RGV positioning system and method based on multi-sensor fusion of gravity energy storage

Abstract

The present invention discloses a RGV positioning system based on multi-sensor fusion of gravity energy storage, wherein a photoelectric switch is arranged on the side of the RGV trolley, an encoder is arranged at the wheel axle diameter of the RGV trolley, a first laser ranging sensor is arranged at the front end of the RGV trolley, a second laser ranging sensor is arranged at the rear end of the RGV trolley, a third laser ranging sensor is arranged at the bottom of the RGV trolley, a hydraulic lifting platform is arranged on the RGV trolley, a magnetic induction sensor is arranged at the center of the RGV trolley, a PLC controller is arranged on the RGV trolley, and the PLC controller is respectively connected with the photoelectric switch, the encoder, the first laser ranging sensor, the second laser ranging sensor, the third laser ranging sensor, the hydraulic lifting platform, and the magnetic induction sensor. The RGV positioning system with multi-sensor fusion of the present invention can enable the RGV trolley to realize functions such as repeated high-precision positioning and automatic correction of material position in the gravity energy storage structure.

Description

Technical Field

[0001] The present invention relates to the field of multi-sensor fusion, and in particular to an RGV positioning system and method based on multi-sensor fusion of gravity energy storage. Background Art

[0002] With the continuous development of renewable energy, the power grid has an increasing demand for various energy storage technologies. Gravity energy storage is a physical energy storage that is both environmentally friendly and economically competitive, and has received more and more attention in recent years. Rail Guided Vehicles (RGV) can efficiently and automatically connect with other logistics systems, do not require human operation, and have a high operating speed. They are widely used in gravity energy storage.

[0003] Traditional positioning uses barcode positioning or ultrasonic positioning, but barcode positioning has high requirements for application scenarios, and the accuracy of barcode positioning will decrease over time; ultrasonic positioning has blind spots and low reliability. In the gravity energy storage project, the RGV trolley is located in a high-altitude tunnel, and the working environment is extremely difficult for manual maintenance. Therefore, extremely high requirements are placed on the maintenance cycle, reliability, self-positioning, and self-position correction of the RGV trolley. Summary of the invention

[0004] In view of the problems existing in the prior art, the present invention provides an RGV positioning system and method based on multi-sensor fusion of gravity energy storage, which can enable the RGV vehicle to achieve repeated high-precision positioning, automatic correction of the gravity block position and other functions in the gravity energy storage structure.

[0005] To achieve the above technical objectives, the present invention adopts the following technical solutions: an RGV positioning system based on multi-sensor fusion of gravity energy storage, comprising: an RGV trolley, a photoelectric switch, an encoder, a first laser ranging sensor, a second laser ranging sensor, a third laser ranging sensor, a hydraulic lifting platform, a magnetic induction sensor, and a PLC controller. The RGV trolley is arranged on the RGV track in the gravity energy storage structure, the photoelectric switch is arranged on the side of the RGV trolley, the encoder is arranged at the wheel shaft diameter of the RGV trolley, the first laser ranging sensor is arranged at the front end of the RGV trolley, the second laser ranging sensor is arranged at the rear end of the RGV trolley, the third laser ranging sensor is arranged at the lower end of the hydraulic lifting platform, the hydraulic lifting platform is arranged on the RGV trolley, the magnetic induction sensor is arranged at the center of the RGV trolley, the PLC controller is arranged on the RGV trolley, and the PLC controller is respectively connected to the photoelectric switch, the encoder, the first laser ranging sensor, the second laser ranging sensor, the third laser ranging sensor, the hydraulic lifting platform, and the magnetic induction sensor.

[0006] Furthermore, the model of the PLC controller is FX5U, the photoelectric switch is connected to the first I / O interface of the central processing unit of the PLC controller, the encoder is connected to the second I / O interface of the central processing unit of the PLC controller, the first laser ranging sensor is connected to the third I / O interface of the central processing unit of the PLC controller, the second laser ranging sensor is connected to the fourth I / O interface of the central processing unit of the PLC controller, the third laser ranging sensor is connected to the fifth I / O interface of the central processing unit of the PLC controller, the hydraulic lifting platform is connected to the sixth I / O interface of the central processing unit of the PLC controller, and the magnetic induction sensor is connected to the seventh I / O interface of the central processing unit of the PLC controller.

[0007] Further, the hydraulic lifting platform is composed of a hydraulic cylinder and a lifting platform, and the hydraulic cylinder is connected to the sixth I / O interface of the central processing unit of the PLC controller;

[0008] Furthermore, the model of the photoelectric switch is E3F3-D12.

[0009] Furthermore, the model of the encoder is E6B2-CWZ5B.

[0010] Furthermore, the models of the first laser ranging sensor and the second laser ranging sensor are both DSK-CG-10C.

[0011] Furthermore, the model of the third laser ranging sensor is HG-C1400.

[0012] Furthermore, the model of the magnetic induction sensor is HM18-50NA.

[0013] The present invention also provides a positioning method of an RGV positioning system based on multi-sensor fusion of gravity energy storage, which specifically includes the following steps:

[0014] Step S1, the host computer is connected to the eighth I / O interface of the PLC controller, and an instruction is sent to the PLC controller through the host computer to move the gravity block on the elevator side to the storage place of the gravity block at the front end of the RGV trolley through the RGV trolley;

[0015] Step S2, the PLC controller receives the above instruction, sends a signal to the third laser distance measuring sensor to measure the distance from the top of the hydraulic lifting platform to the RGV trolley, and transmits the distance information to the PLC controller;

[0016] Step S3, the PLC controller determines whether the distance from the top of the hydraulic lifting platform to the RGV trolley is less than 0.5m. If not, the PLC controller controls the hydraulic lifting platform to descend until the distance from the top of the hydraulic lifting platform to the RGV trolley is less than 0.5m. The PLC controller sends a second laser ranging sensor to measure the distance between the rear end of the RGV trolley and the gravity block to be transported, and according to the preset distance of the positioning target block, the number of the positioning target blocks to be identified at the rear end of the RGV trolley is obtained;

[0017] Step S4, determine whether the number of target blocks to be identified and positioned is greater than 2. If so, control the RGV trolley to move backward, and use the second laser sensor to measure the distance between the rear end of the RGV trolley and the gravity block to be transported in real time, and update the number of target blocks to be identified and positioned; otherwise, the RGV trolley remains stationary;

[0018] Step S5, when the number of the target blocks to be identified and positioned is updated to 1, the position data M1 of the encoder is recorded, and the RGV trolley is controlled to start decelerating;

[0019] Step S6, when the number of the target blocks to be identified and positioned is updated to 0, the RGV trolley stops running, and records the position data M2 of the encoder, and sends a signal through the PLC controller to detect whether the magnetic induction sensor detects the induction magnet on the bottom surface of the gravity block to be transported;

[0020] Step S7, calculate the moving distance of the encoder through the recorded position data M1 and M2 of the encoder. When the moving distance is not within the range of 1099-1101mm or the magnetic induction sensor has no signal, there is a position deviation between the weight block to be transported and the positioning mark block, and the position of the weight block to be transported needs to be corrected until the moving distance is 1099-1101mm and the magnetic induction sensor has a signal, then the RGV trolley is in place and aligned with the center of the weight block to be transported, and the hydraulic lifting platform is lifted until the hydraulic lifting platform carries the weight block to be transported;

[0021] Step S8, controlling the RVG trolley carrying the gravity block to move to the storage area of ​​the gravity block at the front end of the RGV track, controlling the first laser ranging sensor through the PLC controller to measure the distance between the front end of the RVG trolley and the gravity block storage area, and obtaining the number of the target blocks to be identified at the front end of the RGV trolley according to the preset distance of the target blocks;

[0022] Step S9, judging whether the number of target blocks to be identified and positioned at the front end is greater than 2, if so, controlling the RGV trolley to move forward, and using the first laser sensor to measure the distance between the front end of the RGV trolley and the gravity block storage area in real time, and updating the number of target blocks to be identified and positioned; otherwise, the RGV trolley remains stationary; when the number of target blocks to be identified and positioned at the front end is 1, recording the encoder position data M3, and the RGV trolley starts to decelerate;

[0023] Step S10, when the number of the target blocks to be identified and positioned at the front end is 0, the RGV trolley stops running and records the encoder position data M4;

[0024] Step S11, calculate the moving distance of the encoder through the recorded position data M3 and M4 of the encoder. If the moving distance is 1099-1101 mm, the hydraulic lifting platform descends until the storage of the transporting gravity block is completed. Otherwise, the encoder data is corrected according to the position information of the positioning mark block to complete the clearing of the encoder cumulative error.

[0025] Step S12, the RGV trolley completes the transportation and storage of the elevator side gravity block and returns to the standby position.

[0026] Furthermore, the position correction process of the gravity block to be transported in step S7 is as follows:

[0027] (a) If the RGV trolley detects a magnetic induction signal before stopping, the encoder data M5 is recorded when the induction magnet is detected, and the gravity block offset distance L1 is calculated; otherwise, step (d) is executed;

[0028] (b) Move the RGV trolley forward to the offset distance L1 of the gravity block. At this time, the magnetic induction sensor detects the induction magnet and raises the hydraulic lift to the specified height;

[0029] (c) Move the RGV trolley back to the offset distance L1 of the gravity block. At this time, the photoelectric switch detects the positioning mark block to be identified and completes the position correction of the gravity block;

[0030] (d) If no magnetic induction signal is detected before the RGV stops running, the RGV continues to move backward;

[0031] (e) When the induction magnet is detected, the encoder data M6 is recorded, the RGV trolley stops running, and the gravity block offset position L2 is calculated to raise the hydraulic lifting platform to the specified height;

[0032] (f) Move the RGV trolley back to the gravity block offset position L2. At this time, the photoelectric switch detects the positioning mark block to be identified and completes the gravity block position correction.

[0033] Compared with the prior art, the present invention has the following beneficial effects:

[0034] (1) The multi-sensor fusion RGV positioning system and method of the present invention uses photoelectric switches, laser ranging sensors, encoders, and magnetic induction sensors for fusion positioning, which can solve the drawbacks of poor reliability and cumulative errors of a single positioning method after long-term operation of the traditional RGV, thereby ensuring the stability of the system;

[0035] (2) The multi-sensor fusion RGV positioning system and method of the present invention, through the coordinated action of the encoder, magnetic sensor, and hydraulic lifting platform, automatically corrects the position between the transported gravity block and the RGV trolley to prevent the relative offset between the gravity block and the RGV trolley after repeated transport, thereby avoiding the risk of the gravity block falling from the RGV trolley;

[0036] (3) The multi-sensor fusion RGV positioning system and method of the present invention calculates the moving distance of the RGV trolley through a laser ranging sensor, uses a photoelectric switch to identify the target block for positioning, and collects encoder data to ensure positioning accuracy. It can achieve dual or multiple positioning guarantees for the RGV and avoid the problem of immediate shutdown and maintenance due to damage to a single sensor;

[0037] The RGV positioning system with multi-sensor fusion in the present invention has high positioning accuracy, can effectively reduce positioning costs, and is more convenient and practical. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a structural schematic diagram of the RGV positioning system of multi-sensor fusion of the present invention;

[0039] Figure 2 This is a schematic diagram of the electrical connection relationship of the PLC controller in the present invention;

[0040] Figure 3 It is a structural schematic diagram of the hydraulic lifting platform in the present invention;

[0041] Figure 4 This is an application diagram of the RGV positioning system of the present invention with multi-sensor fusion on a gravity energy storage structure;

[0042] Among them, 1-RGV track, 2-RGV trolley, 3-photoelectric switch, 4-encoder, 5-first laser ranging sensor, 6-second laser ranging sensor, 7-third laser ranging sensor, 8-hydraulic lifting platform, 9-magnetic induction sensor, 10-gravity block, 11-positioning mark, 12-PLC controller, 81-hydraulic cylinder, 82-lifting platform. DETAILED DESCRIPTION

[0043] The technical solution of the present invention is further explained below in conjunction with the accompanying drawings.

[0044] like Figure 1It is a structural schematic diagram of the RGV positioning system of multi-sensor fusion of the present invention, and the RGV positioning system includes: an RGV trolley 2, a photoelectric switch 3, an encoder 4, a first laser ranging sensor 5, a second laser ranging sensor 6, a third laser ranging sensor 7, a hydraulic lifting platform 8, a magnetic induction sensor 9, and a PLC controller 12. The photoelectric switch 3 is arranged on the side of the RGV trolley 2, the encoder 4 is arranged at the wheel axle diameter of the RGV trolley 2, the first laser ranging sensor 5 is arranged at the front end of the RGV trolley 2, the second laser ranging sensor 6 is arranged at the rear end of the RGV trolley 2, the third laser ranging sensor 7 is arranged at the lower end of the hydraulic lifting platform 8, the hydraulic lifting platform 8 is arranged on the RGV trolley 2, the magnetic induction sensor 9 is arranged at the center of the RGV trolley 2, and the PLC controller 12 is arranged on the RGV trolley 2, and the PLC controller 12 is respectively connected to the photoelectric switch 3, the encoder 4, the first laser ranging sensor 5, the second laser ranging sensor 6, the third laser ranging sensor 7, the hydraulic lifting platform 8, and the magnetic induction sensor 9. The multi-sensor fusion RGV positioning system of the present invention controls the coordinated operation of the photoelectric switch 3, the encoder 4, the first laser ranging sensor 5, the second laser ranging sensor 6, the third laser ranging sensor 7, the hydraulic lifting platform 8, and the magnetic induction sensor 9 through the PLC controller 12, which can solve the drawbacks of poor reliability and cumulative errors of the single positioning method of the traditional RGV trolley 2 after long-term operation, and ensure the stability of the RGV positioning system; at the same time, the position between the transported gravity block and the RGV trolley 2 is automatically corrected to prevent the relative offset between the gravity block and the RGV trolley 2 after repeated transport, and avoid the risk of the gravity block falling from the RGV trolley; in addition, through the fusion application of multiple sensors, the problem of immediate shutdown and maintenance due to damage to a single sensor is avoided. The multi-sensor fusion RGV positioning system of the present invention has high positioning accuracy, can effectively reduce positioning costs, and is more convenient and practical.

[0045] The model of the PLC controller in the present invention is FX5U. Figure 2, the photoelectric switch 3 is connected to the first I / O interface of the central processing unit of the PLC controller 12. The model of the photoelectric switch 3 in the present invention is E3F3-D12, which is used to calculate the number of positioning mark blocks 11 and determine the placement position of the weight block 10; the encoder 4 is connected to the second I / O interface of the central processing unit of the PLC controller 12. The model of the encoder in the present invention is E6B2-CWZ5B, which is used to calculate the moving distance of the RGV trolley 2; the first laser ranging sensor 5 is connected to the third I / O interface of the central processing unit of the PLC controller 12. The first laser ranging sensor 5 is used to obtain the distance between the front end of the RGV trolley 2 and the gravity block storage area, calculate the number of positioning mark blocks to be identified in the forward direction and obstacle avoidance detection; the second laser ranging sensor 6 is connected to the fourth I / O interface of the central processing unit of the PLC controller 12. The second laser ranging sensor 6 is used to obtain the distance between the rear end of the RGV trolley and the gravity block to be transported on the elevator side, calculate the number of positioning mark blocks to be identified in the backward direction and obstacle avoidance detection; at the same time, the first laser ranging sensor in the present invention The optical distance measuring sensor 5 and the second laser distance measuring sensor 6 are both of the model DSK-CG-10C, which are long-distance distance measuring sensors; the hydraulic lifting platform 8 is connected to the sixth I / O interface of the central processing unit of the PLC controller 12, and the lifting and lowering of the hydraulic lifting platform 8 is controlled by the PLC controller 12, which is used to lift or lower the weight block to be transported; the third laser distance measuring sensor 7 is connected to the fifth I / O interface of the central processing unit of the PLC controller 12. The model of the third laser distance measuring sensor 7 in the present invention is HG-C1400, which is a short-distance distance measuring sensor, used to obtain the distance from the top of the hydraulic lifting platform 8 to the RGV trolley 2; the hydraulic lifting platform 8 is connected to the sixth I / O interface of the central processing unit of the PLC controller 12, which is used to lift and place the weight block 10; the magnetic induction sensor 9 is connected to the seventh I / O interface of the central processing unit of the PLC controller 12. The model of the magnetic induction sensor 9 in the present invention is HM18-50NA, which is used to detect the position of the induction magnet on the weight block 10 and correct the position of the weight block 10.

[0046] like Figure 3 In the present invention, the hydraulic lifting platform is composed of a hydraulic cylinder 81 and a lifting platform 82. The hydraulic cylinder 81 is connected to the sixth I / O interface of the central processing unit of the PLC controller 12 to control the lifting of the hydraulic lifting platform 8.

[0047] The multi-sensor fusion RGV positioning system of the present invention is applied to the gravity energy storage structure, such as Figure 4As shown, the RGV trolley 2 in the multi-sensor fusion RGV positioning system of the present invention is set on the RGV track 1, and a positioning mark block 11 is provided at the lower end of the RGV track 1. The positioning mark block 11 corresponds to the center position of the gravity block 10 and is used to assist the RGV positioning; the front end of the RGV trolley 2 is used to store the gravity blocks 10, and the RGV trolley 2 is used to carry the gravity blocks 10. An induction magnet is provided at the bottom center of each gravity block 10 to determine whether there is an offset in the position of the gravity block 10; an elevator area is provided at the rear end of the RGV track 1 for placing the gravity blocks 10 to be lifted.

[0048] The present invention applies the RGV positioning system of multi-sensor fusion to the gravity energy storage structure. The specific positioning process is as follows:

[0049] Step S1, the host computer is connected to the eighth I / O interface of the PLC controller 12, and an instruction is sent to the PLC controller 12 through the host computer to move the gravity block 10 on the elevator side to the gravity block storage location at the front end of the RGV trolley 2 through the RGV trolley 2;

[0050] Step S2, the PLC controller 12 receives the above instruction, sends a signal to the third laser distance measuring sensor 7 to measure the distance from the top of the hydraulic lifting platform 8 to the RGV trolley 2, and transmits the distance information to the PLC controller 12;

[0051] Step S3, the PLC controller 12 determines whether the distance from the top of the hydraulic lifting platform 8 to the RGV trolley 2 is less than 0.5m. If not, the PLC controller 12 controls the hydraulic lifting platform 8 to descend until the distance from the top of the hydraulic lifting platform 8 to the RGV trolley 2 is less than 0.5m. The PLC controller 12 sends a signal to measure the distance between the rear end of the RGV trolley 2 and the gravity block to be transported through the second laser ranging sensor 6, and according to the preset distance of the positioning target block 11, the number of the positioning target blocks to be identified at the rear end of the RGV trolley 2 is obtained;

[0052] Step S4, determine whether the number of target blocks to be identified and positioned is greater than 2. If so, control the RGV trolley 2 to move backward, and measure the distance between the RGV trolley 2 and the gravity block to be transported in real time through the second laser sensor 6, and update the number of target blocks to be identified and positioned; otherwise, the RGV trolley 2 remains stationary;

[0053] Step S5, when the number of the target blocks to be identified and positioned is updated to 1, the position data M1 of the encoder 4 is recorded, and the RGV trolley 2 is controlled to start decelerating;

[0054] Step S6, when the number of the target blocks to be identified and positioned is updated to 0, the RGV trolley 2 stops running, and records the position data M2 of the encoder 4, and sends a signal through the PLC controller 12 to detect whether the magnetic induction sensor 9 detects the induction magnet on the bottom surface of the gravity block 10;

[0055] Step S7, calculate the moving distance of the encoder 4 through the position data M1 and M2 recorded by the encoder 4. When the moving distance is not within the range of 1099-1101 mm or the magnetic induction sensor 9 has no signal, there is a position deviation between the weight block 10 to be transported and the positioning mark block 11, and the position of the weight block to be transported needs to be corrected until the moving distance is 1099-1101 mm and the magnetic induction sensor 9 has a signal, the RGV trolley 2 is in place and aligned with the center of the weight block 10 to be transported, and the hydraulic lifting platform 8 is lifted until the hydraulic lifting platform 8 carries the weight block 10 to be transported;

[0056] The process of position correction of the gravity block to be transported in the present invention is as follows:

[0057] (a) If the RGV trolley 2 detects a magnetic induction signal before stopping, the encoder data M5 is recorded when the induction magnet is detected, and the gravity block offset distance L1 is calculated; otherwise, step (d) is executed;

[0058] (b) The RGV trolley 2 moves forward to the offset distance L1 of the gravity block, at which time the magnetic induction sensor 9 detects the induction magnet and raises the hydraulic lifting platform 8 to the specified height;

[0059] (c) The RGV trolley 2 is moved back to the offset distance L1 of the gravity block. At this time, the photoelectric switch 3 detects the positioning mark block to be identified, and the position correction of the gravity block is completed;

[0060] (d) If no magnetic induction signal is detected before the RGV trolley 2 stops running, the RGV trolley 2 continues to move backward;

[0061] (e) When the induction magnet is detected, the encoder data M6 is recorded, the RGV trolley 2 stops running, and the offset position L2 of the gravity block is calculated, and the hydraulic lifting platform 8 is raised to the specified height;

[0062] (f) The RGV trolley 2 is moved back to the gravity block offset position L2. At this time, the photoelectric switch 3 detects the positioning mark block to be identified and completes the gravity block position correction.

[0063] Step S8, control the RVG trolley 2 carrying the gravity block 10 to move to the storage area of ​​the gravity block 10 at the front end of the RGV track, control the first laser ranging sensor 5 through the PLC controller 12 to measure the distance between the front end of the RVG trolley 2 and the gravity block storage area, and obtain the number of positioning target blocks to be identified at the front end of the RGV trolley 2 according to the preset distance of the positioning target block 11;

[0064] Step S9, judging whether the number of target blocks to be identified and positioned at the front end is greater than 2, if so, controlling the RGV trolley 2 to move forward, and using the first laser sensor 5 to measure the distance between the front end of the RGV trolley 2 and the gravity block storage area in real time, and updating the number of target blocks to be identified and positioned; otherwise, the RGV trolley 2 remains stationary; when the number of remaining target blocks is 1, recording the encoder position data M3, the RGV trolley 2 starts to decelerate;

[0065] Step S10, when the number of the target blocks to be identified and positioned at the front end is 0, the RGV trolley 2 stops running and records the encoder position data M4;

[0066] Step S11, the moving distance of the encoder 4 is calculated through the recorded position data M3 and M4 of the encoder 4. If the moving distance is 1099-1101 mm, the hydraulic lifting platform 8 is lowered until the storage of the transporting gravity block 10 is completed. Otherwise, the encoder 4 data is corrected according to the position information of the positioning mark block to complete the clearing of the accumulated error of the encoder 4;

[0067] Step S12, the RGV trolley 2 completes the transportation and storage of the elevator side weight block 10 and returns to the standby position.

[0068] The positioning method of the RGV positioning system of the present invention based on multi-sensor fusion of gravity energy storage calculates the moving distance of the RGV trolley 2 through a laser rangefinder sensor, uses a photoelectric switch 3 to identify the target block for positioning, and collects the data of the encoder 4 to ensure the positioning accuracy, so that the RGV trolley 2 can be accurately positioned; in addition, the present invention can automatically correct the position of the gravity block through the coordinated action of the photoelectric switch 3, the encoder 4, and the magnetic induction sensor 9 to prevent the relative offset between the gravity block and the RGV trolley after repeated transportation, and avoid the risk of the gravity block falling from the RGV trolley. The multi-sensor fusion RGV positioning system of the present invention has high positioning accuracy, can effectively reduce the positioning cost, and is more convenient and practical.

[0069] The above are only preferred embodiments of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should be regarded as the protection scope of the present invention.

Claims

1. An RGV positioning system based on multi-sensor fusion of gravity energy storage, characterized in that: include: RGV trolley, photoelectric switch, encoder, first laser ranging sensor, second laser ranging sensor, third laser ranging sensor, hydraulic lifting platform, magnetic induction sensor, PLC controller, the RGV trolley is arranged on the RGV track in the gravity energy storage structure, the photoelectric switch is arranged on the side of the RGV trolley, the encoder is arranged at the wheel shaft diameter of the RGV trolley, the first laser ranging sensor is arranged at the front end of the RGV trolley, the second laser ranging sensor is arranged at the rear end of the RGV trolley, the third laser ranging sensor is arranged at the lower end of the hydraulic lifting platform, the hydraulic lifting platform is arranged on the RGV trolley, the magnetic induction sensor is arranged at the center of the RGV trolley, the PLC controller is arranged on the RGV trolley, and the PLC controller is respectively connected with the photoelectric switch, encoder, first laser ranging sensor, second laser ranging sensor, third laser ranging sensor, hydraulic lifting platform, and magnetic induction sensor; The moving distance of the encoder is calculated through the position data M1 and M2 recorded by the encoder. When the moving distance is not within the range of 1099-1101mm or there is no signal from the magnetic induction sensor, there is a position deviation between the weight block to be transported and the positioning mark block, and the position of the weight block to be transported needs to be corrected until the moving distance is 1099-1101mm and there is a signal from the magnetic induction sensor. The RGV trolley is in place and aligned with the center of the weight block to be transported, and the hydraulic lifting platform is lifted until the hydraulic lifting platform can carry the weight block to be transported. Among them, the position correction process of the gravity block to be transported is as follows: (a) If the RGV trolley detects a magnetic induction signal before it stops running, the encoder data M5 is recorded when the induction magnet is detected, and the gravity block offset distance L1 is calculated; otherwise, step (d) is executed; (b) Move the RGV trolley forward to the offset distance L1 of the gravity block. At this time, the magnetic induction sensor detects the induction magnet and raises the hydraulic lift to the specified height; (c) Move the RGV trolley back to the offset distance L1 of the gravity block. At this time, the photoelectric switch detects the positioning mark block to be identified and completes the position correction of the gravity block; (d) If no magnetic induction signal is detected before the RGV stops running, the RGV continues to move backward; (e) When the induction magnet is detected, the encoder data M6 is recorded, the RGV trolley stops running, and the gravity block offset position L2 is calculated to raise the hydraulic lifting platform to the specified height; (f) Move the RGV trolley back to the gravity block offset position L2. At this time, the photoelectric switch detects the positioning mark block to be identified and completes the gravity block position correction.

2. The RGV positioning system based on multi-sensor fusion of gravity energy storage according to claim 1 is characterized in that: The model of the PLC controller is FX5U, the photoelectric switch is connected to the first I / O interface of the central processing unit of the PLC controller, the encoder is connected to the second I / O interface of the central processing unit of the PLC controller, the first laser ranging sensor is connected to the third I / O interface of the central processing unit of the PLC controller, the second laser ranging sensor is connected to the fourth I / O interface of the central processing unit of the PLC controller, the third laser ranging sensor is connected to the fifth I / O interface of the central processing unit of the PLC controller, the hydraulic lifting platform is connected to the sixth I / O interface of the central processing unit of the PLC controller, and the magnetic induction sensor is connected to the seventh I / O interface of the central processing unit of the PLC controller.

3. The RGV positioning system based on multi-sensor fusion of gravity energy storage according to claim 1 is characterized in that: The hydraulic lifting platform is composed of a hydraulic cylinder and a lifting platform, and the hydraulic cylinder is connected to the sixth I / O interface of the central processing unit of the PLC controller.

4. The RGV positioning system based on multi-sensor fusion of gravity energy storage according to claim 1 is characterized in that: The model of the photoelectric switch is E3F3-D12.

5. The RGV positioning system based on multi-sensor fusion of gravity energy storage according to claim 1 is characterized in that: The model of the encoder is E6B2-CWZ5B.

6. The RGV positioning system based on multi-sensor fusion of gravity energy storage according to claim 1 is characterized in that: The models of the first laser distance measuring sensor and the second laser distance measuring sensor are both DSK-CG-10C.

7. The RGV positioning system based on multi-sensor fusion of gravity energy storage according to claim 1 is characterized in that: The model of the third laser ranging sensor is HG-C1400.

8. The RGV positioning system based on multi-sensor fusion of gravity energy storage according to claim 1 is characterized in that: The model of the magnetic induction sensor is HM18-50NA.

9. A positioning method for the RGV positioning system based on multi-sensor fusion of gravity energy storage as claimed in claim 1, characterized in that: The specific steps include: Step S1, the host computer is connected to the eighth I / O interface of the PLC controller, and an instruction is sent to the PLC controller through the host computer to move the gravity block on the elevator side to the storage place of the gravity block at the front end of the RGV trolley through the RGV trolley; Step S2, the PLC controller receives the above instruction, sends a signal to the third laser distance measuring sensor to measure the distance from the top of the hydraulic lifting platform to the RGV trolley, and transmits the distance information to the PLC controller; Step S3, the PLC controller determines whether the distance from the top of the hydraulic lifting platform to the RGV trolley is less than 0.5m. If not, the PLC controller controls the hydraulic lifting platform to descend until the distance from the top of the hydraulic lifting platform to the RGV trolley is less than 0.5m. The PLC controller sends a second laser ranging sensor to measure the distance between the rear end of the RGV trolley and the gravity block to be transported, and according to the preset distance of the positioning target block, the number of the positioning target blocks to be identified at the rear end of the RGV trolley is obtained; Step S4, determine whether the number of target blocks to be identified and positioned is greater than 2. If so, control the RGV trolley to move backward, and use the second laser sensor to measure the distance between the rear end of the RGV trolley and the gravity block to be transported in real time, and update the number of target blocks to be identified and positioned; otherwise, the RGV trolley remains stationary; Step S5, when the number of the target blocks to be identified and positioned is updated to 1, the position data M1 of the encoder is recorded, and the RGV trolley is controlled to start decelerating; Step S6, when the number of the target blocks to be identified and positioned is updated to 0, the RGV trolley stops running, and records the position data M2 of the encoder, and sends a signal through the PLC controller to detect whether the magnetic induction sensor detects the induction magnet on the bottom surface of the gravity block to be transported; Step S7, calculate the moving distance of the encoder through the recorded position data M1 and M2 of the encoder. When the moving distance is not within the range of 1099-1101mm or the magnetic induction sensor has no signal, there is a position deviation between the weight block to be transported and the positioning mark block, and the position of the weight block to be transported needs to be corrected until the moving distance is 1099-1101mm and the magnetic induction sensor has a signal, then the RGV trolley is in place and aligned with the center of the weight block to be transported, and the hydraulic lifting platform is lifted until the hydraulic lifting platform carries the weight block to be transported; Step S8, controlling the RVG trolley carrying the gravity block to move to the storage area of ​​the gravity block at the front end of the RGV track, controlling the first laser ranging sensor through the PLC controller to measure the distance between the front end of the RVG trolley and the gravity block storage area, and obtaining the number of the target blocks to be identified at the front end of the RGV trolley according to the preset distance of the target blocks; Step S9, judging whether the number of target blocks to be identified and positioned at the front end is greater than 2, if so, controlling the RGV trolley to move forward, and using the first laser sensor to measure the distance between the front end of the RGV trolley and the gravity block storage area in real time, and updating the number of target blocks to be identified and positioned; otherwise, the RGV trolley remains stationary; when the number of target blocks to be identified and positioned at the front end is 1, recording the encoder position data M3, and the RGV trolley starts to decelerate; Step S10, when the number of the target blocks to be identified and positioned at the front end is 0, the RGV trolley stops running and records the encoder position data M4; Step S11, calculate the moving distance of the encoder through the recorded position data M3 and M4 of the encoder. If the moving distance is 1099-1101 mm, the hydraulic lifting platform descends until the storage of the transporting gravity block is completed. Otherwise, the encoder data is corrected according to the position information of the positioning mark block to complete the clearing of the encoder cumulative error. Step S12, the RGV trolley completes the transportation and storage of the elevator side gravity block and returns to the standby position.

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