A method for automatically correcting coordinates of unmanned overhead crane

Abstract

The present invention relates to a method for automatically correcting the coordinates of an unmanned overhead crane, and belongs to the technical field of automatic control methods for unmanned overhead cranes. The technical solution of the present invention is: a fixed calibration device is installed at the middle position of the trolley and the trolley track respectively, and the device is triggered every time the trolley and the trolley run to the position, and the real-time position of the current trolley and the trolley is recorded at the moment of triggering, and compared with the initial calibration value calibrated before. If there is a difference in the coordinates, the deviation value of the trolley and the trolley is automatically modified in the program to correct its coordinates to the initial calibration value. The beneficial effect of the present invention is: by adopting the calibration device, the state of the coordinates of the unmanned overhead crane can be automatically detected at a fixed position, and the system can automatically correct the deviation in case of deviation, which avoids manual intervention in operation, saves manpower, and also makes the calibration accuracy more unified, which can effectively solve the problems of roll clamping deviation, roll knocking, and roll unwinding deviation during the operation of the unmanned overhead crane.

Description

Technical Field

[0001] The invention relates to a method for automatically correcting coordinates of an unmanned overhead crane, belonging to the technical field of automatic control methods of unmanned overhead cranes. Background Art

[0002] When the unmanned overhead crane executes work orders in the warehouse area, the positioning accuracy of the overhead crane is extremely high. When the operation cycle of the unmanned overhead crane is long, the coordinates of the unmanned overhead crane at a fixed position may deviate after replacing the on-site laser distance measuring sensor or reflector and other equipment, resulting in inaccurate positioning of the overhead crane. This inaccurate positioning may cause the coil to be clamped or knocked when taking the coil; and the steel coil cannot be placed smoothly on the saddle when unwinding. When this problem is found, the on-site operator needs to manually operate the overhead crane to recalibrate the saddle and calculate the deviation value, which is time-consuming and laborious. Summary of the invention

[0003] The purpose of the present invention is to provide a method for automatically correcting the coordinates of an unmanned overhead crane. By adopting a verification device, the state of the coordinates of the unmanned overhead crane can be automatically detected at a fixed position. If a deviation occurs, the system can be automatically corrected, and manual intervention is avoided in operation. While saving manpower, the calibration accuracy is also more unified. The problem of roll clamping, roll knocking, and roll unwinding during the operation of the unmanned overhead crane can be effectively solved, and the above-mentioned problems existing in the background technology are effectively solved.

[0004] The technical solution of the present invention is: a method for automatically correcting the coordinates of an unmanned overhead crane, comprising the following steps: installing a trolley calibration device and a trolley calibration device at the middle position of the trolley track and the trolley track of the unmanned overhead crane respectively; calibrating the position of the saddle in the storage area in the initial debugging stage of the unmanned overhead crane, and after the calibration is completed, driving the crane trolley and the trolley to the positions of the trolley calibration device and the trolley calibration device respectively, and recording the current coordinates of the trolley and the trolley when the trolley calibration device and the trolley calibration device are triggered, that is, the initial calibration value of the trolley calibration device and the initial calibration value of the trolley calibration device; triggering the trolley calibration device and the trolley calibration device each time the trolley and the trolley run to the trolley calibration device and the trolley calibration device, recording the current real-time positions of the trolley and the trolley at the moment of triggering, and comparing them with the initial calibration values ​​calibrated before. If there is a difference in the coordinates, the deviation values ​​of the trolley and the trolley are automatically modified in the program to correct their coordinates to the initial calibration values.

[0005] The detailed steps are:

[0006] Step 1: Determine the origin of the warehouse coordinates, the total length of the X-axis span, and the total length of the Y-axis span;

[0007] Step 2: According to the installation positions of the laser ranging sensors for the large vehicle and the small vehicle and the origin of the coordinates of the warehouse area, the algorithm for determining the real-time coordinates (X, Y) of the unmanned overhead crane is used. The real-time value of the laser ranging sensor for the large vehicle is expressed as Dist_1, and the real-time value of the laser ranging sensor for the small vehicle is expressed as Dist_2; the deviation value of the X axis is expressed as Offset_1, and the deviation value of the Y axis is expressed as Offset_2; the deviation values ​​Offset_1 and Offset_2 are both set to 0 for the first time;

[0008] When the vehicle moves in the general direction and the Dist_1 value decreases, the real-time position of the vehicle is:

[0009] X=X2- Dist_1- Offset_1;

[0010] When the vehicle moves in the general direction and the Dist_1 value increases, the real-time position of the vehicle is:

[0011] X = Dist_1 - Offset_1;

[0012] When the car moves in the general direction and the Dist_2 value decreases, the real-time position of the car is:

[0013] Y=Y2- Dist_2- Offset_2;

[0014] When the car moves in the general direction and the Dist_2 value increases, the real-time position of the car is:

[0015] Y = Dist_2 - Offset_2;

[0016] Step 3: Manually drive the crane to the top of the saddle and record the real-time coordinates of the X-axis and Y-axis of the unmanned crane, that is, the actual calibrated position of the saddle in the storage area;

[0017] Step 4: After the saddle calibration in the storage area is completed, the initial calibration value X1 of the large vehicle calibration device and the initial calibration value Y1 of the small vehicle calibration device are calibrated;

[0018] Step 5: When the unmanned overhead crane is operating in automatic or non-automatic state, when the unmanned overhead crane triggers the trolley verification device and the small car verification device, the real-time position of the current trolley and the current real-time position of the small car are recorded, and the current positions of the trolley and the small car are compared with X1 and Y1 respectively, and the calculated difference is overwritten as the new deviation value.

[0019] The beneficial effects of the present invention are as follows: by adopting a calibration device, the coordinate status of the unmanned overhead crane can be automatically detected at a fixed position, and the system can automatically correct any deviations, thereby avoiding manual intervention in operation, saving manpower, and making the calibration accuracy more unified, and effectively solving the problems of roll-taking deviation, roll-collision, and roll-unwinding deviation during the operation of the unmanned overhead crane. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a top view of the unmanned overhead travelling vehicle of the present invention in the storage area;

[0021] Figure 2 It is an implementation flow chart of the present invention;

[0022] In the figure: trolley track 1, trolley track 2, trolley 3, trolley 4, trolley laser ranging sensor 5, trolley laser ranging sensor 6, trolley reflector 7, trolley reflector 8, trolley calibration device 9, trolley calibration device 10, warehouse area coordinate origin 11, trolley calibration device initial calibration value 12, X-axis coordinate end point 13, trolley calibration device initial calibration value 14, Y-axis coordinate end point 15. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solutions and advantages of the invention implementation cases clearer, the technical solutions in the implementation cases of the present invention will be clearly and completely described below in conjunction with the drawings in the implementation cases. Obviously, the implementation cases described are only a small part of the implementation cases of the present invention, rather than all the implementation cases. Based on the implementation cases in the present invention, all other implementation cases obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0024] A method for automatically correcting coordinates of an unmanned overhead crane comprises the following steps: installing a trolley calibration device and a trolley calibration device at the middle positions of a trolley track and a trolley track of the unmanned overhead crane respectively; calibrating the position of a saddle in a storage area in the initial debugging stage of the unmanned overhead crane, and after the calibration is completed, driving the trolley and the trolley of the overhead crane to the positions of the trolley calibration device and the trolley calibration device respectively, and recording the current coordinates of the trolley and the trolley when the trolley calibration device and the trolley calibration device are triggered, that is, the initial calibration value of the trolley calibration device and the initial calibration value of the trolley calibration device respectively; triggering the trolley calibration device and the trolley calibration device each time the trolley and the trolley run to the trolley calibration device and the trolley calibration device, recording the current real-time positions of the trolley and the trolley at the moment of triggering, and comparing them with the initial calibration values ​​calibrated before, and if there is a difference in the coordinates, automatically modifying the deviation values ​​of the trolley and the trolley in the program so that the coordinates are corrected to the initial calibration values.

[0025] The detailed steps are:

[0026] Step 1: Determine the origin of the warehouse coordinates, the total length of the X-axis span, and the total length of the Y-axis span;

[0027] Step 2: According to the installation positions of the laser ranging sensors for the large vehicle and the small vehicle and the origin of the coordinates of the warehouse area, the algorithm for determining the real-time coordinates (X, Y) of the unmanned overhead crane is used. The real-time value of the laser ranging sensor for the large vehicle is expressed as Dist_1, and the real-time value of the laser ranging sensor for the small vehicle is expressed as Dist_2; the deviation value of the X axis is expressed as Offset_1, and the deviation value of the Y axis is expressed as Offset_2; the deviation values ​​Offset_1 and Offset_2 are both set to 0 for the first time;

[0028] When the vehicle moves in the general direction and the Dist_1 value decreases, the real-time position of the vehicle is:

[0029] X=X2- Dist_1- Offset_1;

[0030] When the vehicle moves in the general direction and the Dist_1 value increases, the real-time position of the vehicle is:

[0031] X = Dist_1 - Offset_1;

[0032] When the car moves in the general direction and the Dist_2 value decreases, the real-time position of the car is:

[0033] Y=Y2- Dist_2- Offset_2;

[0034] When the car moves in the general direction and the Dist_2 value increases, the real-time position of the car is:

[0035] Y = Dist_2 - Offset_2;

[0036] Step 3: Manually drive the crane to the top of the saddle and record the real-time coordinates of the X-axis and Y-axis of the unmanned crane, that is, the actual calibrated position of the saddle in the storage area;

[0037] Step 4: After the saddle calibration in the storage area is completed, the initial calibration value X1 of the large vehicle calibration device and the initial calibration value Y1 of the small vehicle calibration device are calibrated;

[0038] Step 5: When the unmanned overhead crane is operating in automatic or non-automatic state, when the unmanned overhead crane triggers the trolley verification device and the small car verification device, the real-time position of the current trolley and the current real-time position of the small car are recorded, and the current positions of the trolley and the small car are compared with X1 and Y1 respectively, and the calculated difference is overwritten as the new deviation value.

[0039] Example:

[0040] like Figure 1A trolley laser ranging sensor 5 is installed on one side of the trolley 3 body, and a trolley reflector 7 is installed on the same side. The real-time distance is calculated after the laser emitted by the trolley laser ranging sensor 5 irradiates the trolley reflector 7. The real-time value of the trolley laser ranging sensor 5 is collected by the unmanned overhead crane PLC, and the real-time value of the trolley laser ranging sensor 5 is expressed as Dist_1; a trolley reflector 8 is installed on one side of the trolley 4 body, and a trolley laser ranging sensor 6 is installed on the same side of the overhead crane body. The real-time distance is calculated after the laser emitted by the trolley laser ranging sensor 6 irradiates the trolley reflector 8. The real-time value of the trolley laser ranging sensor 6 is collected by the unmanned overhead crane PLC, and the real-time value of the trolley laser ranging sensor 6 is expressed as Dist_2.

[0041] A trolley calibration device 9 and a trolley calibration device 10 are respectively installed at the middle position of the trolley track 1 and the trolley track 2 of the unmanned overhead crane.

[0042] During the initial commissioning of the unmanned overhead crane, the position of the saddle in the storage area is first calibrated. After the calibration is completed, the overhead crane trolley 3 and trolley 4 are driven to the positions of the trolley calibration device 9 and trolley calibration device 10 respectively. At the same time, the current coordinates of the trolley 3 and trolley 4 when the trolley calibration device 9 and trolley calibration device 10 are respectively recorded. The current positions when triggered are represented as X1 and Y1 respectively. X1 is the initial calibration value 12 of the trolley calibration device, and Y1 is the initial calibration value 14 of the trolley calibration device.

[0043] The specific implementation process is as follows:

[0044] Step 1: Determine the origin of the warehouse coordinates 11, the total length of the X-axis span X2, and the total length of the Y-axis span Y2. X2 is the end point of the X-axis coordinates 13, and Y2 is the end point of the Y-axis coordinates 15.

[0045] Step 2: According to the installation positions of the large vehicle laser ranging sensor 5 and the small vehicle laser ranging sensor 6 and the warehouse area coordinate origin 11, the algorithm for determining the real-time coordinates (X, Y) of the unmanned overhead crane is used. The deviation value of the X axis is expressed as Offset_1; the deviation value of the Y axis is expressed as Offset_2. The deviation values ​​Offset_1 and Offset_2 are both set to 0 for the first time.

[0046] The real-time position of vehicle 3 is: X=X2-Dist_1-Offset_1

[0047] The real-time position of car 4 is: Y=Y2- Dist_2- Offset_2

[0048] Step 3: Manually drive the overhead crane to the top of the saddle and record the real-time X and Y coordinates of the unmanned overhead crane, which is the actual calibrated position of the saddle in the storage area.

[0049] Step 4: After the saddle calibration of the storage area is completed, calibrate the initial calibration value 12 of the large vehicle calibration device and the initial calibration value 14 of the small vehicle calibration device. The initial calibration value 12 of the large vehicle calibration device is X1; the initial calibration value 14 of the small vehicle calibration device is Y1.

[0050] Step 5: When the unmanned overhead crane is running in automatic or non-automatic state, when the unmanned overhead crane triggers the large vehicle verification device 9 and the small vehicle verification device 10, the current real-time position of the large vehicle 3 is recorded as X_cur_pos, and the current real-time position of the small vehicle 4 is recorded as Y_cur_pos. X_cur_pos and Y_cur_pos are compared with X1 and Y1 respectively, and the calculated difference is overwritten as the new deviation value.

[0051] Right now:

[0052] Offset_1 = X_cur_pos - X1;

[0053] Offset_2=Y_cur_pos-Y1.

[0054] final:

[0055] The real-time position of vehicle 3 is: X=X2-Dist_1-(X_cur_pos-X1);

[0056] The real-time position of car 4 is: Y=Y2- Dist_2- (Y_cur_pos-Y1).

Claims

1. A method for automatically correcting coordinates of an unmanned overhead crane, characterized in that The method comprises the following steps: installing a trolley calibration device and a trolley calibration device in the middle of the trolley track and the trolley track of the unmanned overhead crane respectively; calibrating the position of the saddle in the storage area during the initial commissioning stage of the unmanned overhead crane, and after the calibration is completed, driving the trolley and the trolley of the overhead crane to the positions of the trolley calibration device and the trolley calibration device respectively, and recording the current coordinates of the trolley and the trolley when the trolley calibration device and the trolley calibration device are triggered, that is, the initial calibration value of the trolley calibration device and the initial calibration value of the trolley calibration device respectively; the current positions when triggered are respectively Expressed as X1 and Y1, X1 is the initial calibration value of the trolley calibration device (12), and Y1 is the initial calibration value of the trolley calibration device (14); each time the trolley and the trolley run to the trolley calibration device and the trolley calibration device, the trolley calibration device and the trolley calibration device are triggered, and the current real-time positions of the trolley and the trolley are recorded at the moment of triggering, and compared with the initial calibration values ​​calibrated before. If there is a difference in the coordinates, the deviation values ​​of the trolley and the trolley are automatically modified in the program so that the current coordinates of the trolley and the trolley are corrected to the initial calibration values; A trolley laser distance measuring sensor (5) is installed on one side of the trolley (3) body, and a trolley reflector (7) is installed on the same side of the overhead crane body. The real-time distance is calculated after the laser emitted by the trolley laser distance measuring sensor (5) is irradiated on the trolley reflector (7). The real-time value of the trolley laser distance measuring sensor (5) is collected by the unmanned overhead crane PLC. The real-time value of the trolley laser distance measuring sensor (5) is expressed as Dist_1. A trolley reflector (8) is installed on one side of the trolley (4) body, and a trolley laser distance measuring sensor (6) is installed on the same side of the overhead crane body. The real-time distance is calculated after the laser emitted by the trolley laser distance measuring sensor (6) is irradiated on the trolley reflector (8). The real-time value of the trolley laser distance measuring sensor (6) is collected by the unmanned overhead crane PLC. The real-time value of the trolley laser distance measuring sensor (6) is expressed as Dist_2. The specific steps are: Step 1: Determine the origin of the warehouse coordinates, the total length of the X-axis span, and the total length of the Y-axis span; Step 2: According to the installation positions of the laser ranging sensors for the large vehicle and the small vehicle and the origin of the coordinates of the warehouse area, the algorithm for determining the real-time coordinates (X, Y) of the unmanned overhead crane is used. The real-time value of the laser ranging sensor for the large vehicle is expressed as Dist_1, and the real-time value of the laser ranging sensor for the small vehicle is expressed as Dist_2; the deviation value of the X axis is expressed as Offset_1, and the deviation value of the Y axis is expressed as Offset_2; the deviation values ​​Offset_1 and Offset_2 are both set to 0 for the first time; When the vehicle moves in the general direction and the Dist_1 value decreases, the real-time position of the vehicle is: X=X2- Dist_1- Offset_1; X2 is the total length of the X-axis span; When the vehicle moves in the general direction and the Dist_1 value increases, the real-time position of the vehicle is: X = Dist_1 - Offset_1; When the car moves in the general direction and the Dist_2 value decreases, the real-time position of the car is: Y=Y2- Dist_2- Offset_2; Y2 is the total length of the Y axis span; When the car moves in the general direction and the Dist_2 value increases, the real-time position of the car is: Y = Dist_2 - Offset_2; Step 3: Manually drive the crane to the top of the saddle and record the real-time coordinates of the X-axis and Y-axis of the unmanned crane, that is, the actual calibrated position of the saddle in the storage area; Step 4: After the saddle calibration in the storage area is completed, the initial calibration value X1 of the large vehicle calibration device and the initial calibration value Y1 of the small vehicle calibration device are calibrated; Step 5: When the unmanned overhead crane is operating in automatic or non-automatic state, when the unmanned overhead crane triggers the trolley verification device and the small car verification device, the real-time position of the current trolley and the current real-time position of the small car are recorded, and the current positions of the trolley and the small car are compared with X1 and Y1 respectively, and the calculated difference is overwritten as the new deviation value.

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