the same installation height as the positioning scale, and improve the detection reliability and accuracy of the positioning label, refer to Figure 3 As shown in the side view, a first fixing bracket 400 can be fixedly mounted on the first side of the unloading trolley, so that the positioning scale 100 can be fixedly mounted on the first fixing bracket 400. The first fixing bracket 400 maintains the relative position between the positioning scale 100 and the unloading trolley. Of course, the positioning scale 100 can also be directly mounted on the first side without configuring a fixed position, and the positioning detection purpose of the present application can also be achieved.

[0067] In addition, if Figure 3 As shown, a second fixing bracket 500 can also be installed outside the running track corresponding to the first side of the unloading trolley, and the fixed end of the second fixing bracket 500 is fixedly installed on the ground. The code reading device 200 is installed on the bracket end of the second fixing bracket 500 so that the installation height of the code reading device 500 is the same as the installation height of the positioning scale 100, and the installation distance between the code reading device 200 and the positioning scale 100 (here refers to Figure 3 The minimum detection distance D) shown is smaller than the signal detection range of the code reading device, and is usually close to the smaller signal detection value within the signal detection range. This application does not impose any restrictions on the value of the detection distance D, which can be determined based on the signal reading performance of the code reading device 200.

[0068] The signal processing device 300 can establish a communication connection with the above-mentioned code reading device 200, obtain the above-mentioned first position data and signal strength data obtained by the code reading device 200, and thereby determine the relative displacement data between the code reading device and the first positioning tag based on the signal strength data, and use the first position data and relative displacement data to determine the current position data of the unloading trolley.

[0069] Combined with the above analysis, after the signal processing device 300 obtains the signal strength data currently detected by the code reading device 200, it can use the linear relationship shown in the above formula (1) to calculate the relative displacement data y1 between the first positioning tag currently entering its signal detection range and the code reading device 200, referring to Figure 2 The relative displacement data can refer to the horizontal distance the first positioning tag has moved from directly above the code reading device 200 to its current position. This relative displacement data can then be summed with the position data y2 stored in the first positioning tag to obtain the current position data Pos of the unloading trolley, which is used to determine whether the unloading trolley has reached the required unloading position.

[0070] In some embodiments, the signal processing device 300 may be integrated into the code reading device 200 or be a separate device from the code reading device 200, depending on the circumstances and not limited in this application. Furthermore, the signal processing device 300 may include, but is not limited to, a programmable logic controller (PLC).

[0071] In actual applications, the above-mentioned signal processing device can load and execute pre-stored programs to implement the steps of the unloading trolley detection method described above on the signal processing device side. The specific implementation process can refer to but is not limited to the description of the corresponding part of the method embodiment below, and will not be described in detail here.

[0072] It can be seen from this that in the entire unloading trolley position detection system proposed in this application, the positioning tags of the positioning scale do not need to provide any power supply and communication environment. As long as they enter the signal detection range of the code reading device, a communication connection can be established to realize the detection of position data and signal strength, which reduces the difficulty and cost of system design and facilitates subsequent maintenance. Moreover, the detection method of the above-mentioned phase displacement data proposed in this application greatly improves the positioning accuracy of the unloading trolley. The entire detection process does not require manual inspection, which solves the threat to the health and safety of workers when working in special working environments.

[0073] In some other embodiments proposed in this application, reference is made to Figure 4 The structural diagram of another example of the unloading trolley position detection system shown in the figure shows that in order to improve the material transportation efficiency, the unloading trolley described in the above embodiment can be equipped with multiple unloading ports. This application takes the structure of the unloading trolley with one unloading port on each side, which are recorded as the first unloading port and the second unloading port, as an example for explanation. It should be noted that the distance between the two unloading ports is a multiple of the distance between the two adjacent silos, so that the unloading belts connecting the two unloading ports run in different directions, and the materials on the unloading belts can be transported through the unloading ports in the corresponding directions to the silos located below the unloading ports.

[0074] Specifically, such as Figure 4As shown, the distance between the two discharge ports is four times the distance between two adjacent silos. That is, when the discharge cart moves and the first discharge port is located above silo 1, materials can be transported (i.e., discharged) to silo 1 and silo 5 respectively through these two discharge ports. When the first discharge port is located above silo 2, materials can be discharged to silo 2 and silo 6 respectively through these two discharge ports. When the first discharge port is located above silo 3, materials can be discharged to silo 3 and silo 7 respectively through these two discharge ports. When the first discharge port is located above silo 4, materials can be discharged to silo 4 and silo 8 respectively through these two discharge ports. In this way, for a system scenario with eight silos, only four discharge positions can be detected, and the discharge cart with two discharge ports can be used to transport materials to these eight silos.

[0075] According to the above detection method of the current position of the unloading trolley, refer to Figure 5 As shown in the schematic diagram of the application of the positioning scale, if the first discharge port is shifted to different discharge positions of 1# silo to 4# silo, the code reading device can normally read the positioning scale values on the positioning scale, which can be expressed as discharge scale 1 to discharge scale 4 in sequence. For example, when the first discharge port is located above 1# silo, the discharge position is x1, and the positioning value of the positioning scale read is discharge scale 1. The reading process of other discharge positions and discharge scales is similar. Since this application adopts a double discharge port trolley, Figure 5 Only 4 discharge scales are shown.

[0076] During the material conveying process, in order to avoid position errors and achieve accurate unloading, the current position data of the unloading trolley can be detected in the manner described above to determine whether it has reached the required unloading position, such as whether the first unloading port has reached the unloading position of the corresponding silo. If so, the material can be transported to the silo through the unloading port. At the same time, if the unloading trolley does not move, the material can also be transported to another silo four silos away from the silo through the second unloading port. Otherwise, the unloading trolley can continue to move until it reaches the required unloading position.

[0077] In order to avoid material overflow during the unloading process, Figure 4 As shown, a material level detection device 600 can be installed near the feed port of each silo to detect the surface position of the material stored in the silo and obtain material level height data. The specific detection principle will not be described in detail in this application.

[0078] Based on this, the above-mentioned signal processing device 300 can also establish a communication connection with each material level detection device 600, receive the material level height data of the corresponding silo sent by each material level detection device 600, and when it is determined that the material level height data reaches the preset material level height, stop conveying materials to the silo, control the unloading trolley to run to the next unloading position, or control the unloading belt to run in reverse and convey materials to another silo through another unloading port.

[0079] In some further embodiments, the above system may further include:

[0080] The alarm device is used to receive and output the alarm information sent by the signal processing device.

[0081] Among them, the alarm information may be generated when a unloading instruction for the first silo is detected, but the current position data of the unloading trolley is inconsistent with the unloading position of the first silo. This application does not limit the content contained in the alarm information and its output method.

[0082] Optionally, the alarm device can be deployed at the unloading trolley work site, and can specifically be a voice alarm device, a display device, a mobile terminal, etc., depending on the situation. This application does not limit the specific product type of the alarm device.

[0083] Based on the composition structure of the unloading trolley position detection system described in the above embodiments, the specific implementation process of the unloading trolley position detection will be described in detail below based on the system. Figure 6 , is a flow chart of an optional example of a method for detecting the position of a discharge trolley proposed in this application, which can be applied to the discharge trolley position detection system described in the above embodiment, such as Figure 6 As shown, the method may include but is not limited to the following steps:

[0084] Step S11: Detecting that the first positioning tag enters the signal detection range of the code reading device, and establishing a communication connection with the first positioning tag;

[0085] In combination with the description of the corresponding part of the system embodiment above, the first positioning tag refers to any positioning tag among the multiple positioning tags that constitute the positioning scale, and the position data corresponding to each of these multiple positioning tags is different; the positioning scale can be set on the first side of the unloading trolley, and the relative position between it and the unloading trolley remains unchanged, that is, it moves synchronously with the movement of the unloading trolley, and cooperates with the code reading device installed outside the running track corresponding to the first side of the unloading trolley and at the same installation height as the positioning scale to realize the positioning detection of the unloading trolley. The specific implementation process is described in the following steps.

[0086] In practical applications, based on the working principle of near field communication, refer to Figure 4The system structure shown in the figure, in the scenario where a discharge trolley is required to transport materials to each silo, the materials can be transported to the discharge trolley for loading through the feed port of the feeding equipment arranged above the discharge trolley. After that, the discharge trolley can be controlled to move toward the silo used to load the material until the discharge port of the discharge trolley is located above the silo. The discharge belt can be controlled to operate and transport the materials loaded on the discharge trolley to the silo. The specific control process is not described in detail in this application.

[0087] Among them, in the process of controlling the movement of the unloading trolley, in order to ensure that the unloading trolley reaches the designated unloading position, so that the unloading port of the unloading trolley is aligned with the corresponding silo entrance, and the material in the unloading trolley can be accurately transported to the silo, it is necessary to monitor whether the unloading trolley reaches the designated unloading position. In this regard, combined with the above description of the technical concept of the present application, the present application will use a code reading device to perform near-field communication with the positioning tag in the positioning scale on the mobile trolley, detect the position data recorded by the positioning tag, and determine the position of the mobile trolley accordingly.

[0088] Specifically, because the code reader's signal detection range is limited, it can only establish a communication connection with positioning tags within its signal detection range and identify the information recorded by the positioning tags. Based on this, as the positioning scale moves with the unloading trolley, the relative distance between the positioning tags that constitute the positioning scale and the code reader will change accordingly. If a positioning tag (referred to as the first positioning tag) enters the signal detection range of the code reader, the first positioning tag will establish a communication connection with the code reader. The specific implementation method is not detailed in this application.

[0089] Step S12, obtaining first location data stored in the first positioning tag and signal strength data of a communication signal generated by the first positioning tag;

[0090] In some embodiments, the above-mentioned positioning tag can be an electronic tag, such as an RFID tag, and the code reading device can include a card reader. When the RFID tag continues to approach the card reader and enters its signal detection range, the card reader will establish a communication connection with the RFID tag and read the information content stored in the RFID tag. This application does not elaborate on the working principle of how the code reading device realizes the reading of information from the electronic tag.

[0091] In this application, as described in the corresponding sections of the above embodiments, each positioning tag can store position data used to locate the position of the unloading trolley. This, combined with the relative displacement between the positioning tag and the barcode reading device, can determine the current position of the unloading trolley. The position data corresponding to each positioning tag is fixed. Specifically, the position data corresponding to each positioning tag can be determined within a certain coordinate system, and the specific values are not limited.

[0092] In combination with the above description of the calculation principle of the relative displacement between the positioning tag and the code reading device, when the code reading device reads the first position data stored in the first positioning tag, it also needs to obtain the signal strength data of the communication signal between the first positioning tag and the code reading device. The specific acquisition process is not limited.

[0093] Step S13: determining the relative displacement data between the code reading device and the first positioning tag based on the signal strength data;

[0094] Step S14: using the first position data and the relative displacement data, determine the current position data of the unloading trolley.

[0095] In the embodiment of the present application, combined with the calculation principle of relative displacement described in formula (1) above, the code reading device can determine the relative displacement data between itself and the first positioning tag. Specifically, if the relative position relationship between the code reading device and the first positioning tag is as follows, Figure 2 The middle dotted line shows the positional relationship between the code reading device and the positioning tag 2 . The relative displacement data between the two may refer to the horizontal distance between the code reading device and the positioning tag 2 .

[0096] After obtaining the relative displacement data, it can be directly summed with the first position data stored in the first positioning tag, and the resulting position data is the current position data of the unloading trolley. The position data of the unloading trolley can refer to the position coordinates of the center point of the unloading trolley, the position coordinates of a certain unloading port, or the position coordinates of other reference points, depending on the situation. However, it needs to match the method of determining the position data stored in each positioning tag as described above. The specific implementation process is not described in detail in this application.

[0097] It should be noted that the above steps can be performed by a signal processing device in the system, which can be integrated into a code reading device. In some other embodiments, the signal processing device can also be an independent device. In this case, the code reading device establishes a communication connection with the first positioning tag, reads the first position data stored in the first positioning tag, and sends it to the signal processing device. The signal processing device then determines the current position data of the unloading trolley according to the above method. This application does not limit the type of signal processing device and its configuration method, which can be determined according to the situation.

[0098] In summary, in the embodiment of the present application, a positioning scale whose relative position with the unloading trolley remains unchanged is installed on the first side of the unloading trolley, and the positioning scale is formed by connecting multiple positioning tags, and the position data corresponding to each of the multiple positioning tags is different. At the same time, a code reading device with the same installation height as the positioning scale is installed outside the running track corresponding to the first side, and a signal processing device that can communicate with the code reading device is configured. During the actual movement of the unloading trolley, the positioning tag carried by the positioning scale moves, and the relative distance between the positioning scale and the code reading device changes. When the first positioning tag enters the signal detection range of the code reading device, the two will establish a communication connection, and the code reading device will obtain the communication signal generated by the first positioning tag, and read the position data carried by it accordingly, and then send it to the signal processing device.

[0099] Afterwards, the signal processing device will obtain the signal strength data of the communication signal between the current code reading device and the first positioning tag, and use it to calculate the relative displacement data between the current code reading device and the first positioning tag. Combined with the position data corresponding to the first positioning tag, the current position data of the current unloading trolley is obtained, so as to judge whether the designated unloading position has been reached and start unloading, avoiding various problems caused by performing unloading operations before reaching the designated unloading position.

[0100] Moreover, in the unloading trolley position detection method proposed in this application, since the communication between the positioning tag and the code reading device does not require power supply, the system design is simple, which reduces the equipment installation cost and subsequent maintenance cost, improves the position detection accuracy, reliability and convenience, and helps to ensure the safe and reliable operation of the production system.

[0101] Reference Figure 7 , is a flow chart of another optional example of the method for detecting the position of the unloading trolley proposed in this application. This embodiment describes an optional detailed implementation process of the method for detecting the position of the unloading trolley described in the above embodiment, but is not limited to the detailed implementation method described in this embodiment. One or more execution steps can be adaptively adjusted according to specific application scenarios, all of which fall within the scope of protection of this application, and this application will not list them one by one. Figure 7 As shown, the detailed implementation method proposed in this embodiment may include:

[0102] Step S21: Detecting that a first positioning tag enters the signal detection range of the code reading device, establishing a communication connection with the first positioning tag, and obtaining first position data stored in the first positioning tag and signal strength data of the communication signal generated by the first positioning tag;

[0103] Step S22, calling the linear relationship between the signal strength data of the positioning tag and the relative displacement data of the positioning tag relative to the code reading device;

[0104] Step S23: using the linear relationship and the acquired signal strength data, determining the relative displacement data between the code reading device and the first positioning tag;

[0105] Step S24, summing the first position data and the relative displacement data to obtain the current position data of the unloading trolley;

[0106] Regarding the specific implementation process of steps S21 to S24, reference may be made to the description of the corresponding parts of the above embodiment, and this embodiment will not be repeated here. It should be understood that the linear relationship in step S22 can be the linear relationship represented by the above formula (1), but is not limited thereto. The process of the linear relationship is as described above and will not be described in detail in this embodiment.

[0107] Step S25, obtaining a discharge instruction for conveying material to the first silo at the first discharge position;

[0108] It can be understood that step S25 can be executed during the execution of any of the above steps, or after determining the current position data of the unloading trolley. This application does not limit the execution order of obtaining the position of the unloading trolley and obtaining the unloading instruction.

[0109] In the actual application of this application, for different silos, the corresponding unloading positions are different, and the types of materials to be stored in different silos may also be different. The unloading instructions for any silo are determined according to work requirements. Specifically, the on-site staff can operate the corresponding control button to generate the unloading instructions for the first silo; or generate the unloading instructions for the corresponding silos according to the preset unloading control rules for multiple silos, etc. This application does not limit the generation method of the unloading instructions and the content contained therein.

[0110] Step S26, detecting whether the current position data of the unloading trolley matches the first unloading position, if not, proceeding to step S27; if yes, proceeding to step S28;

[0111] As described above, for the material transportation requirements, after the signal processing device obtains a discharge instruction, the present application will not directly execute the discharge instruction, but will first detect whether the current position data of the discharge trolley matches the first discharge position, that is, detect whether the discharge port of the discharge trolley corresponds to the first silo, so as to avoid directly executing the discharge instruction in the case of mismatch, which may cause the material in the discharge trolley to fall outside the first silo. It should be noted that the matching of the current position data of the discharge trolley with the first discharge position does not mean that the current position data of the discharge trolley is the same as the position coordinates of the first discharge position. The matching relationship between the position data of the discharge trolley and the discharge position can be defined in combination with the method of determining the position data corresponding to each of the above-mentioned positioning tags, as well as the method of determining the discharge position and other data. It can be understood that no matter what the matching relationship contains, when the two match, the discharge port of the discharge trolley is aligned with the entrance of the corresponding silo.

[0112] Step S27, based on the matching result between the current position data and the first unloading position, controlling the unloading trolley to move in the corresponding direction, and continuing to detect the position data of the unloading trolley after moving;

[0113] If it is detected in the above manner that the unloading trolley has not reached the first unloading position, the position of the unloading trolley needs to be adjusted. Specifically, the relative position relationship between the current unloading trolley and the first unloading position can be determined based on the matching result of the current position data of the unloading trolley and the first unloading position. For example, if the unloading trolley is located on the left or right side of the first unloading position, the unloading trolley can be controlled to approach the first unloading position accordingly. During the movement of the unloading trolley, the position data of the unloading trolley can still be monitored in the above manner until the latest detected position data matches the first unloading position, and the movement of the unloading trolley is suspended.

[0114] Step S28, controlling the unloading belt to operate and transporting the material loaded on the unloading trolley to the first silo;

[0115] Following the above description, when it is determined that the current position data of the unloading trolley matches the first unloading position, the unloading belt on the unloading trolley can be controlled to run toward the first silo, so that the material in the unloading trolley is transported into the first silo along the unloading belt. Figure 4 The unloading trolley with two discharge ports shown in the figure can control the discharge belt to run to the right to transport materials to the 6# silo; controlling the discharge belt to run to the left can transport materials to the 2# silo. It should be noted that the number of discharge ports of the unloading trolley is not limited to two and can be determined according to the situation. For unloading trolleys with different numbers of discharge ports, the process of controlling the discharge belt to transport materials to the silo can be adaptively adjusted, and this application does not provide a detailed description of each one.

[0116] Among them, for Figure 4 The unloading trolley of the double unloading port type shown can specifically detect whether the feed port of the first silo corresponds to the first unloading port of the unloading trolley during the material transportation process. If so, the unloading belt can be controlled to run in the direction of the first unloading port, and the material loaded on the unloading trolley can be transported to the first silo through the first unloading port; if not, the unloading belt can be controlled to run in the direction away from the first unloading port, and the material loaded on the unloading trolley can be transported to the second silo through the second unloading port, wherein the second silo refers to a silo that is at a distance from the first silo that is the distance of the double unloading port.

[0117] It should be noted that for a unloading trolley with dual unloading ports, the present application can also detect whether the feed port of the second silo corresponds to the second unloading port of the unloading trolley. According to the above method, based on the detection results, the unloading belt is controlled to transport materials to the first silo and the second silo. The specific implementation process will not be elaborated on.

[0118] Step S29: When it is detected that the material level height data of the material surface stored in the first silo reaches a preset material level height, the material delivery to the first silo is stopped.

[0119] Since the storage space of the silo is limited, e.g. Figure 4 As shown, the present application installs a material level detection device 600 near the feed port of each silo. During the process of the unloading belt conveying materials to the first silo, the material level detection device 600 can detect the height of the material surface in the first silo to obtain corresponding material level height data. If it reaches the preset material level height, the material conveying to the first silo is stopped.

[0120] In some other embodiments, the present application can also detect the distance between the surface of the material in the first silo and the first silo opening. If the distance is less than a preset distance, it can be considered that the material stored in the first silo is sufficient. In order to avoid overflow, the material will be stopped from being transported to the first silo.

[0121] An embodiment of the present application also provides a computer-readable storage medium that stores a program for implementing the above-mentioned unloading trolley position detection method. The program is suitable for loading into a processor to execute the above-mentioned unloading trolley position detection method. The specific execution process can refer to the description of the corresponding part of the above-mentioned embodiment, and this embodiment will not be repeated here.

[0122] The embodiment of the present application also provides a computer program product that can execute a program to implement the steps of the above-mentioned unloading trolley position detection method to meet application requirements. The specific content can refer to the description of the corresponding part of the above-mentioned method embodiment, and this embodiment will not be repeated here.

[0123] Finally, it should be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a..." does not preclude the presence of additional identical elements in the process, method, commodity, or apparatus that includes the element.

[0124] The various embodiments in this specification are described in a progressive or parallel manner. Each embodiment focuses on the differences from other embodiments, and reference can be made to the common or similar parts between the various embodiments. As for the methods disclosed in the embodiments, since they correspond to the systems disclosed in the embodiments, the description is relatively simple, and the relevant parts can be referred to the system description.

[0125] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the above description has generally described the components and steps of each example according to their functions. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0126] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein may be implemented directly using hardware, a software module executed by a processor, or a combination of the two. The software module may be placed in a random access memory (RAM), internal memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0127] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present application. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the core concept or scope of the present application. Therefore, the present application is not limited to the embodiments shown herein, but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A unloading trolley position detection system, characterized in that: The system comprises: A positioning scale provided on a first side surface of the unloading trolley and having a constant relative position with respect to the unloading trolley; wherein the first side surface refers to a surface parallel to the running track of the unloading trolley, and the positioning scale is formed by connecting a plurality of positioning tags, and each of the plurality of positioning tags corresponds to a different position data; wherein the positioning scale is composed of a plurality of detachably connected positioning scale segments, and each of the positioning scale segments is provided with at least one positioning tag; a code reading device installed outside the running track corresponding to the first side surface of the unloading trolley and at the same installation height as the positioning scale, wherein the code reading device establishes a communication connection with a first positioning tag within its signal detection range, obtains first position data stored in the first positioning tag, and obtains signal strength data of the communication signal generated by the first positioning tag; a signal processing device in communication with the code reading device, configured to obtain the first position data and the signal strength data, determine relative displacement data between the code reading device and the first positioning tag based on the signal strength data, and determine current position data of the unloading trolley using the first position data and the relative displacement data; Wherein, determining the relative displacement data between the code reading device and the first positioning tag based on the signal strength data includes: determining the relative displacement data between the code reading device and the first positioning tag based on the signal strength data and a linear formula, wherein the linear formula is as follows: y1=k*x+b; Wherein, y1 represents the relative displacement data between the code reading device and the first positioning tag, k represents the slope of the linear formula, b represents the intercept of the linear formula, and x represents the signal strength data of the first positioning tag detected by the code reading device; Among them, the current position data of the unloading trolley is determined by using the first position data and the relative displacement data, including: summing the relative displacement data and the first position data to obtain the current position data of the unloading trolley, and the relative displacement data is used to indicate the horizontal movement distance of the first positioning tag from directly above the code reading device to the current position.

2. The system according to claim 1, wherein: A first fixing bracket is fixedly mounted on the first side surface of the unloading trolley, and the positioning scale is mounted on the first fixing bracket; And / or, a second fixed bracket is installed outside the running track corresponding to the first side of the unloading trolley, so that the installation height of the code reading device installed at the bracket end of the second fixed bracket is the same as the installation height of the positioning scale, and the installation distance between the code reading device and the positioning scale is less than the signal detection range of the code reading device.

3. The system according to any one of claims 1 or 2, characterized in that The unloading trolley is equipped with two unloading ports, and the distance between the two unloading ports is a multiple of the distance between two adjacent silos, so that the unloading belts connecting the two unloading ports run in different directions, and the materials on the unloading belts can be transported to the silo located below the unloading ports through the unloading ports in the corresponding directions; The system further comprises: A material level detection device installed at the feed port of the silo is used to detect the surface position of the material stored in the silo and obtain material level height data; The signal processing device is also used to communicate with the material level detection device to obtain the material level height data. When it is determined that the material level height data reaches the preset material level height, it stops conveying materials to the silo, controls the unloading trolley to run to the next unloading position, or controls the unloading belt to run in the reverse direction.

4. The system according to any one of claims 1 or 2, characterized in that The signal processing device is integrated into the code reading device, or is an independent device different from the code reading device; The positioning tag is an RFID electronic tag; The system further comprises: An alarm device is used to receive and output the alarm information sent by the signal processing device, wherein the alarm information is generated when a unloading instruction for the first silo is detected, but the current position data of the unloading trolley is inconsistent with the unloading position of the first silo.

5. A method for detecting the position of a discharge trolley, characterized in that: The method comprises: Upon detecting that a first positioning tag enters the signal detection range of a code reading device, a communication connection is established with the first positioning tag; wherein the first positioning tag refers to any positioning tag among a plurality of positioning tags constituting a positioning scale, and the plurality of positioning tags each correspond to different position data; the positioning scale is disposed on a first side surface of the unloading trolley, and its relative position to the unloading trolley remains unchanged; the code reading device is installed outside the running track corresponding to the first side surface of the unloading trolley, and at the same installation height as the positioning scale; the positioning scale is composed of a plurality of detachably connected positioning scale segments, and each positioning scale segment is provided with at least one positioning tag; the first position data stored in the first positioning tag and the signal strength data of the communication signal generated by the first positioning tag are obtained; Determining relative displacement data between the code reading device and the first positioning tag based on the signal strength data; Wherein, determining the relative displacement data between the code reading device and the first positioning tag based on the signal strength data includes: determining the relative displacement data between the code reading device and the first positioning tag based on the signal strength data and a linear formula, wherein the linear formula is as follows: y1=k*x+b; Wherein, y1 represents the relative displacement data between the code reading device and the first positioning tag, k represents the slope of the linear formula, b represents the intercept of the linear formula, and x represents the signal strength data of the first positioning tag detected by the code reading device; Determining the current position data of the unloading trolley using the first position data and the relative displacement data; Among them, the current position data of the unloading trolley is determined by using the first position data and the relative displacement data, including: summing the relative displacement data and the first position data to obtain the current position data of the unloading trolley, and the relative displacement data is used to indicate the horizontal movement distance of the first positioning tag from directly above the code reading device to the current position.

6. The method according to claim 5, characterized in that The method further comprises: Obtaining a discharge instruction for conveying material to a first silo at a first discharge location; Detecting whether the current position data of the unloading trolley matches the first unloading position; If not, control the unloading trolley to move to the first unloading position; If they match, the unloading belt is controlled to run and the materials loaded on the unloading trolley are transported to the first silo.

7. The method according to claim 6, characterized in that If the unloading trolley is equipped with dual unloading ports, controlling the unloading belt to operate and conveying the material loaded on the unloading trolley into the first silo includes: Detecting whether the feed port of the first silo corresponds to the first discharge port of the discharge trolley; If so, controlling the unloading belt to run in the direction of the first unloading port, and transporting the material loaded on the unloading trolley to the first silo through the first unloading port; If not, control the unloading belt to run in the direction away from the first unloading port, and transport the material loaded on the unloading trolley to the second silo through the second unloading port, wherein the second silo refers to the silo whose distance from the first silo is the distance of the double unloading ports.

Images