Pallet extension positioning method and system

Abstract

The present invention discloses a tray extension positioning method and system. The tray extension positioning method comprises: obtaining a first detection state of a first sensor and a second detection state of a second sensor; judging the first detection state and the second detection state; if the first detection state is that a first distance signal is detected and the second detection state is that the second distance signal is not detected, then driving the tray to rotate along a forward rotation direction; if the first detection state is that the first distance signal is not detected and the second detection state is that the second distance signal is detected, then driving the tray to rotate along a reverse rotation direction opposite to the forward rotation direction. The tray extension positioning method and system provided by the present invention can judge the distance between the first position and the second position of the tray and the target object, so as to judge whether the tray is aligned with the target object, and if so, it can continue to move in a straight line, and if not, it can rotate to align, so as to avoid battery replacement failure.

Description

[0001] This application is a divisional application of a Chinese patent application with an application date of September 10, 2018, application number 201811053013.X, and invention name “Pallet extension positioning method and system”. Technical Field

[0002] The invention relates to a tray extension positioning method and system. Background Art

[0003] For battery-swapping electric vehicles, the batteries need to be replaced regularly or irregularly. Generally speaking, the battery-swapping equipment is fixed at a designated location, and the electric vehicle is controlled to stop near the battery-swapping equipment for battery replacement. The steps of battery replacement are generally that the tray of the battery-swapping equipment extends in a linear motion to align with the battery support device on the electric vehicle, and finally the old battery in the electric vehicle is removed and the new battery is placed.

[0004] However, due to operational errors, it is difficult for the electric vehicle to park in a position completely parallel to the battery swapping device, that is, the electric vehicle will be more or less skewed relative to the battery swapping device. However, in the prior art, the tray moves out in a straight line, which can easily cause the tray and the electric vehicle to be misaligned, resulting in battery swap failure. Summary of the invention

[0005] The technical problem to be solved by the present invention is to overcome the defect in the prior art that a pallet may not be aligned with an electric vehicle when extended, and to provide a pallet extension positioning method and system.

[0006] The present invention solves the above technical problems through the following technical solutions:

[0007] A method for extending and positioning a pallet is characterized in that it comprises the following steps:

[0008] Acquire a first detection state of a first sensor and a second detection state of a second sensor; the first detection state is used to indicate whether the first sensor detects a first distance signal, and the second detection state is used to indicate whether the second sensor detects a second distance signal; the first distance signal is used to indicate the distance between a first position of the tray and a target object, and the second distance signal is used to indicate the distance between a second position of the tray and the target object; the first position and the second position are spaced apart;

[0009] The first detection state and the second detection state are judged. If the first detection state is that the first distance signal is detected and the second detection state is that the second distance signal is detected, the tray is driven to move in a straight line toward the target at a positioning speed; if the first detection state is that the first distance signal is detected and the second detection state is that the second distance signal is not detected, the tray is driven to rotate in a forward rotation direction so that the second position approaches the target faster than the first position; if the first detection state is that the first distance signal is not detected and the second detection state is that the second distance signal is detected, the tray is driven to rotate in a reverse rotation direction opposite to the forward rotation direction so that the first position approaches the target faster than the second position.

[0010] Preferably, the tray extension positioning method further comprises:

[0011] If the first detection state is that the first distance signal is not detected and the second detection state is that the second distance signal is not detected, the tray is driven to move linearly toward the target object at a traveling speed.

[0012] Preferably, the tray linearly moves toward the target object at a traveling speed, comprising the following steps:

[0013] Determine whether the tray has traveled a preset distance, if not, the tray moves linearly toward the target at a first travel speed; if yes, the tray moves linearly toward the target at a second travel speed;

[0014] wherein the second travel speed is lower than the first travel speed;

[0015] Preferably, the positioning speed is lower than the first traveling speed.

[0016] With the above arrangement, the tray can first travel a preset distance at a higher first travel speed to approach the target object, and then approach the target object at a lower second travel speed, saving time without affecting the subsequent adjustment accuracy. At the same time, when getting closer to the target object, it travels at a lower positioning speed, which also avoids problems such as untimely adjustment due to excessive speed. The positioning speed can be the same as the second travel speed, or it can be higher or lower than the second travel speed.

[0017] Preferably, the tray extension positioning method further comprises the following steps:

[0018] The tray movement is stopped after receiving a termination command.

[0019] With the above arrangement, the pallet can stop moving at any time point according to the termination instruction, so that the movement of the pallet can be stopped in time when a fault occurs or the pallet is in place.

[0020] Preferably, the tray extension positioning method further comprises:

[0021] Acquiring a third detection state of a third sensor; the third detection state is used to indicate whether the third sensor detects a third distance signal; the third distance signal is used to indicate the distance between the third position of the tray and the target object;

[0022] Determining the third detection state, and generating the termination instruction if the third detection state is that the third distance signal is detected;

[0023] Wherein, the third position is located between the first position and the second position.

[0024] With the above arrangement, when the tray moves to the right position, a termination instruction is generated to complete the extension positioning of the tray.

[0025] Preferably, the first sensor, the second sensor and the third sensor are all distance switches.

[0026] With the above arrangement, the distance switch can conveniently realize distance detection.

[0027] Preferably, the sensing distances of the first sensor and the second sensor are the same, and the sensing distance of the third sensor is smaller than the sensing distance of the first sensor.

[0028] Preferably, the tray extension positioning method further comprises: determining whether a limit switch provided on the tray detects a limit position signal, and if so, generating the termination instruction.

[0029] With the above arrangement, when the pallet moves to the set limit position, a termination instruction is generated in time to stop the movement of the pallet to avoid structural damage.

[0030] Preferably, the first sensor is fixed at the first position, and the second sensor is fixed at the second position.

[0031] With the above arrangement, it is convenient to fix the first sensor and the second sensor.

[0032] A tray extension positioning system, characterized in that it includes:

[0033] A first acquisition module is used to acquire a first detection state of a first sensor and a second detection state of a second sensor; the first detection state is used to indicate whether the first sensor detects a first distance signal, and the second detection state is used to indicate whether the second sensor detects a second distance signal; the first distance signal is used to indicate the distance between a first position of the tray and a target object, and the second distance signal is used to indicate the distance between a second position of the tray and the target object; the first position and the second position are spaced apart;

[0034] a first judging module, used for judging the first detection state and the second detection state, and calling the first driving module if the first detection state is that the first distance signal is detected and the second detection state is that the second distance signal is detected; calling the second driving module if the first detection state is that the first distance signal is detected and the second detection state is that the second distance signal is not detected; calling the third driving module if the first detection state is that the first distance signal is not detected and the second detection state is that the second distance signal is detected;

[0035] The first driving module is used to drive the tray to move linearly toward the target object at a positioning speed;

[0036] The second driving module is used to drive the tray to rotate along a forward rotation direction so that the second position approaches the target object faster than the first position;

[0037] The third driving module is used to drive the tray to rotate along a reverse rotation direction opposite to the forward rotation direction, so that the first position approaches the target object faster than the second position.

[0038] Preferably, the tray extension positioning system further comprises a fourth driving module;

[0039] The first judgment module is further used to judge that if the first detection state is that the first distance signal is not detected and the second detection state is that the second distance signal is not detected, then call the fourth driving module;

[0040] The fourth driving module is used to drive the tray to move linearly toward the target object at a traveling speed.

[0041] Preferably, the first judgment module includes a preset distance judgment module, and the fourth driving module includes a first driving execution module and a second driving execution module;

[0042] The preset distance judgment module is used to judge whether the tray has traveled a preset distance during the process of the tray moving linearly toward the target object at a travel speed, and if not, call the first drive execution module; if yes, call the second drive execution module;

[0043] The first driving execution module is used to drive the tray to move linearly toward the target object at a first travel speed;

[0044] The second driving execution module is used to drive the tray to move linearly toward the target object at a second travel speed;

[0045] wherein the second travel speed is lower than the first travel speed;

[0046] Preferably, the positioning speed is lower than the first traveling speed.

[0047] With the above arrangement, the tray can first travel a preset distance at a higher first travel speed under the drive of the first drive execution module to approach the target object, and then approach the target object at a lower second travel speed under the drive of the second drive execution module, saving time and not affecting the subsequent adjustment accuracy. At the same time, when getting closer to the target object, the tray travels at a lower positioning speed under the action of the first drive module, which also avoids problems such as untimely adjustment due to excessive speed. The positioning speed can be the same as the second travel speed, or it can be higher or lower than the second travel speed.

[0048] Preferably, the tray extension positioning system further comprises:

[0049] The stopping module is used to stop the movement of the tray after receiving a termination instruction.

[0050] With the above arrangement, the pallet can stop moving at any time under the action of the stop module, so that the movement of the pallet can be stopped in time when a fault occurs or the pallet is in place.

[0051] Preferably, the tray extension positioning system further comprises:

[0052] a second acquisition module, configured to acquire a third detection state of a third sensor; the third detection state is used to indicate whether the third sensor detects a third distance signal; the third distance signal is used to indicate a distance between a third position of the tray and the target object;

[0053] A second judgment module is used to judge the third detection state, and if the third detection state is that the third distance signal is detected, generate the termination instruction;

[0054] Wherein, the third position is located between the first position and the second position.

[0055] With the above arrangement, when the tray moves into position, the second judgment module generates a termination instruction to complete the extension positioning of the tray.

[0056] Preferably, the first sensor, the second sensor and the third sensor are all distance switches.

[0057] With the above arrangement, the distance switch can conveniently realize distance detection.

[0058] Preferably, the sensing distances of the first sensor and the second sensor are the same, and the sensing distance of the third sensor is smaller than the sensing distance of the first sensor.

[0059] Preferably, the tray extension positioning system further comprises:

[0060] The third judgment module is used to judge whether the limit switch arranged on the tray detects the limit position signal, and if so, generates the termination instruction.

[0061] With the above arrangement, when the pallet moves to the set limit position, a termination instruction is generated in time to stop the movement of the pallet to avoid structural damage.

[0062] Preferably, the first sensor is fixed at the first position, and the second sensor is fixed at the second position.

[0063] With the above arrangement, it is convenient to fix the first sensor and the second sensor.

[0064] On the basis of being in accordance with the common sense in the art, the above-mentioned preferred conditions can be arbitrarily combined to obtain the preferred embodiments of the present invention.

[0065] The positive and progressive effects of the present invention are:

[0066] In the tray extension positioning method and system disclosed in the present invention, through the first sensor and the second sensor, with the help of the first acquisition module and the first judgment module, the first position of the tray and the distance between the second position and the target object can be judged, so as to judge whether the tray is aligned with the target object. If so, it can continue to move in a straight line, if not, it can rotate until it is aligned, thereby avoiding battery replacement failure. BRIEF DESCRIPTION OF THE DRAWINGS

[0067] Figure 1 This is a partial flow chart of the tray extension positioning method according to Embodiment 1 of the present invention.

[0068] Figure 2 This is another partial flow chart of the tray extension positioning method according to Embodiment 1 of the present invention.

[0069] Figure 3The figure is a flow chart of the tray extension and positioning process in one situation of the first embodiment of the present invention.

[0070] Figure 4 The figure is a flow chart of the tray extension and positioning process in another situation of the embodiment 1 of the present invention.

[0071] Figure 5 The figure is a flow chart of the tray extension and positioning process in another situation of the first embodiment of the present invention.

[0072] Figure 6 This is a block diagram of a tray extension positioning system according to Embodiment 2 of the present invention.

[0073] Figure 7 This is a schematic diagram of the structure of a tray, a first sensor, a second sensor and a third sensor according to Embodiment 2 of the present invention.

[0074] Description of reference numerals:

[0075] 10: Pallet extension positioning system

[0076] 110: First acquisition module

[0077] 120: Second acquisition module

[0078] 210: First judgment module

[0079] 211: Preset distance judgment module

[0080] 220: Second judgment module

[0081] 230: The third judgment module

[0082] 310: First driver module

[0083] 320: Second driver module

[0084] 330: The third driver module

[0085] 340: Fourth drive module

[0086] 341: First driver execution module

[0087] 342: Second driver execution module

[0088] 400: Stop module

[0089] 20: Pallet

[0090] 31: First sensor

[0091] 32: Second sensor

[0092] 33: Third sensor DETAILED DESCRIPTION

[0093] The present invention is further described below by way of examples, but the present invention is not limited to the scope of the examples.

[0094] Example 1

[0095] like Figure 1-5 As shown, this embodiment discloses a tray extension positioning method.

[0096] like Figure 1 As shown, the tray extension positioning method includes the following steps:

[0097] Step S10, obtaining a first detection state of the first sensor and a second detection state of the second sensor. The first detection state is used to indicate whether the first sensor detects a first distance signal, and the second detection state is used to indicate whether the second sensor detects a second distance signal. The first distance signal is used to indicate the distance between the first position of the tray and the target, and the second distance signal is used to indicate the distance between the second position of the tray and the target. The first position and the second position are set at intervals.

[0098] Step S20, determine the first detection state and the second detection state (specifically, step S21, determine the first detection state and step S221 / S222, determine the second detection state). If the first detection state is that the first distance signal is detected and the second detection state is that the second distance signal is detected, then execute step S31, drive the tray to move linearly toward the target at the positioning speed. If the first detection state is that the first distance signal is detected and the second detection state is that the second distance signal is not detected, then execute step S32, drive the tray to rotate in a forward rotation direction so that the second position approaches the target faster than the first position. If the first detection state is that the first distance signal is not detected and the second detection state is that the second distance signal is detected, then execute step S33: drive the tray to rotate in a reverse rotation direction opposite to the forward rotation direction so that the first position approaches the target faster than the second position.

[0099] As described above, through the first sensor and the second sensor, the distance between the first position of the tray and the second position and the target object can be determined, thereby determining whether the tray is aligned with the target object. If so, it can continue to move in a straight line; otherwise, it can rotate until it is aligned, thereby avoiding battery replacement failure.

[0100] In this embodiment, Figure 1For the sake of convenience, step S21 is first executed, that is, the first detection state is determined, and then step S221 / S222 is executed, that is, the second detection state is determined. In an alternative embodiment, the second detection state may be determined first, and then the first detection state may be determined; or the first detection state and the second detection state may be determined simultaneously.

[0101] And, if Figure 1 As shown, the tray extension positioning method further includes: if the first detection state is that the first distance signal is not detected and the second detection state is that the second distance signal is not detected, driving the tray to move linearly toward the target object at a travel speed. Specifically, in this embodiment, the travel speed includes a first travel speed and a second travel speed. Figure 1 As shown, the tray moves linearly toward the target at a travel speed, including the following steps: Step S341, determine whether the tray has traveled a preset distance. If not, execute step S342, the tray moves linearly toward the target at the first travel speed. If yes, execute step S343: the tray moves linearly toward the target at the second travel speed. Among them, the second travel speed is lower than the first travel speed. The positioning speed is lower than the first travel speed. In this way, the tray can first travel a preset distance at a higher first travel speed to approach the target, and then approach the target at a lower second travel speed, saving time and not affecting the subsequent adjustment accuracy. At the same time, when getting closer to the target, it travels at a lower positioning speed, which also avoids problems such as untimely adjustment due to excessive speed. The positioning speed can be the same as the second travel speed, or it can be higher or lower than the second travel speed. In an alternative embodiment, the travel speed may not be divided into the first travel speed and the second travel speed, and can be a constant speed.

[0102] And, if Figure 1 As shown, after the above steps S32, S33, S342 and S343 are completed, the process returns to step S21.

[0103] In addition, if Figure 2 As shown, the tray extension positioning method further includes the following steps: after receiving a termination instruction, executing step S40, stopping the movement of the tray. In this way, the tray can stop moving at any time according to the termination instruction, so that the movement of the tray can be stopped in time when a fault occurs or the tray is in place.

[0104] Specifically, the tray extension positioning method further includes:

[0105] Step S50: Acquire a third detection state of the third sensor. The third detection state is used to indicate whether the third sensor detects a third distance signal. The third distance signal is used to indicate the distance between the third position of the tray and the target object.

[0106] Step S60, determine the third detection state. If the third detection state is that the third distance signal is detected, then execute step S70 and generate a termination instruction. If the third detection state is that the third distance signal is not detected, then continue to execute step S60. Among them, the third position is located between the first position and the second position. In this way, when the tray moves into place, a termination instruction is generated to complete the extension positioning of the tray. After step S70, execute step S40.

[0107] Moreover, in the present embodiment, the first sensor, the second sensor and the third sensor are all distance switches. The distance switch can conveniently realize the detection of the distance. The sensing distance of the first sensor is the same as that of the second sensor, and the sensing distance of the third sensor is smaller than that of the first sensor. For example, the sensing distance between the first sensor and the second sensor may be 30 mm, and the sensing distance of the third sensor may be 15 mm; or the sensing distance between the first sensor and the second sensor may be 15 mm, and the sensing distance of the third sensor may be 5 mm. When the distance between the first sensor and the target is within the sensing distance of the first sensor, the first detection state is that the first distance signal is detected; when the distance between the first sensor and the target is not within the sensing distance of the first sensor, the first detection state is that the first distance signal is not detected. The second sensor and the third sensor are similar.

[0108] In an alternative embodiment, the first sensor, the second sensor and the third sensor may also be other types of distance sensors, such as a laser distance sensor. In this way, the first sensor, the second sensor and the third sensor may output specific distance values. At this time, when the distance between the first sensor and the target is within the set first threshold range (such as ≤30mm), the first detection state is that the first distance signal is detected; when the distance between the first sensor and the target is not within the set first threshold range, the first detection state is that the first distance signal is not detected. The second sensor is the same as the first sensor. When the distance between the second sensor and the target is within the set second threshold range (such as ≤30mm), the second detection state is that the second distance signal is detected; when the distance between the second sensor and the target is not within the set second threshold range, the second detection state is that the second distance signal is not detected. The third sensor is similar to the first sensor. When the distance between the third sensor and the target is within the set third threshold range (such as ≤15mm), the third detection state is that the third distance signal is detected; when the distance between the third sensor and the target is not within the set third threshold range, the third detection state is that the third distance signal is not detected.

[0109] Again Figure 2As shown, the pallet extension positioning method also includes: step S90, judging whether the limit switch provided on the pallet detects the limit position signal. If so, executing step S70, generating a termination instruction. Of course, before step S90, the detection state of the limit switch must be obtained first, that is, the following steps are included: step S80, obtaining the limit detection state of the limit switch. And, in step S90, if the limit switch provided on the pallet does not detect the limit position signal, then returning to step S80. In this way, when the pallet moves to the set limit position, a termination instruction is generated in time to stop the movement of the pallet to avoid structural damage.

[0110] In this embodiment, the first sensor is fixed at the first position, and the second sensor is fixed at the second position. Meanwhile, the third sensor is fixed at the third position. In an alternative embodiment, one or more of the first sensor, the second sensor and the third sensor may also be fixed on the target object, and the distance between the corresponding position of the tray and the target object may also be detected.

[0111] In this embodiment, the first sensor, the second sensor, the third sensor, and the limit switch are all real-time monitoring, that is, continuous monitoring during the operation of the pallet. In addition, those skilled in the art should know that the pallet extension positioning method is divided into the following types only for the convenience of illustration. Figure 1 and Figure 2 Indicates; those skilled in the art should know that: regardless of the detection results of the first sensor and the second sensor, once a termination instruction is generated, step S40 is executed to stop the movement of the tray.

[0112] In this embodiment, the tray is used to carry the battery and is part of the battery replacement equipment; the target object is a battery support device on an electric vehicle. In an alternative embodiment, the tray extension positioning method can also be applied to any other situation where the tray needs to be aligned with the target object.

[0113] In addition, in order to explain this solution more clearly, three specific situations are selected to introduce the extension and positioning process of the tray:

[0114] 1) If Figure 3 As shown, when the tray is normally extended and not skewed, the tray extension process includes the following steps: step S101, the tray starts; step S102, the tray moves in a straight line toward the target object at a first travel speed until the tray travels a preset distance; step S103, the tray moves in a straight line toward the target object at a second travel speed until the first detection state is to detect a first distance signal and the second detection state is to detect a second distance signal; step S104, the tray moves in a straight line toward the target object at a positioning speed until the third detection state is to detect a third distance signal; step S105, the tray stops moving.

[0115] 2) If Figure 4As shown, under the circumstance that the tray is normally extended and the deflection causes the first position to be closer to the target object, the tray extension process includes the following steps: step S201, the tray starts; step S202, the tray moves in a straight line toward the target object at a first travel speed until the tray travels a preset distance; step S203, the tray moves in a straight line toward the target object at a second travel speed until the first detection state is that the first distance signal is detected and the second detection state is that the second distance signal is not detected; step S204, the tray rotates along a forward rotation direction so that the second position approaches the target object faster than the first position, until the first detection state is that the first distance signal is detected and the second detection state is that the second distance signal is detected; step S205, the tray moves in a straight line toward the target object at a positioning speed until the third detection state is that the third distance signal is detected; step S206, the tray stops moving.

[0116] 3) If Figure 5 As shown, when the pallet is normally extended but the distance from the target object is too far, the pallet extension process includes the following steps: step S301, the pallet starts; step S302, the pallet moves in a straight line toward the target object at a first travel speed until the pallet travels a preset distance; step S303, the pallet moves in a straight line toward the target object at a second travel speed until the limit switch detects a limit position signal; step S304, the pallet stops moving.

[0117] Those skilled in the art should know that Figure 3-5 Just a few of these scenarios are listed for illustrative purposes.

[0118] Example 2

[0119] like Figure 6-7 As shown, this embodiment discloses a tray extension positioning system 10 , which includes: a first acquisition module 110 , a first judgment module 210 , a first driving module 310 , a second driving module 320 and a third driving module 330 .

[0120] The first acquisition module 110 is used to acquire a first detection state of the first sensor 31 and a second detection state of the second sensor 32. The first detection state is used to indicate whether the first sensor 31 detects a first distance signal, and the second detection state is used to indicate whether the second sensor 32 detects a second distance signal. The first distance signal is used to indicate the distance between the first position of the tray 20 and the target object, and the second distance signal is used to indicate the distance between the second position of the tray 20 and the target object. The first position and the second position are spaced apart.

[0121] The first judgment module 210 is used to judge the first detection state and the second detection state. If the first detection state is that the first distance signal is detected and the second detection state is that the second distance signal is detected, the first driving module 310 is called. If the first detection state is that the first distance signal is detected and the second detection state is that the second distance signal is not detected, the second driving module 320 is called. If the first detection state is that the first distance signal is not detected and the second detection state is that the second distance signal is detected, the third driving module 330 is called.

[0122] The first driving module 310 is used to drive the tray 20 to move linearly toward the target object at a positioning speed.

[0123] The second driving module 320 is used to drive the tray 20 to rotate along a forward rotation direction, so that the second position approaches the target object faster than the first position.

[0124] The third driving module 330 is used to drive the tray 20 to rotate in a reverse rotation direction opposite to the forward rotation direction, so that the first position approaches the target object faster than the second position.

[0125] As described above, with the help of the first acquisition module 110 and the first judgment module 210, the first position of the tray 20 and the distance between the second position and the target object can be judged, so as to determine whether the tray 20 is aligned with the target object. If so, it can continue to move in a straight line, if not, it can be rotated to align, thereby avoiding battery replacement failure.

[0126] In this embodiment, Figure 6 As shown, the tray extension positioning system 10 further includes a fourth driving module 340. The first judging module 210 is further used to judge that if the first detection state is that the first distance signal is not detected and the second detection state is that the second distance signal is not detected, then the fourth driving module 340 is called. The fourth driving module 340 is used to drive the tray 20 to move linearly toward the target at a travel speed.

[0127] In addition, if Figure 6As shown, the first judgment module 210 includes a preset distance judgment module 211. The fourth driving module 340 includes a first driving execution module 341 and a second driving execution module 342. The preset distance judgment module 211 is used to judge whether the tray 20 has traveled a preset distance during the process of the tray 20 moving linearly toward the target at the travel speed. If not, the first driving execution module 341 is called; if so, the second driving execution module 342 is called. The first driving execution module 341 is used to drive the tray 20 to move linearly toward the target at a first travel speed. The second driving execution module 342 is used to drive the tray 20 to move linearly toward the target at a second travel speed. Among them, the second travel speed is lower than the first travel speed. The positioning speed is lower than the first travel speed. In this way, the tray 20 can first travel a preset distance at a higher first travel speed to approach the target under the drive of the first driving execution module 341, and then approach the target at a lower second travel speed under the drive of the second driving execution module 342, saving time and not affecting the subsequent adjustment accuracy. At the same time, when getting closer to the target object, the first driving module 310 moves at a lower positioning speed, which also avoids problems such as untimely adjustment due to excessive speed. The positioning speed can be the same as the second travel speed, or higher or lower than the second travel speed.

[0128] In addition, in this embodiment, the tray extension positioning system 10 further includes a stop module 400. The stop module 400 is used to stop the movement of the tray 20 after receiving a termination instruction. In this way, the tray 20 can stop moving at any time under the action of the stop module 400, so that the movement of the tray 20 can be stopped in time when a fault occurs or the tray 20 is in place.

[0129] At the same time, if Figure 6 As shown, the tray extension positioning system 10 also includes: a second acquisition module 120 and a second judgment module 220. The second acquisition module 120 is used to obtain the third detection state of the third sensor 33. The third detection state is used to indicate whether the third sensor 33 detects a third distance signal. The third distance signal is used to indicate the distance between the third position of the tray 20 and the target object. The second judgment module 220 is used to determine the third detection state, and if the third detection state is that the third distance signal is detected, a termination instruction is generated. The third position is located between the first position and the second position. In this way, when the tray 20 moves into place, the second judgment module 220 generates a termination instruction to complete the extension positioning of the tray 20.

[0130] Moreover, in this embodiment, the first sensor 31, the second sensor 32 and the third sensor 33 are all distance switches, which can conveniently realize the detection of distance. Specifically, the sensing distance of the first sensor 31 is the same as that of the second sensor 32, and the sensing distance of the third sensor 33 is smaller than that of the first sensor 31.

[0131] In addition, if Figure 6 As shown, the tray extension positioning system 10 further includes: a third judgment module 230. The third judgment module 230 is used to judge whether the limit switch provided on the tray 20 detects the limit position signal, and if so, generates a termination instruction. When the tray 20 moves to the set limit position, a termination instruction can be generated in time to stop the movement of the tray 20 to avoid structural damage. In this embodiment, the second acquisition module 120 is also used to obtain the limit detection state of the limit switch of the tray 20; in an alternative embodiment, a third acquisition module can be additionally provided, and the third acquisition module is used to obtain the limit detection state of the limit switch of the tray.

[0132] In this embodiment, Figure 7 As shown, the first sensor 31 is fixed at the first position, and the second sensor 32 is fixed at the second position. The tray extension positioning system 10 of this embodiment 2 can be used to implement the tray extension positioning method in embodiment 1. The working process of the tray extension positioning system 10 can refer to the specific description of embodiment 1.

[0133] Although the specific embodiments of the present invention are described above, it should be understood by those skilled in the art that this is only for illustration and the protection scope of the present invention is defined by the appended claims. Those skilled in the art may make various changes or modifications to these embodiments without departing from the principles and essence of the present invention, but these changes and modifications all fall within the protection scope of the present invention.

Claims

1. A tray extension positioning method, characterized in that: It includes the following steps: Acquire a first detection state of a first sensor and a second detection state of a second sensor; the first detection state is used to indicate whether the first sensor detects a first distance signal, and the second detection state is used to indicate whether the second sensor detects a second distance signal; the first distance signal is used to indicate the distance between a first position of the tray and a target object, and the second distance signal is used to indicate the distance between a second position of the tray and the target object; the first position and the second position are spaced apart; Determine the first detection state and the second detection state, and if the first detection state is that the first distance signal is detected and the second detection state is that the second distance signal is detected, drive the tray to move linearly toward the target object at a positioning speed; The tray extension positioning method further includes: determining whether a limit switch provided on the tray detects a limit position signal, and if so, generating a termination instruction; If the first detection state is that the first distance signal is detected and the second detection state is that the second distance signal is not detected, the tray is driven to rotate in a forward rotation direction so that the second position approaches the target object faster than the first position; if the first detection state is that the first distance signal is not detected and the second detection state is that the second distance signal is detected, the tray is driven to rotate in a reverse rotation direction opposite to the forward rotation direction so that the first position approaches the target object faster than the second position.

2. The tray extension positioning method according to claim 1, characterized in that: The tray extension positioning method further comprises: If the first detection state is that the first distance signal is not detected and the second detection state is that the second distance signal is not detected, the tray is driven to move linearly toward the target object at a traveling speed.

3. The tray extension positioning method according to claim 2, characterized in that: The tray moves linearly toward the target object at a travel speed, comprising the following steps: Determine whether the tray has traveled a preset distance, if not, the tray moves linearly toward the target at a first travel speed; if yes, the tray moves linearly toward the target at a second travel speed; wherein the second travel speed is lower than the first travel speed; The positioning speed is lower than the first travel speed.

4. The tray extension positioning method according to claim 1, characterized in that: The tray extension positioning method further comprises the following steps: The movement of the tray is stopped after receiving the termination command.

5. The tray extension positioning method according to claim 4, characterized in that: The tray extension positioning method further comprises: Acquiring a third detection state of a third sensor; the third detection state is used to indicate whether the third sensor detects a third distance signal; the third distance signal is used to indicate the distance between the third position of the tray and the target object; Determining the third detection state, and generating the termination instruction if the third detection state is that the third distance signal is detected; Wherein, the third position is located between the first position and the second position; The first sensor, the second sensor and the third sensor are all distance switches; The sensing distances of the first sensor and the second sensor are the same, and the sensing distance of the third sensor is smaller than the sensing distance of the first sensor.

6. The method for extending and positioning a tray according to any one of claims 1 to 5, characterized in that: The first sensor is fixed at the first position, and the second sensor is fixed at the second position.

7. A tray extension positioning system, characterized in that: It includes: A first acquisition module, used to acquire a first detection state of the first sensor and a second detection state of the second sensor; The first detection state is used to indicate whether the first sensor detects a first distance signal, and the second detection state is used to indicate whether the second sensor detects a second distance signal; the first distance signal is used to indicate the distance between a first position of the tray and a target object, and the second distance signal is used to indicate the distance between a second position of the tray and the target object; the first position and the second position are spaced apart; a first judging module, used for judging the first detection state and the second detection state, and calling the first driving module if the first detection state is that the first distance signal is detected and the second detection state is that the second distance signal is detected; calling the second driving module if the first detection state is that the first distance signal is detected and the second detection state is that the second distance signal is not detected; calling the third driving module if the first detection state is that the first distance signal is not detected and the second detection state is that the second distance signal is detected; The tray extension positioning system further comprises: a third judgment module, used to judge whether the limit switch provided on the tray detects a limit position signal, and if so, generates a termination instruction; The first driving module is used to drive the tray to move linearly toward the target object at a positioning speed; The second driving module is used to drive the tray to rotate along a forward rotation direction so that the second position approaches the target object faster than the first position; The third driving module is used to drive the tray to rotate along a reverse rotation direction opposite to the forward rotation direction, so that the first position approaches the target object faster than the second position.

8. The tray extension positioning system according to claim 7, characterized in that: The tray extension positioning system further includes a fourth driving module; The first judgment module is further used to judge that if the first detection state is that the first distance signal is not detected and the second detection state is that the second distance signal is not detected, then call the fourth driving module; The fourth driving module is used to drive the tray to move linearly toward the target object at a traveling speed.

9. The tray extension positioning system according to claim 8, characterized in that: The first judgment module includes a preset distance judgment module, and the fourth driving module includes a first driving execution module and a second driving execution module; The preset distance judgment module is used to judge whether the tray has traveled a preset distance during the process of the tray moving linearly toward the target object at a travel speed, and if not, call the first drive execution module; if yes, call the second drive execution module; The first driving execution module is used to drive the tray to move linearly toward the target object at a first travel speed; The second driving execution module is used to drive the tray to move linearly toward the target object at a second travel speed; wherein the second travel speed is lower than the first travel speed; The positioning speed is lower than the first travel speed.

10. The tray extension positioning system according to claim 7, characterized in that: The tray extension positioning system also includes: The stopping module is used to stop the movement of the tray after receiving a termination instruction.

11. The tray extension positioning system according to claim 10, characterized in that: The tray extension positioning system also includes: a second acquisition module, configured to acquire a third detection state of a third sensor; the third detection state is used to indicate whether the third sensor detects a third distance signal; the third distance signal is used to indicate a distance between a third position of the tray and the target object; A second judgment module is used to judge the third detection state, and if the third detection state is that the third distance signal is detected, generate the termination instruction; Wherein, the third position is located between the first position and the second position; The first sensor, the second sensor and the third sensor are all distance switches; The sensing distances of the first sensor and the second sensor are the same, and the sensing distance of the third sensor is smaller than the sensing distance of the first sensor.

12. The tray extension positioning system according to any one of claims 7 to 11, characterized in that: The first sensor is fixed at the first position, and the second sensor is fixed at the second position.

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