Pallet extension positioning method and system

Abstract

The present invention discloses a tray extension positioning method and system, the tray extension positioning method comprising: 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, 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, 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 a target object, thereby judging 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 until it is aligned, thereby avoiding battery replacement failure.

Description

[0001] This application is a divisional application of the Chinese patent application with the 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-swap electric vehicles, batteries need to be replaced regularly or irregularly. Generally, the battery-swap equipment is fixed in a designated location, and the electric vehicle is maneuvered to park near the equipment for battery replacement. The battery replacement process generally involves the battery-swap equipment's tray extending in a linear motion to align with the battery support on the electric vehicle, ultimately removing the old battery from the vehicle and installing a new one.

[0004] However, due to operational errors, it is difficult for an electric vehicle to park completely parallel to the battery swapping device. In other words, the electric vehicle will be more or less tilted relative to the battery swapping device. However, in existing technologies, the tray extends in a linear motion, which can easily cause the tray and the electric vehicle to become 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 includes the following steps:

[0008] Obtaining 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 pallet and a target object, and the second distance signal is used to indicate the distance between a second position of the pallet 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 linearly 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] determining whether the tray has traveled a preset distance, and if not, moving the tray linearly toward the target at a first travel speed; and if so, moving the tray 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 this setup, the pallet can first travel at a higher first speed for a preset distance to approach the target, and then continue to approach the target at a lower second speed, saving time while not affecting subsequent adjustments. Furthermore, as the pallet moves closer to the target, it can travel at a lower positioning speed, similarly avoiding problems such as delayed adjustments caused by excessive speed. The positioning speed can be the same as, higher than, or lower than the second 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 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 into 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, thereby avoiding 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, the first sensor and the second sensor can be fixed more conveniently.

[0032] A pallet extension positioning system is characterized in that it includes:

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

[0034] a first determining module, configured to determine the first detection state and the second detection state, and calling a first driving module if the first detection state indicates that the first distance signal is detected and the second detection state indicates that the second distance signal is detected; calling a second driving module if the first detection state indicates that the first distance signal is detected and the second detection state indicates that the second distance signal is not detected; and calling a third driving module if the first detection state indicates that the first distance signal is not detected and the second detection state indicates 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 configured to drive the tray to rotate in 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 in a counter-rotating direction opposite to the forward rotating direction, so that the first position approaches the target object faster than the second position.

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

[0039] The first judging module is further configured 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 determination module is used to determine 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 this arrangement, the tray can initially travel at a higher first speed to approach a target object, driven by the first drive execution module. Then, driven by the second drive execution module, it can continue to approach the target object at a lower second speed, saving time while not affecting subsequent adjustments. Furthermore, as the tray approaches the target object, it can be driven by the first drive module at a lower positioning speed, similarly avoiding problems such as delayed adjustments caused by excessive speed. The positioning speed can be the same as, or 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 point 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 being used to indicate whether the third sensor detects a third distance signal; the third distance signal being used to indicate a distance between a third position of the tray and the target object;

[0053] a second determining module, configured to determine the third detection state, and generate the termination instruction if the third detection state is that the third distance signal is detected;

[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 and 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 provided 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, thereby avoiding 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, the first sensor and the second sensor can be fixed more conveniently.

[0064] On the basis of conforming to the common sense in this field, the above-mentioned preferred conditions can be arbitrarily combined to obtain the preferred embodiments of the present invention.

[0065] The positive progress effect of the present invention is:

[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; otherwise, it can be rotated 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 and positioning method according to embodiment 1 of the present invention.

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

[0069] Figure 3This is a flow chart of the tray extension and positioning process in one scenario of Example 1 of the present invention.

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

[0071] Figure 5 This is a flow chart of the tray extension and positioning process in another scenario of Example 1 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 structural diagram of the tray, first sensor, second sensor and third sensor of Example 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: Third judgment module

[0082] 310: First driver module

[0083] 320: Second driver module

[0084] 330: Third driver module

[0085] 340: Fourth driver 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: Acquire a first detection state of the first sensor and a second detection state of the second sensor. The first detection state indicates whether the first sensor detects a first distance signal, and the second detection state indicates whether the second sensor detects a second distance signal. The first distance signal indicates the distance between a first position of the pallet and a target object, and the second distance signal indicates the distance between a second position of the pallet and the target object. The first position and the second position are spaced apart.

[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 first position of the tray and the distance from the second position to 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 be rotated until aligned, thereby avoiding battery replacement failure.

[0100] In this embodiment, Figure 1For ease of illustration, step S21 is performed first, i.e., the first detection state is determined, and then steps S221 / S222 are performed, i.e., the second detection state is determined. In alternative embodiments, the second detection state may be determined first, and then the first detection state is determined; or the first and second detection states may be determined simultaneously.

[0101] And, as 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 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 so, execute Step S343: The tray moves linearly toward the target at a second travel speed. 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 the higher first travel speed to approach the target, and then approach the target at the lower second travel speed, saving time without affecting the accuracy of subsequent adjustments. At the same time, when getting closer to the target, the tray moves at the lower positioning speed, similarly avoiding problems such as untimely adjustments caused by excessive speed. The positioning speed can be the same as, or higher or lower than, the second travel speed. In alternative embodiments, the travel speed may not be divided into a first travel speed and a second travel speed, but may be a constant speed.

[0102] And, as 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: executing step S40 after receiving a termination instruction to stop the movement of the tray. In this way, the tray can be stopped 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 indicates whether the third sensor detects a third distance signal. The third distance signal indicates the distance between the third position of the tray and the target object.

[0106] Step S60: Determine the third detection state. If the third distance signal is detected in the third detection state, proceed to step S70, generating a termination command. If the third distance signal is not detected in the third detection state, proceed to step S60. The third position is between the first position and the second position. Thus, when the tray reaches its designated position, a termination command is generated, completing the tray's extended positioning. After step S70, proceed to step S40.

[0107] Furthermore, in this embodiment, the first sensor, the second sensor, and the third sensor are all distance switches. Distance switches can conveniently detect distances. 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 that of the first sensor. For example, the sensing distance between the first sensor and the second sensor can be 30 mm, and the sensing distance of the third sensor can be 15 mm; or the sensing distance between the first sensor and the second sensor can be 15 mm, and the sensing distance of the third sensor can be 5 mm. When the distance between the first sensor and the target object 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 object 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 alternative embodiments, the first, second, and third sensors may also be other types of distance sensors, such as laser distance sensors. In this way, the first, second, and third sensors can output specific distance values. In this case, when the distance between the first sensor and the target is within a set first threshold range (e.g., ≤30 mm), the first detection state is defined as detecting a first distance signal; when the distance between the first sensor and the target is outside the set first threshold range, the first detection state is defined as not detecting the first distance signal. The second sensor is similar to the first sensor. When the distance between the second sensor and the target is within a set second threshold range (e.g., ≤30 mm), the second detection state is defined as detecting a second distance signal; when the distance between the second sensor and the target is outside the set second threshold range, the second detection state is defined as not detecting the second distance signal. The third sensor is similar to the first sensor. When the distance between the third sensor and the target is within a set third threshold range (e.g., ≤15 mm), the third detection state is defined as detecting a third distance signal; when the distance between the third sensor and the target is outside the set third threshold range, the third detection state is defined as not detecting the third distance signal.

[0109] Again Figure 2As shown, the pallet extension positioning method further includes: step S90, determining whether the limit switch provided on the pallet detects a limit position signal. If so, step S70 is executed, generating a termination instruction. Of course, before step S90, the detection status of the limit switch must be obtained, namely, the following steps are included: step S80, obtaining the limit detection status of the limit switch. Furthermore, in step S90, if the limit switch provided on the pallet does not detect a limit position signal, the method returns to step S80. In this way, when the pallet reaches the set limit position, a termination instruction is promptly generated to stop the pallet's movement, thereby preventing structural damage.

[0110] In this embodiment, the first sensor is fixed at the first position, the second sensor is fixed at the second position, and the third sensor is fixed at the third position. In an alternative embodiment, one or more of the first, second, and third sensors may be fixed to the target object, and can similarly detect the distance between the corresponding position of the pallet and the target object.

[0111] In this embodiment, the first sensor, the second sensor, the third sensor, and the limit switch are all monitored in real time, that is, continuously monitored during the operation of the pallet. Moreover, those skilled in the art should know that the pallet extension positioning method is divided into the following categories for the sake of convenience: Figure 1 and Figure 2 Those skilled in the art should know that no matter what the detection results of the first sensor and the second sensor are, once the 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 batteries and is part of the battery swapping equipment; the target object is the battery support device on the electric vehicle. In alternative embodiments, 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 scenarios are selected to introduce the extension and positioning process of the tray:

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

[0115] 2) If Figure 4As shown, in the case where 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 in 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 extended normally but is too far away from the target object, the pallet extension process includes the following steps: step S301, the pallet starts; step S302, the pallet moves linearly toward the target object at a first travel speed until the pallet travels a preset distance; step S303, the pallet moves linearly toward the target object at a second travel speed until the limit switch detects the limit position signal; step S304, the pallet stops moving.

[0117] Those skilled in the art should know that Figure 3-5 These are just a few of the scenarios 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 configured to acquire a first detection status of the first sensor 31 and a second detection status of the second sensor 32. The first detection status indicates whether the first sensor 31 has detected a first distance signal, and the second detection status indicates whether the second sensor 32 has detected a second distance signal. The first distance signal indicates the distance between a first position of the tray 20 and the target object, and the second distance signal indicates the distance between a second position of the tray 20 and the target object. The first position and the second position are spaced apart.

[0121] The first determination module 210 is used to determine 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 driver 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 driver 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 driver 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; otherwise, 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 drive module 340. The first determination module 210 is further configured to invoke the fourth drive module 340 if the first detection state indicates that the first distance signal is not detected and the second detection state indicates that the second distance signal is not detected. The fourth drive module 340 is configured to drive the tray 20 to move linearly toward the target object at a travel speed.

[0127] In addition, if Figure 6As shown, the first determination module 210 includes a preset distance determination module 211. The fourth drive module 340 includes a first drive execution module 341 and a second drive execution module 342. The preset distance determination module 211 is used to determine whether the tray 20 has traveled a preset distance while moving linearly toward a target at a travel speed. If not, the first drive execution module 341 is invoked; if so, the second drive execution module 342 is invoked. The first drive execution module 341 is used to drive the tray 20 to move linearly toward the target at a first travel speed. The second drive execution module 342 is used to drive the tray 20 to move linearly toward the target at a second travel speed. 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 the higher first travel speed to approach the target under the control of the first drive execution module 341, and then move closer to the target at the lower second travel speed under the control of the second drive execution module 342, saving time while not affecting the accuracy of subsequent adjustments. At the same time, when getting closer to the target object, the vehicle moves at a lower positioning speed under the action of the first driving module 310, 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 and positioning system 10 further includes a stop module 400. Stop module 400 is configured to stop the movement of the tray 20 upon receiving a termination command. Thus, the tray 20 can be stopped at any time by the stop module 400, thereby enabling the timely halt of the tray 20's movement in the event of a malfunction or when 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 position, the second judgment module 220 generates a termination instruction to complete the extension positioning of the tray 20.

[0130] Furthermore, in this embodiment, the first sensor 31, the second sensor 32, and the third sensor 33 are all distance switches, which facilitate distance detection. Specifically, the sensing distances of the first sensor 31 and the second sensor 32 are the same, while 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 pallet extension positioning system 10 further includes a third determination module 230. The third determination module 230 is configured to determine whether the limit switch provided on the pallet 20 has detected a limit position signal and, if so, to generate a termination instruction. When the pallet 20 reaches a predetermined limit position, a termination instruction can be generated to promptly stop the movement of the pallet 20 and prevent structural damage. In this embodiment, the second acquisition module 120 is further configured to obtain the limit detection status of the limit switch of the pallet 20; in alternative embodiments, a third acquisition module may be provided to obtain the limit detection status of the pallet's limit switch.

[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 of embodiment 1. The working process of the tray extension positioning system 10 can refer to the detailed description of embodiment 1.

[0133] Although specific embodiments of the present invention have been described above, those skilled in the art will appreciate that these are merely illustrative and that the 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, and such changes and modifications are intended to fall within the scope of the present invention.

Claims

1. A tray extension positioning method, characterized in that: It includes the following steps: Obtaining 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 pallet and a target object, and the second distance signal is used to indicate the distance between a second position of the pallet and the target object; the first position and the second position are spaced apart; 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 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, wherein: 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 linearly toward the target at a positioning speed.

3. The tray extension positioning method according to claim 1, wherein: 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, the tray is driven to move linearly toward the target object at a traveling speed.

4. The tray extension positioning method according to claim 3, wherein: The tray moves linearly toward the target at a travel speed, comprising the following steps: determining whether the tray has traveled a preset distance, and if not, moving the tray linearly toward the target at a first travel speed; and if so, moving the tray linearly toward the target at a second travel speed; Wherein, the second traveling speed is lower than the first traveling speed.

5. The tray extension positioning method according to claim 4, wherein: If the first detection state is detecting the first distance signal and the second detection state is detecting the second distance signal, driving the tray to move linearly toward the target at a positioning speed; The positioning speed is lower than the first travel speed.

6. The tray extension positioning method according to claim 1, wherein: The tray extension positioning method further comprises the following steps: The tray movement is stopped after receiving a termination command.

7. The tray extension positioning method according to claim 6, wherein: The tray extension positioning method further includes: 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.

8. The tray extension positioning method according to claim 7, wherein: The first sensor, the second sensor, and the third sensor are all distance switches.

9. The tray extension positioning method according to claim 7, wherein: 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.

10. The tray extension positioning method according to claim 6, wherein: 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 the termination instruction.

11. The tray extension positioning method according to any one of claims 1 to 10, characterized in that: The first sensor is fixed at the first position, and the second sensor is fixed at the second position.

12. A tray extension positioning system, characterized in that: It includes: A first acquisition module is 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 the first position of the pallet and the target object, and the second distance signal is used to indicate the distance between the second position of the pallet and the target object; the first position and the second position are spaced apart; a first determining module, configured to determine the first detection state and the second detection state, and calling the second driving module if the first detection state indicates that the first distance signal is detected and the second detection state indicates that the second distance signal is not detected; and calling the third driving module if the first detection state indicates that the first distance signal is not detected and the second detection state indicates that the second distance signal is detected; The second driving module is configured to drive the tray to rotate in 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 in a counter-rotating direction opposite to the forward rotating direction, so that the first position approaches the target object faster than the second position.

13. The tray extension positioning system according to claim 12, wherein: 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 first driving module; The tray extension positioning system further includes: a first driving module, configured to drive the tray to move linearly toward the target object at a positioning speed.

14. The tray extension positioning system according to claim 12, wherein: The tray extension positioning system further includes a fourth drive module; The first judging module is further configured 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.

15. The tray extension positioning system according to claim 14, wherein: 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 determination module is used to determine 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 traveling speed is lower than the first traveling speed.

16. The tray extension positioning system according to claim 15, wherein: 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 first driving module; The tray extension positioning system further includes: a first driving module for driving the tray to move linearly toward the target object at a positioning speed; The positioning speed is lower than the first travel speed.

17. The tray extension positioning system according to claim 12, wherein: The tray extension positioning system further comprises: The stopping module is used to stop the movement of the tray after receiving a termination instruction.

18. The tray extension positioning system according to claim 17, wherein: The tray extension positioning system further comprises: a second acquisition module, configured to acquire a third detection state of a third sensor; the third detection state being used to indicate whether the third sensor detects a third distance signal; the third distance signal being used to indicate a distance between a third position of the tray and the target object; a second determining module, configured to determine the third detection state, and generate 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.

19. The tray extension positioning system according to claim 18, wherein: The first sensor, the second sensor, and the third sensor are all distance switches.

20. The tray extension positioning system according to claim 18, wherein: 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.

21. The tray extension positioning system according to claim 17, wherein: The tray extension positioning system further comprises: The third judgment module is used to judge whether the limit switch provided on the tray detects the limit position signal, and if so, generates the termination instruction.

22. The tray extension positioning system according to any one of claims 12 to 21, wherein: The first sensor is fixed at the first position, and the second sensor is fixed at the second position.

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