Automatic centering and limit detection methods and systems

Abstract

This invention relates to the field of automatic control and discloses an automatic centering and limit detection method and system. The method is applied to the automatic centering and limit detection of a turntable. The method includes: determining the centering position of the turntable; acquiring the position information of the turntable; determining whether the turntable is in the centering position based on the position information; if not, controlling the turntable to move towards the centering position. This application reduces the difficulty of manual centering by controlling the turntable to automatically center, making centering more accurate, efficient, fast, and safe.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automatic control, and in particular to an automatic centering and limit detection method and system. BACKGROUND

[0002] The high-lift fire truck refers to a fire truck equipped with a support system, a rotating disc, a high-lift arm and a fire extinguishing device, which can be used for high-rise fire extinguishing and rescue, and plays an important role in fire extinguishing, rescue and rescue. The high-lift fire truck belongs to a multi-section arm equipment, and the operation process is complex, especially the rotation centering operation. The arm rotating centering refers to rotating the folded arm above the arm support, and then stacking it on the arm support. Due to the existence of the arm root rotation gap, it is difficult to quickly and accurately complete the arm rotating centering operation.

[0003] In the related art, some high-lift fire trucks do not have an automatic centering function, and the centering is achieved by visually observing the centering indicator and manually operating the handle repeatedly, or the centering can only be rotated in one direction. When the arm is rotated to the center position due to inertia or too high speed, the centering can only be re-performed by manual operation, which not only takes a long time, but also has poor centering effect. The operation experience and business level of the firemen are very high, and multiple centering operations are required to achieve the centering. SUMMARY

[0004] Therefore, the present application aims to overcome the deficiencies in the prior art, and provides an automatic centering and limit detection method and system.

[0005] The present application provides the following technical solutions:

[0006] In a first aspect, the present application provides an automatic centering and limit detection method, which is applied to automatic centering and limit detection of a rotating table, and the method comprises the following steps:

[0007] determining a centering position of the rotating table;

[0008] obtaining position information of the rotating table;

[0009] judging whether the rotating table is located at the centering position according to the position information;

[0010] if not, controlling the rotating table to move to the centering position.

[0011] Further, the obtaining of the position information of the rotating table comprises:

[0012] obtaining a left position and a right position of the rotating table.

[0013] Further, the judging whether the rotating table is located at the centering position according to the position information comprises:

[0014] When the output signal of the left position and the output signal of the right position are active at the same time, the turntable is located at the centering position.

[0015] Further, the acquiring the position information of the turntable further comprises: acquiring a left limit position of the turntable.

[0016] The judging whether the turntable is located at the centering position according to the position information comprises:

[0017] When the output signal of the left position is active, it is determined that the turntable is located at the left side of the centering position.

[0018] When the output signal of the left position and the output signal of the left limit position are active at the same time, it is determined that the turntable is located at the left limit position.

[0019] Further, the acquiring the position information of the turntable further comprises: acquiring a right limit position of the turntable.

[0020] The judging whether the turntable is located at the centering position according to the position information comprises:

[0021] When the output signal of the right position is active, it is determined that the turntable is located at the right side of the centering position.

[0022] When the output signal of the right position and the output signal of the right limit position are active at the same time, it is determined that the turntable is located at the right limit position.

[0023] Further, the acquiring the position information of the turntable further comprises: acquiring a left deceleration position of the turntable.

[0024] The controlling the turntable to move to the centering position comprises:

[0025] When the turntable is located at the left limit position, the turntable is stopped from left rotating.

[0026] When the turntable is located at the left side of the centering position, the turntable is rotated right at a first right rotating speed.

[0027] When the output signal of the left position and the output signal of the left deceleration position are active at the same time, the turntable is rotated right at a second right rotating speed, wherein the first right rotating speed is greater than the second right rotating speed.

[0028] When the output signal of the left position, the output signal of the right position and the output signal of the left deceleration position are active at the same time, the turntable is stopped from rotating right.

[0029] Further, the acquiring the position information of the rotating table further comprises: acquiring a right side deceleration position of the rotating table.

[0030] The controlling the rotating table to move to the centering position comprises:

[0031] When the rotating table is at the right side limit position, stopping the rotating table from right rotation;

[0032] When the rotating table is at the right side of the centering position, rotating the rotating table to the left at a first left rotation speed;

[0033] When the output signals of the right side position and the right side deceleration position are simultaneously in the effective state, rotating the rotating table to the left at a second left rotation speed, wherein the first left rotation speed is greater than the second left rotation speed;

[0034] When the output signals of the left side position, the right side position and the right side deceleration position are simultaneously in the effective state, stopping the rotating table from left rotation.

[0035] In a second aspect, the present disclosure provides an automatic centering and limit detection system for executing the automatic centering and limit detection method of the first aspect, the automatic centering and limit detection system comprising a control module, a sensor module and a driving module;

[0036] The sensor module is configured to acquire position information of the rotating table, comprising a direction centering sensor, a deceleration sensor and a limit sensor, the direction centering sensor comprising a left centering sensor and a right centering sensor, respectively configured to acquire left side position information and right side position information of the rotating table, the deceleration sensor configured to acquire left side deceleration position and right side deceleration position of the rotating table according to the rotation direction of the rotating table, and the limit sensor configured to acquire left side limit position and right side limit position of the rotating table according to the rotation direction of the rotating table, the sensor module converting the position information into corresponding output signals and feeding back to the control module after acquiring the position information;

[0037] The control module is configured to receive the output signals fed back by the sensor module, and judge the position of the rotating table to control the rotating table to move to the centering position;

[0038] The driving module is configured to receive the control signals of the control module and drive the rotating table to move.

[0039] Further, the automatic centering and limit detection system further comprises a rotating assembly, a sub-girder, a limit detection plate, a right side detection plate, a left side detection plate and a deceleration detection plate;

[0040] The rotating table is arranged on the sub-girder, and the sub-girder and the rotating table are connected through the rotating assembly.

[0041] The sub-girder is sequentially distributed with the limit detection plate, the right detection plate, the left detection plate and the deceleration detection plate from inside to outside.

[0042] The left detection plate is welded on the left half of the sub-girder, the right detection plate is welded on the right half of the sub-girder, and the left detection plate and the right detection plate coincide at the head-to-tail joint of the left half and the right half of the sub-girder.

[0043] Further, the automatic centering and limit detection system further comprises a first support and a second support, and the direction centering sensor comprises a left centering sensor and a right centering sensor.

[0044] The limit sensor and the deceleration sensor are installed on the first support, and the left centering sensor and the right centering sensor are installed on the second support, and the first support and the second support are installed on the slewing assembly.

[0045] The embodiments of the present application have the following advantages:

[0046] The automatic centering and limit detection method provided by the embodiments of the present application is applied to automatic centering and limit detection of a rotary table, and the method comprises the following steps: determining a centering position of the rotary table; acquiring position information of the rotary table; judging whether the rotary table is located at the centering position according to the position information; and if not, controlling the rotary table to move to the centering position. The present application controls the automatic centering of the rotary table, reduces the difficulty of manual centering of the operator, and makes the centering more accurate, efficient, fast and safe.

[0047] In order to make the above objectives, characteristics and advantages of the present application more apparent and easy to understand, the following preferred embodiments are described in detail below, and the accompanying drawings are described as follows. BRIEF DESCRIPTION OF DRAWINGS

[0048] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained without creative labor. In each drawing, similar components are marked with similar reference numerals.

[0049] Figure 1 A flow chart of a rotary table automatic centering and limit detection method provided by an embodiment of the present application is shown;

[0050] Figure 2 A principle diagram of a rotary table automatic centering and limit detection method provided by an embodiment of the present application is shown.

[0051] Figure 3 Fig. 1 shows a structural schematic diagram of a turntable automatic centering and limit detection system provided by an embodiment of the present application;

[0052] Figure 4 Fig. 1 shows a structural schematic diagram of a turntable automatic centering and limit detection system provided by an embodiment of the present application;

[0053] Main element symbol explanation:

[0054] 10-direction centering sensor; 11-left centering sensor; 12-right centering sensor; 20-deceleration sensor; 30-limit sensor; 40-electromagnetic proportional valve; 50-turbine worm; 60-limit detection plate; 70-right detection plate; 80-left detection plate; 90-deceleration detection plate; 100-mechanical limit block; 01-first support; 02-and second support. DETAILED DESCRIPTION

[0055] Embodiments of the present application are described in detail below with reference to the accompanying drawings, in which examples of the embodiments are shown, wherein the same or similar notations are used to represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary, and are only used to explain the present application, and cannot be understood as a limitation of the present application.

[0056] It should be noted that when an element is referred to as being "fixed" to another element, it can be directly on the other element or there can be an intervening element. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or there can be an intervening element. In contrast, when an element is referred to as being "directly on" another element, there is no intervening element. The terms "vertical", "horizontal", "left", "right", and similar expressions used herein are for illustrative purposes only.

[0057] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0058] In addition, the terms "first", "second", etc. are used only for descriptive purposes and do not connote or imply relative importance. Thus, a feature defined with "first", "second", etc. can include one or more of the features. In the description of the present application, the meaning of "a plurality" is two or more, unless otherwise explicitly specified.

[0059] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0060] Embodiment 1

[0061] As Figure 1 shown, a flowchart of an automatic centering and limit detection method in the embodiments of the present application, the automatic centering and limit detection method provided by the embodiments of the present application is applied to an automatic centering and limit detection system of a rotary table, the system includes a control module, a sensor module and a driving module; the sensor module includes a direction centering sensor, a deceleration sensor and a limit sensor, and the driving module includes an electromagnetic proportional valve and a worm gear; the method is applied to the control module and includes the following steps:

[0062] Step S110, determining the centering position of the rotary table.

[0063] Step S120, obtaining the position information of the rotary table.

[0064] It should be noted that in the embodiments of the present application, the rotary table is arranged on the sub-beam of the fire fighting vehicle, the sub-beam is fixedly arranged relative to the chassis of the fire fighting vehicle, and the sub-beam and the rotary table are connected through a rotary assembly, so that the rotary table can rotate relative to the sub-beam.

[0065] Specifically, the rotary assembly is provided with the direction centering sensor, the deceleration sensor and the limit sensor, the sub-beam is provided with a mechanical limit block, a limit detection plate, a deceleration detection plate, a left side detection plate and a right side detection plate, and the direction centering sensor includes a left centering sensor and a right centering sensor. Among them, the left centering sensor can only detect the left side detection plate, the right centering sensor can only detect the right side detection plate, the deceleration sensor can only detect the deceleration detection plate, and the limit sensor can only detect the limit detection plate.

[0066] The left position and the right position of the rotary table are acquired. When the left centering sensor senses the left detection plate, the output signal of the left position is in an effective state. When the right centering sensor senses the right detection plate, the output signal of the right position is in an effective state. When the output signals of the left position and the right position are both in the effective state, the rotary table is in the centering position. When the output signals of the left position and the right position are both in the effective state, it indicates that the left centering sensor and the right centering sensor simultaneously detect the left detection plate and the right detection plate. Since the left detection plate and the right detection plate coincide at the first and last positions of the left half circle and the right half circle of the secondary girder, the position is set as the centering position of the rotary table.

[0067] The left limit position and the right limit position of the rotary table are acquired. When the limit sensor senses the limit detection plate, the output signal of the left limit position or the right limit position is in an effective state. The left deceleration position and the right deceleration position of the rotary table are acquired. When the deceleration sensor senses the deceleration detection plate, the output signal of the left deceleration position or the right deceleration position is in an effective state. After each sensor detects the corresponding position and outputs the corresponding output signal, the output signal is sent to the control module, and the control module receives the output signal fed back by each sensor.

[0068] The output signals fed back by each sensor can realize fast centering of the rotary table, and the centering accuracy is high.

[0069] In step S130, whether the rotary table is in the centering position is judged according to the position information.

[0070] Specifically, when the output signal of the left position is in the effective state, it indicates that the left centering sensor detects the left detection plate, and at this time, it is determined that the rotary table is on the left side of the centering position. When the output signals of the left position and the left limit position are both in the effective state, it indicates that the left centering sensor and the limit sensor simultaneously detect the left detection plate and the limit detection plate, and at this time, it is determined that the rotary table is in the left limit position.

[0071] Further, when the output signal of the right position is in the effective state, it indicates that the right centering sensor detects the right detection plate, and at this time, it is determined that the rotary table is on the right side of the centering position. When the output signals of the right position and the right limit position are both in the effective state, it indicates that the right centering sensor and the limit sensor simultaneously detect the right detection plate and the limit detection plate, and at this time, it is determined that the rotary table is in the right limit position.

[0072] By judging whether the rotary table is in the centering position, the rotary table is moved towards the centering position, so that accurate centering is realized in the shortest time, and the centering efficiency is improved.

[0073] Step S140: If not, control the turntable to move towards the centering position.

[0074] When the control module receives the automatic alignment command, it controls the opening of the electromagnetic proportional valve to control the hydraulic power driving the worm gear to rotate. The worm gear meshes with the gear ring of the rotary assembly on the turntable, thereby driving the turntable to move toward the alignment position.

[0075] It is understood that the function of the drive module is to drive the turntable to rotate relative to the sub-beam. Therefore, the drive mechanism can also be a motor, hydraulic motor, etc., and this application embodiment does not limit this.

[0076] like Figure 2 As shown, specifically, when the output signals for the left position and the left extreme position are both valid, that is, when the turntable is at the left extreme position, the worm gear stops turning left, thus stopping the turntable from turning left. When the output signal for the left position is valid, that is, when the turntable is to the left of the centering position, the worm gear rotates to the right, thus causing the turntable to rotate to the right at a first right-turn speed. When the output signals for the left position and the left deceleration position are both valid, it indicates that the turntable is about to reach the centering position, and the worm gear decelerates to the right, causing the turntable to rotate to the right at a second right-turn speed. When the output signals for the left position, the right position, and the left deceleration position are all valid, it indicates that the turntable has reached the centering position, and the worm gear stops moving, causing the turntable to stop rotating to the right.

[0077] It is understood that in this embodiment, the first right-turn speed is greater than the second right-turn speed, and the first right-turn speed and the second right-turn speed have a linear proportional relationship. For example, the first right-turn speed is set to 25° / second, and the second right-turn speed is set to 2° / second. The specific first and second right-turn speeds can be set according to the actual situation, and this embodiment does not limit them.

[0078] Furthermore, when the output signals for the right position and the right limit position are both valid, i.e., when the turntable is at the right limit position, the worm gear stops rotating to the right, thus stopping the turntable from rotating to the right. When the output signal for the right position is valid, i.e., when the turntable is to the right of the centering position, the worm gear rotates to the left, thus causing the turntable to rotate to the left at a first leftward speed. When the output signals for the right position and the right deceleration position are both valid, it indicates that the turntable is about to reach the centering position, and the worm gear decelerates to the left, causing the turntable to rotate to the left at a second leftward speed, wherein the first leftward speed is greater than the second leftward speed. When the output signals for the left position, the right position, and the right deceleration position are all valid, it indicates that the turntable has reached the centering position, and the worm gear stops rotating, causing the turntable to stop rotating to the left.

[0079] It can be understood that, in the embodiment of the present application, the first left turning speed is greater than the second left turning speed, and the first left turning speed and the second left turning speed are in a linear proportional relationship. For example, the first left turning speed is set to 25° / s, and the second left turning speed is set to 2° / s. The specific first left turning speed and the second left turning speed can be set according to actual conditions, and the embodiment of the present application does not limit this.

[0080] In the embodiment, after determining that the rotary table is located on the left side or the right side of the centering position according to the output signals, the rotary table is rotated towards the centering position. When the output signals of the left deceleration position or the right deceleration position are in the active state, the rotary table is controlled to start deceleration by the worm gear, so as to prevent the rotary table from being unable to accurately stop at the centering position due to too high speed. When the output signals of the left position, the right position and the left deceleration position are simultaneously in the active state, or when the output signals of the left position, the right position and the right deceleration position are simultaneously in the active state, it is determined that the automatic centering has been completed, and at this time the rotary table is controlled to stop by the worm gear.

[0081] The automatic centering and limit detection method provided by the embodiment of the present application is applied to automatic centering and limit detection of a rotary table, and the method comprises: determining a centering position of the rotary table; acquiring position information of the rotary table; judging whether the rotary table is located at the centering position according to the position information; and if not, controlling the rotary table to move towards the centering position. The present application reduces the difficulty of manual centering of the operator by controlling the automatic centering of the rotary table, so that the centering is more accurate, efficient, fast and safe.

[0082] Embodiment 2

[0083] As shown in Figure 3 Fig. 1 is a structural schematic diagram of an automatic centering and limit detection system in the embodiment of the present application, which comprises a control module, a sensor module and a driving module; the sensor module comprises a direction centering sensor 10, a deceleration sensor 20 and a limit sensor 30, and the driving module comprises an electromagnetic proportional valve 40 and a worm gear 50;

[0084] The sensor module is used to acquire position information of the rotary table, and comprises the direction centering sensor 10, the deceleration sensor 20 and the limit sensor 30. The direction centering sensor 10 comprises a left centering sensor 11 and a right centering sensor 12, which are respectively used to acquire a left position and a right position of the rotary table. The deceleration sensor 20 is used to acquire a left deceleration position and a right deceleration position of the rotary table according to a rotation direction of the rotary table. The limit sensor 30 is used to acquire a left limit position and a right limit position of the rotary table according to the rotation direction of the rotary table. The sensor module converts the acquired position information into corresponding output signals and feeds back the output signals to the control module;

[0085] The control module is used for receiving the output signals fed back by the direction alignment sensor 10, the deceleration sensor 20 and the limit sensor 30, judging the position of the turntable, and then controlling the driving module to drive the turntable to move towards the alignment position.

[0086] It should be noted that the turntable of the present application is arranged on the sub-girder, the sub-girder is arranged fixedly relative to the fire truck chassis, and the sub-girder and the turntable are connected through the slewing assembly, so that the turntable can rotate relative to the sub-girder. Specifically, the slewing assembly is arranged with the direction alignment sensor 10, the deceleration sensor 20 and the limit sensor 30. After each sensor obtains each position of the turntable, each position outputs a corresponding output signal, and the output signal is sent to the control module.

[0087] Further, when the output signals of the left alignment sensor 11 and the right alignment sensor 12 detected at the left position and the right position are both in the effective state at the same time, the position is set as the alignment position of the turntable. When the output signal of the left alignment sensor 11 detected at the left position is in the effective state, it is determined that the turntable is on the left side of the alignment position. When the output signal of the left alignment sensor 11 detected at the left position and the output signal of the limit sensor 30 are both in the effective state at the same time, it is determined that the turntable is at the left limit position. When the output signal of the right alignment sensor 12 detected at the right position is in the effective state, it is determined that the turntable is on the right side of the alignment position. When the output signal of the right alignment sensor 12 detected at the right position and the output signal of the limit sensor 30 are both in the effective state at the same time, it is determined that the turntable is at the right limit position.

[0088] When the control module receives the automatic alignment instruction, the opening of the electromagnetic proportional valve 40 is controlled, and then the hydraulic power driving the rotation of the worm gear 50 is controlled. The worm gear 50 is engaged with the gear ring of the slewing assembly on the turntable, and then the turntable moves towards the position of the alignment position after logical operation.

[0089] It can be understood that in the present embodiment, the driving module is used for driving the turntable to rotate relative to the sub-girder, and therefore the driving module can also be a motor, a hydraulic motor or the like, which is not limited in the present embodiment.

[0090] Optionally, as shown in Figure 4 The automatic alignment and limit detection system further includes a limit detection plate 60, a right side detection plate 70, a left side detection plate 80 and a deceleration detection plate 90. The sub-girder is sequentially arranged with the limit detection plate 60, the right side detection plate 70, the left side detection plate 80 and the deceleration detection plate 90 from inside to outside.

[0091] The left detection plate 80 is welded on the left half of the sub-girder, corresponding to the left position of the rotary table, and the right detection plate 70 is welded on the right half of the sub-girder, corresponding to the right position of the rotary table. The left detection plate 80 and the right detection plate 70 coincide at the head-to-tail joint of the left half and the right half of the sub-girder.

[0092] In the embodiment, the left centering sensor 11 can only detect the left detection plate 80, the right centering sensor 12 can only detect the right detection plate 70, the deceleration sensor 20 can only detect the deceleration detection plate 90, and the limit sensor 30 can only detect the limit detection plate 60.

[0093] When the left centering sensor 11 senses the left detection plate 80, the left position outputs an output signal in an effective state; when the right centering sensor 12 senses the right detection plate 70, the right position outputs an output signal in an effective state; when the deceleration sensor 20 senses the deceleration detection plate 90, the left deceleration position or the right deceleration position outputs an output signal in an effective state; and when the limit sensor 30 senses the limit detection plate 60, the left limit position or the right limit position outputs an output signal in an effective state.

[0094] In actual application, due to actual factors such as mechanical friction, the limit sensor 30 may detect the limit detection plate 60, but fail to limit the rotary table, i.e., fail to make the rotary table stop moving immediately. In order to prevent the above-mentioned situation from occurring, a mechanical limit block 100 is further arranged above the sub-girder, which can block the rotation of the rotary table when the limit sensor 30 fails to limit the rotary table by detecting the limit detection plate 60, thereby successfully limiting the rotary table.

[0095] Optionally, the automatic centering and limit detection system further comprises a first support 01 and a second support 02, and the direction centering sensor 10 comprises a left centering sensor 11 and a right centering sensor 12.

[0096] The limit sensor 30 and the deceleration sensor 20 are installed on the first support 01, and the left centering sensor 11 and the right centering sensor 12 are installed on the second support 02.

[0097] In the embodiment, the limit sensor 30 and the deceleration sensor 20 are installed on the first support 01 together, and the left centering sensor 11 and the right centering sensor 12 are installed on the second support 02 together. The first support and the second support are installed on the rotary assembly, and the size of the support is appropriate to install the sensors and not interfere with other elements, and the orientation of the support is appropriate to not interfere with other elements. The specific shape, orientation and size can be determined according to actual conditions, and the present application is not limited in this regard.

[0098] The automatic centering and limit detection system provided by the embodiment of the application can automatically center the rotating table, reduce the difficulty of manual centering of the operator, and make the centering more accurate, efficient, fast and safe.

[0099] In several embodiments provided in the present application, it should be understood that the disclosed apparatus and method can also be implemented by other manners. The apparatus embodiments described above are only schematic, for example, the flow charts and structural diagrams in the drawings show the possible implementation architectures, functions and operations of the apparatus, method and computer program product according to the embodiments of the present application. In this regard, each block in the flow charts or structural diagrams can represent a module, a program segment or a part of code, which contains one or more executable instructions for implementing the specified logic function. It should also be noted that, in alternative implementation manners, the functions noted in the blocks can also occur in different order from that noted in the drawings. For example, two consecutive blocks can actually be executed substantially in parallel, and they can also be executed in reverse order, depending on the functions involved. It should also be noted that each block in the structural diagram and / or flow chart, and the combination of blocks in the structural diagram and / or flow chart, can be implemented by a dedicated hardware-based system for executing the specified functions or actions, or can be implemented by a combination of dedicated hardware and computer instructions.

[0100] In addition, each functional module or unit in the various embodiments of the present application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0101] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which can be a smart phone, a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0102] The above merely illustrates the specific embodiments of the present application, but the protection scope of the present application is not limited thereto, any person skilled in the art can easily think of the changes or replacements within the technical range disclosed by the present application, which should be covered in the protection scope of the present application.

Claims

1. An automatic centering and limit detection method, characterized in that, An automatic centering and limit detection system for a turntable is provided. The system includes a sub-beam, a slewing assembly, a sensor module, a right-side detection plate, and a left-side detection plate. The turntable is mounted on the sub-beam, which is connected to the turntable via the slewing assembly. The left-side detection plate is welded to the left half of the sub-beam, and the right-side detection plate is welded to the right half of the sub-beam. The left and right detection plates coincide at the beginning and end joints of the left and right halves of the sub-beam. The sensor module includes a direction centering sensor and a limit sensor. The direction centering sensor includes a left centering sensor and a right centering sensor. The method includes: Determine the centering position of the turntable, which is the point where the left and right halves of the sub-beam meet end to end; The left position of the turntable is obtained by the left centering sensor, the right position of the turntable is obtained by the right centering sensor, and the left and right extreme positions of the turntable are obtained by the limit sensor. Based on the position information, determine whether the turntable is located at the centering position; If not, then control the turntable to move towards the centering position; The step of determining whether the turntable is located at the centering position based on the position information includes: When the left centering sensor senses the left detection plate, the output signal of the left position is valid. When the right centering sensor senses the right detection plate, the output signal of the right position is valid. When the limit sensor senses the limit detection plate, the output signal of the left limit position or the right limit position is valid. When the output signals of the left position and the right position are both valid, the turntable is located at the centering position; When the output signal at the left position is valid, it is determined that the turntable is to the left of the centering position; When the output signal at the left position and the output signal at the left extreme position are both valid, the turntable is determined to be at the left extreme position. When the output signal at the right position is valid, it is determined that the turntable is to the right of the centering position; When the output signal at the right position and the output signal at the right extreme position are both valid, the turntable is determined to be at the right extreme position.

2. The automatic centering and limit detection method according to claim 1, characterized in that, The step of obtaining the position information of the turntable also includes: obtaining the left deceleration position of the turntable; The control of the turntable to move toward the centering position includes: When the turntable is at the left limit position, the turntable stops turning to the left. When the turntable is to the left of the centering position, the turntable is rotated to the right at a first right-turn speed; When the output signals of the left position and the left deceleration position are both valid, the turntable is rotated to the right at a second right-turn speed, wherein the first right-turn speed is greater than the second right-turn speed; When the output signals of the left position, the right position, and the left deceleration position are all valid at the same time, the turntable stops rotating to the right.

3. The automatic centering and limit detection method according to claim 1, characterized in that, The step of obtaining the position information of the turntable also includes: obtaining the right deceleration position of the turntable; The control of the turntable to move toward the centering position includes: When the turntable is at the right limit position, the turntable stops turning to the right; When the turntable is to the right of the centering position, the turntable is rotated to the left at a first leftward rotation speed; When the output signals of the right position and the right deceleration position are both valid, the turntable is rotated to the left at a second left rotation speed, wherein the first left rotation speed is greater than the second left rotation speed; When the output signals of the left position, the right position, and the right deceleration position are all valid at the same time, the turntable stops rotating to the left.

4. An automatic centering and limit detection system, used to execute the automatic centering and limit detection method according to any one of claims 1-3, characterized in that, The automatic centering and limit detection system includes a slewing assembly, a sub-beam, a right-side detection plate, a left-side detection plate, a control module, a sensor module, and a drive module. The turntable is mounted on the sub-beam, and the sub-beam and the turntable are connected by the rotary assembly. The left detection plate is welded to the left half of the sub-beam, and the right detection plate is welded to the right half of the sub-beam. The left and right detection plates coincide at the beginning and end joints of the left and right half of the sub-beam. The sensor module is used to acquire the position information of the turntable, including a direction centering sensor, a deceleration sensor, and a limit sensor. The direction centering sensor includes a left centering sensor and a right centering sensor, which are used to acquire the left and right position information of the turntable, respectively. The deceleration sensor is used to acquire the left and right deceleration positions of the turntable according to the rotation direction of the turntable. The limit sensor is used to acquire the left and right extreme positions of the turntable according to the rotation direction of the turntable. After acquiring the position information, the sensor module converts it into a corresponding output signal and feeds it back to the control module. The control module is used to receive the output signal fed back by the sensor module and determine the position of the turntable in order to control the turntable to move toward the center position; The drive module is used to receive control signals from the control module and drive the turntable to move.

5. The automatic centering and limit detection system according to claim 4, characterized in that, The automatic alignment and limit detection system also includes a limit detection plate and a deceleration detection plate. The sub-beam is provided with the limit detection plate, the right side detection plate, the left side detection plate, and the deceleration detection plate in sequence from the inside to the outside.

6. The automatic centering and limit detection system according to claim 5, characterized in that, The automatic alignment and limit detection system also includes a first support and a second support, and the orientation alignment sensor includes a left alignment sensor and a right alignment sensor; The limit sensor and the deceleration sensor are mounted on the first bracket, the left centering sensor and the right centering sensor are mounted on the second bracket, and the first bracket and the second bracket are mounted on the rotary assembly.

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