Crane trolley positioning method, device, system and crane

Abstract

The present application relates to a method, device, system and crane for positioning a crane trolley. The method is applied to a trolley positioning system, which includes a trolley positioning device, a positioning magnet and a detection and counting device. The method includes: based on the magnet induction signal output by the detection and counting device, determining the position of the target positioning magnet as the first position parameter of the trolley; wherein the target positioning magnet is the positioning magnet that the trolley passes by and is closest to in the current direction of travel of the trolley; based on the first number of pulses accumulated by the detection and counting device, determining the second position parameter of the trolley; wherein the first number of pulses is the number of pulses accumulated by the detection and counting device in the process of the trolley moving from the position of the target positioning magnet to the current position; based on the first position parameter and the second position parameter, the current position of the trolley is obtained. Through the above scheme, the influence of weather and trolley speed on the positioning result can be reduced, which is conducive to the accurate positioning of the trolley.

Description

Technical Field

[0001] The present application relates to the technical field of engineering machinery, and in particular to a crane trolley positioning method, equipment, system and crane. Background Art

[0002] With the development of economic globalization, container logistics and transportation have also developed rapidly. Accordingly, the use of cranes has become more and more extensive. For example, with the continuous application of automation technology in ports, automated quay cranes (a type of rail-mounted crane) have become the main ship loading and unloading equipment in major automated terminals. When multiple automated quay cranes work together, the need for more accurate positioning of large vehicles becomes prominent.

[0003] In the traditional solution, an encoder can be installed on the driven wheel of the trolley as a position calculation device, that is, the encoder accumulates pulses according to the rotation of the driven wheel, and then determines the moving distance of the trolley according to the number of pulses. However, this method has the following defects: the encoder is installed on the wheel of the trolley, and in special rainy and snowy weather or sudden braking, the wheel will slip, so the encoder will produce errors, which will lead to errors in the positioning results. Summary of the invention

[0004] Based on this, it is necessary to provide a crane trolley positioning method, equipment, system and crane that can reduce positioning errors to achieve accurate positioning in order to address the above technical problems.

[0005] In a first aspect, an embodiment of the present application provides a crane trolley positioning method, which is applied to a trolley positioning system, wherein the trolley positioning system includes a trolley positioning device, a plurality of positioning magnets arranged on the ground, and a detection and counting device arranged on the trolley; the method includes:

[0006] Based on the magnet induction signal output by the detection and counting device, the position of the target positioning magnet is determined as the first position parameter of the vehicle; wherein the target positioning magnet is the positioning magnet that the vehicle passes by and is closest to in the current traveling direction of the vehicle;

[0007] Based on the first pulse number accumulated by the detection and counting device, a second position parameter of the vehicle is determined; wherein the first pulse number is the pulse number accumulated by the detection and counting device during the process of the vehicle moving from the position of the target positioning magnet to the current position;

[0008] Based on the first position parameter and the second position parameter, the current position of the vehicle is obtained by summing them up.

[0009] In one embodiment, optionally, the method further includes:

[0010] Determine the second pulse number accumulated by the detection and counting device; the second pulse number is the pulse number accumulated by the detection and counting device during the process of the vehicle passing through n positioning magnets before the target positioning magnet and moving to the target positioning magnet, where n is a positive integer;

[0011] Obtaining the unit moving distance of the vehicle corresponding to each pulse accumulated by the detection counting device;

[0012] Determining a parameter to be verified based on the second pulse number and the unit movement distance;

[0013] Based on the parameters to be verified, determine whether the positioning of the vehicle is abnormal.

[0014] In one embodiment, optionally, determining the parameter to be verified based on the second pulse number and the unit moving distance includes:

[0015] The product of the second pulse number and the unit moving distance is calculated, and the sum is added to the positions of the n positioning magnets before the target positioning magnet to obtain the position parameter to be verified of the trolley.

[0016] In one embodiment, optionally, determining whether the positioning of the vehicle is abnormal based on the parameter to be verified includes:

[0017] The absolute value of the difference between the position parameter to be verified and the first position parameter is higher than a first preset value, and it is determined that the positioning of the large vehicle is abnormal.

[0018] In one embodiment, optionally, the determining whether the positioning of the vehicle is abnormal based on the parameter to be verified further includes:

[0019] The absolute value of the difference between the position parameter to be verified and the first position parameter is lower than a first preset value, and it is determined that there is no abnormality in the positioning of the vehicle.

[0020] In one embodiment, optionally, determining the position of the target positioning magnet as the first position parameter of the vehicle based on the magnet induction signal output by the detection and counting device includes:

[0021] The absolute value of the difference between the position parameter to be verified and the position of the target positioning magnet is less than or equal to a second preset value, and based on the magnet induction signal output by the detection and counting device, the position of the target positioning magnet is determined to be the first position parameter of the vehicle; wherein the second preset value is less than the first preset value.

[0022] In one embodiment, optionally, the method further includes:

[0023] When the absolute value of the difference between the position parameter to be verified and the first position parameter is greater than the second preset value but less than the first preset value, the number of pulses accumulated by the detection counting device is reset to zero.

[0024] In one embodiment, optionally, determining the position of the target positioning magnet as the first position of the vehicle based on the magnet induction signal output by the detection and counting device includes:

[0025] Based on the magnet induction signal of the detection and counting device, determining the number of positioning magnets passed by the vehicle in the current direction of travel;

[0026] Based on the number of positioning magnets passed by the vehicle in the current traveling direction, the position of the target positioning magnet is determined as the first position of the vehicle.

[0027] In one embodiment, optionally, determining the second position of the vehicle based on the number of first pulses accumulated by the detection and counting device includes:

[0028] Obtaining the unit moving distance of the vehicle corresponding to each pulse accumulated by the detection counting device;

[0029] Based on the first number of pulses and the unit moving distance, the second position of the vehicle is calculated.

[0030] The second aspect of the embodiment of the present application further provides a crane trolley positioning device, which is applied to a trolley positioning system, the trolley positioning system comprising a trolley positioning device, a plurality of positioning magnets arranged on the ground, and a detection and counting device arranged on the trolley; the device comprises:

[0031] A first position determination module is used to determine the position of the target positioning magnet as the first position parameter of the vehicle based on the magnet induction signal output by the detection and counting device; wherein the target positioning magnet is the positioning magnet that the vehicle passes by and is closest to in the current traveling direction of the vehicle;

[0032] A second position determination module is used to determine a second position parameter of the vehicle based on the first pulse number accumulated by the detection and counting device; wherein the first pulse number is the pulse number accumulated by the detection and counting device during the process of the vehicle moving from the first position to the current position;

[0033] A calculation module is used to obtain the current position of the vehicle by summing the first position parameter and the second position parameter.

[0034] A third aspect of an embodiment of the present application further provides a crane trolley positioning device, comprising a memory and a processor, wherein the memory stores a computer program, wherein the processor implements the steps of any of the methods described above when executing the computer program.

[0035] A fourth aspect of the embodiment of the present application further provides a crane trolley positioning system, which includes:

[0036] The crane trolley positioning device as described in the third aspect;

[0037] A plurality of positioning magnets disposed on the ground;

[0038] The detection and counting device arranged on the trolley is communicatively connected with the crane trolley positioning device, and is used to output a magnet induction signal to the crane trolley positioning device when the trolley passes through the positioning magnet, and is used to accumulate the number of pulses during the movement of the trolley and send them to the crane trolley positioning device.

[0039] In some embodiments, optionally, the detection and counting device includes:

[0040] A magnet sensing device, used for outputting a magnet sensing signal to the crane trolley positioning device when the trolley passes through the positioning magnet;

[0041] The encoder is arranged on the wheels of the trolley and is used to accumulate the number of pulses during the movement of the trolley and send the pulses to the crane trolley positioning device.

[0042] A fifth aspect of the embodiment of the present application further provides a crane, comprising:

[0043] cart;

[0044] The crane trolley positioning device as described in the third aspect;

[0045] The detection and counting device arranged on the trolley is communicatively connected with the crane trolley positioning device, and is used to output a magnet induction signal to the crane trolley positioning device when the trolley passes through multiple positioning magnets arranged on the ground, and is used to accumulate the number of pulses during the movement of the trolley and send them to the crane trolley positioning device.

[0046] In the above-mentioned crane trolley positioning method, equipment, system and crane, the trolley positioning system includes a trolley positioning device, a plurality of positioning magnets arranged on the ground and a detection and counting device arranged on the trolley. The positioning device can determine the position of the positioning magnet that the trolley has passed most recently as the first position parameter of the trolley based on the magnet induction signal output by the detection and counting device; and determine the second position parameter of the trolley based on the number of first pulses accumulated by the detection and counting device in the process of the trolley moving from the position of the target positioning magnet to the current position; and obtain the current position of the trolley based on the first position parameter and the first position parameter.

[0047] Through the above scheme, based on the trolley positioning system and the corresponding positioning algorithm, the current position of the trolley is finally determined to include a first position parameter and a second position parameter. The first position parameter is completed by detecting the positioning magnet through a detection counting device. This process is not affected by weather and trolley speed and is stable and reliable. The second position parameter, which is relatively easily affected by weather or trolley speed, only accounts for a small part of the final result, which can reduce the influence of encoder error on the final positioning result. Therefore, the final trolley position is more accurate and more conducive to the accurate positioning of the trolley.

[0048] Furthermore, the positioning magnet and the detection counting device have a simple structure, are easy to inspect and maintain, and are convenient for multiple adjustments and uses. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 This is a schematic flow chart of a crane trolley positioning method in one embodiment of the present application;

[0050] Figure 2 This is a schematic diagram of the principle of a crane trolley positioning method in one embodiment of the present application;

[0051] Figure 3 This is a schematic structural diagram of a crane trolley positioning device in one embodiment of the present application. DETAILED DESCRIPTION

[0052] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0053] Application Overview

[0054] As described in the background technology section, in the related technology, an encoder can usually be installed on the driven wheel of the cart as a position calculation device, that is, the encoder accumulates pulses according to the rotation of the driven wheel, and then determines the actual moving distance of the cart according to the accumulated number of pulses and the unit moving distance of the cart corresponding to each pulse, and then determines the position to which the cart moves based on the actual moving distance of the cart, thereby ultimately achieving the positioning of the cart.

[0055] However, when adopting the above solution, since the encoder is installed on the wheels of the truck, the wheels will slip in special rainy and snowy weather or when braking suddenly. When the wheels slip, the encoder cannot correctly accumulate pulses according to the movement of the truck, that is, the encoder will produce errors (the accumulated number of pulses does not correspond to the moving distance of the truck), which will cause errors in the positioning results.

[0056] In view of the above problems, the present application provides a crane trolley positioning method, device, system and crane that can reduce positioning errors to achieve accurate positioning, by setting magnets on the ground and detecting the magnets through a detection device, thereby achieving accurate positioning of the trolley, and is not affected by weather and trolley speed. The specific implementation scheme is described in a non-limiting manner below through exemplary embodiments.

[0057] Exemplary Methods

[0058] See also Figure 1 , Figure 1 The present invention is a flowchart of a crane trolley positioning method in one embodiment of the present application. The method is applied to a trolley positioning system, which includes a trolley positioning device, a plurality of positioning magnets arranged on the ground, and a detection and counting device arranged on the trolley, wherein the detection and counting device may include a magnet sensing device and an encoder. The method is executed by the trolley positioning device, which is connected to the detection and counting device through communication, so as to obtain the magnet sensing signal output by the detection and counting device when the positioning magnet is detected, and obtain the number of pulses accumulated by the detection and counting device during the movement of the trolley, and then calculate the actual position of the trolley based on information such as the magnet sensing signal and the number of pulses. The trolley positioning device may be a controller device, and further, may be a PLC (Programmable Logic Controller).

[0059] like Figure 1 As shown, the method specifically comprises the following steps:

[0060] Step S101: Based on the magnet induction signal output by the detection and counting device, determine the position of the target positioning magnet as the first position parameter of the vehicle; wherein the target positioning magnet is the positioning magnet that the vehicle has passed by and is closest to in the current traveling direction of the vehicle.

[0061] Specifically, in this embodiment, the trolley can be a rail-mounted crane trolley, such as a trolley of an automated quay crane, or a trolley of a tire crane, etc., and is particularly suitable for a rail-mounted crane that can move forward and backward along a preset driving track.

[0062] A plurality of positioning magnets are pre-set on the ground of the yard, and the components used to detect the positioning magnets in the detection and counting device, such as the magnet sensing device, are set corresponding to the positioning magnets to ensure that when the large vehicle passes, the detection and counting device on the large vehicle can detect the positioning magnets, but there is no strict restriction on the setting position. However, considering that in actual application, the number of staff and working vehicles (such as maintenance vehicles) at different positions and in different directions of the large vehicle is different, therefore, preferably, the positioning magnet and the corresponding magnet sensing device are set on the side with fewer staff and auxiliary working vehicles. For example, taking the quay crane as an example, the maintenance personnel and maintenance vehicles on the sea side of the quay crane large vehicle are relatively small, so the magnet sensing device can be set on the sea side of the sea side anchoring device of the large vehicle, and the positioning magnet is correspondingly set on the sea side of the sea side of the sea side driving track of the large vehicle. Of course, it is understandable that setting the magnet sensing device at other positions, such as the land side on the sea side anchoring device, or the sea side or land side on the road side anchoring device, etc., has no substantial impact on the implementation of the scheme.

[0063] In practical applications, in order to facilitate the inspection and maintenance of the positioning magnets, after the positioning magnets are set, the positions of the positioning magnets can be marked with conspicuous paint. Furthermore, multiple positioning magnets are preferably evenly arranged, so that it is convenient for actual setting and subsequent determination of the positions of each positioning magnet. At the same time, marking the positions of the positioning magnets with paint is also more beautiful. The number and spacing of the positioning magnets can be adjusted according to actual needs, and there is no specific limitation.

[0064] In addition, before applying the method of this embodiment, the absolute position set MAP of each positioning magnet can be measured and established in advance. The absolute position set MAP can be based on one end of the driving track as the origin, or on other fixed positions as the origin, without specific limitation.

[0065] When the cart moves along the track, the magnet sensing device will send a magnet sensing signal to the cart positioning device when it follows the cart passing the positioning magnet. Therefore, the cart positioning device can determine the number of positioning magnets that the cart is currently passing according to the number of magnet sensing signals received, and then determine the position of the target positioning magnet. It should be noted that in the embodiment of the present application and subsequent embodiments, the target positioning magnet is the positioning magnet that passes in the current direction of travel of the cart and is closest to the cart (it can also be understood as: from a time perspective, the positioning magnet that the cart has passed most recently). Among them, the position of the target positioning magnet can be obtained by querying the absolute position set MAP of each positioning magnet established in advance, so it is an absolutely accurate value. Therefore, when it is used as the first position parameter GPOS of the cart in this step, it has sufficient accuracy.

[0066] In some embodiments, step S101 (determining the position of the target positioning magnet as the first position parameter of the cart based on the magnet induction signal output by the detection and counting device) may specifically include: determining the number of positioning magnets passed by the cart in the current direction of travel based on the magnet induction signal output by the detection and counting device; determining the position of the target positioning magnet as the first position parameter of the cart based on the number of positioning magnets passed by the cart in the current direction of travel.

[0067] Specifically, in this embodiment, the direction from the starting point to the end point can be called the positive direction, and the direction from the end point to the starting point can be called the reverse direction. Based on this, the cart positioning device can first determine the number N of positioning magnets that the cart passes in the direction of travel according to the number of magnet induction signals received and the moving direction of the cart when passing the positioning magnet, wherein when the cart passes the positioning magnet in the positive direction, the N value is increased by 1, and when the cart passes the positioning magnet in the reverse direction, the N value is reduced by 1; and then according to the number N of positioning magnets that the cart passes in the current direction of travel and the position of each positioning magnet, the position of the target positioning magnet can be determined, that is, the first position parameter of the cart is determined. With this arrangement, the process of determining the first position parameter of the cart is simple and effective, which is convenient for shortening the positioning time as a whole.

[0068] Step S102: Determine the second position parameter of the trolley based on the first pulse number accumulated by the detection and counting device; wherein the first pulse number is the pulse number accumulated by the detection and counting device during the process of the trolley moving from the position of the target positioning magnet to the current position.

[0069] Specifically, the component of the detection and counting device for accumulating the number of pulses can be an encoder, more specifically, an absolute encoder or an incremental encoder. Among them, when considering factors such as accuracy and stability, an absolute encoder is preferred.

[0070] The encoder can be pre-set on the wheel axle of the cart. During the movement of the cart, as the wheel axle rotates, the encoder can continuously accumulate the number of pulses. Based on this principle, on the basis of step S101, after the first position parameter of the cart is determined by the absolute position of the positioning magnet, in the process of the cart approaching the positioning magnet corresponding to the first position parameter to the next positioning magnet, the distance value of the cart relative to the positioning magnet corresponding to the first position parameter can be determined by the number of pulses accumulated by the encoder, and the distance value is used as the second position parameter of the cart.

[0071] In some embodiments, step S102 (determining the second position parameter of the vehicle based on the first number of pulses accumulated by the detection and counting device) may specifically include: obtaining the unit moving distance of the vehicle corresponding to each time the detection and counting device accumulates a pulse; and calculating the second position parameter of the vehicle based on the first number of pulses and the unit moving distance.

[0072] Specifically, the detection counting device takes an absolute value encoder as an example, and the unit moving distance of the trolley corresponding to each accumulated pulse is recorded as Scaling, which can be determined in advance through experiments and stored in the memory. In this way, in this embodiment, the unit moving distance Scaling of the trolley can be directly queried by calling the data in the memory, and then combined with the first pulse number ΔV1, the product of the two ΔV1*Scaling is the second position parameter of the trolley.

[0073] Step S103: Based on the first position parameter and the second position parameter, the current position of the vehicle is obtained.

[0074] Specifically, after obtaining the first position parameter GPOS and the second position parameter ΔV1*Scaling of the vehicle, the sum of the two is the current position of the vehicle.

[0075] For ease of understanding, the following description will be given with reference to the accompanying drawings. Figure 2 , Figure 2 This is a schematic diagram of the principle of a crane trolley positioning method in one embodiment of the present application. It should be noted that: Figure 2 For the sake of convenience, the proportions of some structures have been adjusted. In actual applications, the proportions of each part can be Figure 2 Different than shown.

[0076] like Figure 2 As shown, in this embodiment, the starting position of the vehicle track is taken as the origin, and the absolute position set MAP of multiple positioning magnets 1 is established. Figure 2 After the position shown in FIG. 1 is reached, the first position parameter GPOS of the vehicle is determined according to the magnet sensing signal output by the magnet sensing device 2. Figure 2, the first position parameter GPOS is equivalent to the absolute position of the third positioning magnet, which can be obtained by querying the absolute position set MAP of multiple positioning magnets. After that, the second position parameter ΔV1*Scaling of the trolley is obtained according to the product of the first pulse number ΔV1 accumulated by the encoder and the unit moving distance Scaling of the trolley. Then, the first position parameter GPOS and the second position parameter ΔV1*Scaling are summed to obtain the current position of the trolley, that is, the actual position relative to the starting position.

[0077] Compared with the traditional solution that only relies on encoders to locate the truck, in the solution of this embodiment, based on the truck positioning system and the corresponding positioning algorithm, the current position of the truck finally determined includes two parts: a first position parameter and a second position parameter. The first position parameter is completed by detecting the positioning magnet through a detection counting device. This process is not affected by weather and truck speed and is stable and reliable. The second position parameter, which is relatively easily affected by weather or truck speed, only accounts for a small part of the final result, which can reduce the impact of encoder errors on the final positioning results. Therefore, the final truck position is more accurate and more conducive to accurate positioning of the truck.

[0078] At the same time, the positioning magnet and the detection counting device have a simple structure, are easy to maintain, and are also convenient to adjust and use multiple times according to changes in actual application scenarios.

[0079] Based on the above solution, in some embodiments, the vehicle positioning method may further include:

[0080] Determine the second pulse number accumulated by the detection and counting device; the second pulse number is the number of pulses accumulated by the detection and counting device in the process of the vehicle starting from the n positioning magnets before passing the target positioning magnet to the target positioning magnet, and n is a positive integer, preferably 1, to facilitate subsequent calculations; obtain the unit moving distance of the vehicle corresponding to each pulse accumulated by the detection and counting device; based on the second pulse number and the unit moving distance, determine the parameters to be verified; based on the parameters to be verified, determine whether the positioning of the vehicle is abnormal.

[0081] Specifically, due to the aforementioned rainy and snowy weather and sudden braking of the truck, the number of pulses accumulated by the encoder will inevitably have errors, so the purpose of the scheme of this embodiment is to verify whether the error is too large. If the error is too large, it indicates that the positioning of the truck is abnormal. Among them, in this embodiment, the verification process is determined based on the number of pulses accumulated by the encoder during the entire process from the truck passing through the n positioning magnets before the target positioning magnet to passing through the target positioning magnet.

[0082] More specifically, in some embodiments, the determination of the parameter to be verified based on the second number of pulses and the unit moving distance may specifically include: calculating the product of the second number of pulses and the unit moving distance, and summing it with the positions of the n positioning magnets before the target positioning magnet, to obtain the position parameter to be verified of the trolley. Accordingly, the determination of whether the positioning of the trolley is abnormal based on the parameter to be verified may specifically include: if the absolute value of the difference between the position parameter to be verified and the first position parameter is higher than a first preset value, determining that the positioning of the trolley is abnormal; and when the absolute value of the difference between the position parameter to be verified and the first position parameter is lower than a first preset value, determining that there is no abnormality in the positioning of the trolley.

[0083] In this embodiment, the principle of verifying whether the positioning of the trolley is abnormal is that the positions of the n positioning magnets before the target positioning magnet can be obtained by querying the absolute position set MAP of each positioning magnet, so it is an absolutely accurate value, and in the process of the trolley moving from the n positioning magnets before the target positioning magnet to the target positioning magnet, the second pulse number ΔV2 accumulated by the encoder can be obtained, and the relative distance between the n positioning magnets before the target positioning magnet and the target positioning magnet can be calculated according to the product ΔV2 and the unit moving distance Scaling ΔV2*Scaling, and the relative distance and the absolute position of the n positioning magnets before the target positioning magnet are the position parameters to be verified; if the absolute value of the difference between the position parameter to be verified and the absolute position of the target positioning magnet is not higher than the first preset value, it indicates that the error of the encoder is within an acceptable range, that is, the positioning is normal; otherwise, if the absolute value of the difference between the position parameter to be verified and the absolute position of the target positioning magnet is higher than the first preset value, it indicates that the error of the encoder is too large, that is, the positioning is abnormal.

[0084] In some embodiments, considering that the width of the container lock is about 100 mm (millimeter), and the main purpose of the trolley positioning is to ensure that the spreader can accurately grasp the container, a certain margin can be added on the basis of 100 mm as the first preset value, so that the operation effect can be guaranteed within this range. Further, the first preset value can be 150 mm.

[0085] In other embodiments, the determination of the parameter to be verified based on the second number of pulses and the unit moving distance may specifically include: calculating the product of the second number of pulses and the unit moving distance as the distance to be verified. Accordingly, the determination of whether the positioning of the trolley is abnormal based on the parameter to be verified may specifically include: if the absolute value of the difference between the distance to be verified and the actual distance between a positioning magnet before the target positioning magnet and the target positioning magnet is higher than a first preset value, it is determined that the positioning of the trolley is abnormal; and when the absolute value of the difference between the distance to be verified and the actual distance between a positioning magnet before the target positioning magnet and the target positioning magnet is lower than a first preset value, it is determined that there is no abnormality in the positioning of the trolley.

[0086] In this embodiment, the principle of verifying whether the positioning of the trolley is abnormal is as follows: the actual distance between the n positioning magnets before the target positioning magnet and the target positioning magnet can be calculated by querying the absolute position set MAP of each positioning magnet; and in the process of the trolley moving from the n positioning magnets before the target positioning magnet to the target positioning magnet, the second pulse number ΔV2 accumulated by the encoder can be obtained, and the relative distance between the n positioning magnets before the target positioning magnet and the target positioning magnet, that is, the distance to be verified, can be calculated according to the product ΔV2 and the unit moving distance Scaling ΔV2*Scaling; further, if the absolute value of the difference between the distance to be verified and the actual distance is lower than the first preset value, it indicates that the error of the encoder is within an acceptable range, that is, the positioning is normal; otherwise, if the absolute value of the difference between the distance to be verified and the actual distance exceeds the first preset value, it indicates that the error of the encoder is too large, that is, the positioning is abnormal.

[0087] Through the scheme of the above embodiment, it can be determined whether the positioning of the large vehicle is abnormal. If the positioning is abnormal, it means that an abnormality occurs during the movement of the large vehicle, so an alarm can be issued to remind relevant personnel to stop the vehicle for inspection.

[0088] In addition, based on the above-mentioned solution for verifying whether the positioning of the large vehicle is abnormal, in some embodiments, the above-mentioned step S101 (determining the position of the target positioning magnet as the first position parameter of the large vehicle based on the magnet induction signal output by the detection and counting device) may specifically include:

[0089] If the absolute value of the difference between the position parameter to be verified and the position of the target positioning magnet is less than or equal to a second preset value, based on the magnet induction signal output by the detection and counting device, the position of the target positioning magnet is determined to be the first position parameter of the vehicle; wherein the second preset value is less than the first preset value.

[0090] Specifically, in this embodiment, when the absolute value of the difference between the position parameter to be verified and the position of the target positioning magnet is determined to be less than or equal to the second preset value, it indicates that the difference between the position parameter to be verified and the position of the target positioning magnet is very small, that is, the error of the encoder is very small, so there is no wheel slippage or sudden braking during the movement of the cart, then the deviation between the actual position of the cart when passing the target positioning magnet and the absolute position of the target positioning magnet will be very small. Based on this, after determining the absolute position of the target positioning magnet, it can be used as the first position parameter of the cart. In this case, it will not affect the subsequent normal operation of the cart. Among them, the second preset value can be pre-set according to the actual situation, so as to ensure that the cart can operate normally. For example, when the first preset value is 150mm, the second preset value can be 100mm.

[0091] Furthermore, in some embodiments, the above method may also include: if the absolute value of the difference between the position parameter to be verified and the first position parameter is greater than the second preset value but less than the first preset value, clearing the number of pulses accumulated by the detection counting device.

[0092] Specifically, in this embodiment, when the absolute value of the difference between the position parameter to be verified and the first position is greater than the second preset value but less than the first preset value, it indicates that a deviation has occurred during the movement of the trolley, but the deviation has not reached the level that requires stopping for inspection. As described in the previous embodiment, when a deviation occurs in the movement of the trolley, it will cause errors in the number of pulses accumulated by the encoder. Therefore, in this embodiment, in this case, the number of pulses accumulated by the encoder in the detection and counting device is cleared, that is, the encoder will start accumulating from zero the next time it accumulates the number of pulses. In this way, the errors accumulated during the previous operation of the encoder can be eliminated, thereby improving the subsequent positioning accuracy.

[0093] Exemplary Devices

[0094] In one embodiment, Figure 3 As shown, a crane trolley positioning device is provided, which is applied to a trolley positioning system. The trolley positioning system includes a trolley positioning device, a plurality of positioning magnets arranged on the ground, and a detection and counting device arranged on the trolley; the device includes: a first position determination module 31, a second position determination module 32 and a calculation module 33; wherein:

[0095] The first position determination module 31 is used to determine the position of the target positioning magnet as the first position parameter of the vehicle based on the magnet induction signal output by the detection and counting device; wherein the target positioning magnet is the positioning magnet that the vehicle passes by and is closest to in the current traveling direction of the vehicle;

[0096] A second position determination module 32 is used to determine a second position parameter of the vehicle based on the first pulse number accumulated by the detection and counting device; wherein the first pulse number is the pulse number accumulated by the detection and counting device during the process of the vehicle moving from the position of the target positioning magnet to the current position;

[0097] The calculation module 33 is used to obtain the current position of the vehicle based on the first position parameter and the second position parameter.

[0098] In one embodiment, Figure 3 As shown, the device also includes a verification module 34; the verification module is used to: determine the second pulse number accumulated by the detection and counting device; the second pulse number is the number of pulses accumulated by the detection and counting device during the process of the vehicle passing through the n positioning magnets before the target positioning magnet and moving to the target positioning magnet, and n is a positive integer; obtain the unit moving distance of the vehicle corresponding to each pulse accumulated by the detection and counting device; determine the parameters to be verified based on the second pulse number and the unit moving distance; and determine whether the positioning of the vehicle is abnormal based on the parameters to be verified.

[0099] In one embodiment, the verification module 34 is specifically used to: calculate the product of the second pulse number and the unit moving distance, and sum it with the positions of the n positioning magnets before the target positioning magnet to obtain the position parameter to be verified of the trolley; when the absolute value of the difference between the position to be verified and the first position parameter is higher than a first preset value, it is determined that the positioning of the trolley is abnormal.

[0100] In one embodiment, the first position determination module 31 is specifically used to: if the absolute value of the difference between the position parameter to be verified and the position of the target positioning magnet is less than or equal to a second preset value, based on the magnet induction signal output by the detection and counting device, determine the position of the target positioning magnet as the first position parameter of the vehicle; wherein the second preset value is less than the first preset value.

[0101] In one embodiment, the verification module 34 is further used to: if the absolute value of the difference between the position parameter to be verified and the first position parameter is greater than the second preset value but less than the first preset value, clear the number of pulses accumulated by the detection counting device.

[0102] In one embodiment, the first position determination module 31 is specifically used to: determine the number of positioning magnets passed by the vehicle in the current direction of travel based on the magnet induction signal of the detection and counting device; determine the position of the target positioning magnet based on the number of positioning magnets passed by the vehicle in the current direction of travel as the first position parameter of the vehicle.

[0103] In one embodiment, the second position determination module 32 is specifically used to: obtain the unit moving distance of the vehicle corresponding to each time the detection counting device accumulates a pulse; and calculate the second position parameter of the vehicle based on the first number of pulses and the unit moving distance.

[0104] The specific definition of the crane trolley positioning device can be found in the definition of the crane trolley positioning method mentioned above, which will not be repeated here. Each module in the above-mentioned crane trolley positioning device can be implemented in whole or in part by software, hardware and a combination thereof. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0105] Exemplary Cart Positioning Equipment

[0106] In one embodiment, a crane trolley positioning device is provided, comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the method described in any embodiment of the above exemplary method when executing the computer program.

[0107] Exemplary Cart Positioning System

[0108] In one embodiment, a crane trolley positioning system is provided, comprising:

[0109] Such as the crane trolley positioning equipment mentioned above;

[0110] A plurality of positioning magnets disposed on the ground;

[0111] The detection and counting device arranged on the trolley is communicatively connected with the crane trolley positioning device, and is used to output a magnet induction signal to the crane trolley positioning device when the trolley passes through the positioning magnet, and is used to accumulate the number of pulses during the movement of the trolley and send them to the crane trolley positioning device.

[0112] In some embodiments, the detection and counting device comprises:

[0113] A magnet sensing device, used for outputting a magnet sensing signal to the crane trolley positioning device when the trolley passes through the positioning magnet;

[0114] The encoder is arranged on the wheels of the trolley and is used to accumulate the number of pulses during the movement of the trolley and send the pulses to the crane trolley positioning device.

[0115] Example crane

[0116] In one embodiment, a crane is provided, comprising:

[0117] cart;

[0118] Such as the crane trolley positioning equipment mentioned above;

[0119] The detection and counting device arranged on the trolley is communicatively connected with the crane trolley positioning device, and is used to output a magnet induction signal to the crane trolley positioning device when the trolley passes through multiple positioning magnets arranged on the ground, and is used to accumulate the number of pulses during the movement of the trolley and send them to the crane trolley positioning device.

[0120] Exemplary computer program products and computer-readable storage media

[0121] In one embodiment, a computer program product is provided, which includes computer program instructions. When the computer program instructions are executed by a processor, the processor executes the steps of the crane trolley positioning method according to various embodiments of the present application described in the above exemplary method section of this specification.

[0122] The computer program product may be written in any combination of one or more programming languages ​​to write program codes for performing the operations of the embodiments of the present application, including object-oriented programming languages ​​such as Java, C++, etc., and also conventional procedural programming languages ​​such as "C" language or similar programming languages. The program code may be executed entirely on the device or as a separate software package.

[0123] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, each step of the crane trolley positioning method shown in each embodiment of the above exemplary method part is implemented.

[0124] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0125] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0126] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. A crane trolley positioning method, characterized in that: Applied to a large vehicle positioning system, the large vehicle positioning system comprises a large vehicle positioning device, a plurality of positioning magnets arranged on the ground and a detection and counting device arranged on the large vehicle; the method comprises: Based on the magnet induction signal output by the detection and counting device, the position of the target positioning magnet is determined as the first position parameter of the vehicle; wherein the target positioning magnet is the positioning magnet that the vehicle passes by and is closest to in the current traveling direction of the vehicle; Based on the first pulse number accumulated by the detection and counting device, a second position parameter of the vehicle is determined; wherein the first pulse number is the pulse number accumulated by the detection and counting device during the process of the vehicle moving from the position of the target positioning magnet to the current position; Based on the first position parameter and the second position parameter, obtaining the current position of the vehicle; Determine the second pulse number accumulated by the detection and counting device; the second pulse number is the pulse number accumulated by the detection and counting device during the process of the vehicle passing through n positioning magnets before the target positioning magnet and moving to the target positioning magnet, where n is a positive integer; Obtaining the unit moving distance of the vehicle corresponding to each pulse accumulated by the detection counting device; Determining a parameter to be verified based on the second pulse number and the unit movement distance; Based on the parameters to be verified, determine whether the positioning of the vehicle is abnormal.

2. The method according to claim 1, characterized in that The step of determining the parameter to be verified based on the second number of pulses and the unit moving distance includes: The product of the second pulse number and the unit moving distance is calculated, and the sum is added to the positions of the n positioning magnets before the target positioning magnet to obtain the position parameter to be verified of the trolley.

3. The method according to claim 2, characterized in that The determining whether the positioning of the vehicle is abnormal based on the parameters to be verified includes: The absolute value of the difference between the position parameter to be verified and the first position parameter is higher than a first preset value, and it is determined that the positioning of the large vehicle is abnormal.

4. The method according to claim 2, characterized in that: The determining whether the positioning of the vehicle is abnormal based on the parameters to be verified further includes: The absolute value of the difference between the position parameter to be verified and the first position parameter is lower than a first preset value, and it is determined that there is no abnormality in the positioning of the vehicle.

5. The method according to claim 3, characterized in that: The method of determining the position of the target positioning magnet as the first position parameter of the vehicle based on the magnet induction signal output by the detection and counting device includes: The absolute value of the difference between the position parameter to be verified and the position of the target positioning magnet is less than or equal to a second preset value, and based on the magnet induction signal output by the detection and counting device, the position of the target positioning magnet is determined to be the first position parameter of the vehicle; wherein the second preset value is less than the first preset value.

6. The method according to claim 5, characterized in that Also includes: When the absolute value of the difference between the position parameter to be verified and the first position parameter is greater than the second preset value but less than the first preset value, the number of pulses accumulated by the detection counting device is reset to zero.

7. The method according to claim 1, characterized in that The method of determining the position of the target positioning magnet as the first position parameter of the vehicle based on the magnet induction signal output by the detection and counting device includes: Based on the magnet induction signal of the detection and counting device, determining the number of positioning magnets passed by the vehicle in the current direction of travel; Based on the number of positioning magnets passed by the vehicle in the current traveling direction, the position of the target positioning magnet is determined as the first position parameter of the vehicle.

8. The method according to claim 1, characterized in that: The determining of the second position parameter of the vehicle based on the first pulse number accumulated by the detection counting device comprises: Obtaining the unit moving distance of the vehicle corresponding to each pulse accumulated by the detection counting device; Based on the first number of pulses and the unit moving distance, a second position parameter of the vehicle is calculated.

9. A crane trolley positioning device, characterized in that: Applied to a large vehicle positioning system, the large vehicle positioning system comprises a large vehicle positioning device, a plurality of positioning magnets arranged on the ground and a detection and counting device arranged on the large vehicle; the device comprises: A first position determination module is used to determine the position of the target positioning magnet as the first position parameter of the vehicle based on the magnet induction signal output by the detection and counting device; wherein the target positioning magnet is the positioning magnet that the vehicle passes by and is closest to in the current traveling direction of the vehicle; A second position determination module is used to determine a second position parameter of the vehicle based on the first pulse number accumulated by the detection and counting device; wherein the first pulse number is the pulse number accumulated by the detection and counting device during the process of the vehicle moving from the position of the target positioning magnet to the current position; A calculation module, used for obtaining the current position of the vehicle based on the first position parameter and the second position parameter; A verification module is used to determine the second pulse number accumulated by the detection and counting device; the second pulse number is the number of pulses accumulated by the detection and counting device in the process of the vehicle passing through the n positioning magnets before the target positioning magnet and moving to the target positioning magnet, where n is a positive integer; obtain the unit moving distance of the vehicle corresponding to each pulse accumulated by the detection and counting device; determine the parameters to be verified based on the second pulse number and the unit moving distance; and determine whether the positioning of the vehicle is abnormal based on the parameters to be verified.

10. A crane trolley positioning device, comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 8 are implemented.

11. A positioning system for a crane, characterized in that: include: The crane trolley positioning device according to claim 10; A plurality of positioning magnets disposed on the ground; The detection and counting device arranged on the trolley is communicatively connected with the crane trolley positioning device, and is used to output a magnet induction signal to the crane trolley positioning device when the trolley passes through the positioning magnet, and is used to accumulate the number of pulses during the movement of the trolley and send them to the crane trolley positioning device.

12. The positioning system for a crane according to claim 11, characterized in that: The detection and counting device comprises: A magnet sensing device, used for outputting a magnet sensing signal to the crane trolley positioning device when the trolley passes through the positioning magnet; The encoder is arranged on the wheels of the trolley and is used to accumulate the number of pulses during the movement of the trolley and send the pulses to the crane trolley positioning device.

13. A crane, characterized in that: include: cart; The crane trolley positioning device according to claim 10; The detection and counting device arranged on the trolley is communicatively connected with the crane trolley positioning device, and is used to output a magnet induction signal to the crane trolley positioning device when the trolley passes through multiple positioning magnets arranged on the ground, and is used to accumulate the number of pulses during the movement of the trolley and send them to the crane trolley positioning device.

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