An inductive-based flush detection method for a transportation track

Abstract

The application provides a kind of based on induction transport track flush detection method, it is related to automatic control technical field, comprising the following steps: S1: after pre-installation of the track to be measured, standard track is connected with the track to be measured;S2: drive test vehicle to the track to be measured displacement, start laser emitter;S3: whether laser receiving point is still located on the induction plate after test vehicle is separated from standard track, if yes, then execute S4;Otherwise, the track to be measured fails, and is reinstalled;S4: drive test vehicle to the direction of standard track displacement, judge whether test vehicle can return to standard track, if yes, then the track to be measured is flush;Otherwise, adjust it.The application is simple and convenient, low in cost, whether the track is aligned by the displacement of test vehicle, and the alignment error of the two is amplified by laser induction method, and then detected, the detection precision is higher, the whole process can be automated, improves the correction and installation efficiency of track.

Description

Technical Field

[0001] This invention relates to the field of automatic control technology, and in particular, to a sensor-based method for detecting the alignment of transport tracks. Background Technology

[0002] In suspended production systems, the transport tracks on the production line are assembled from small track segments. To ensure the tracks are aligned and to prevent unevenness at the joints from obstructing the transport of the suspended vehicle, calibration and testing of the installed tracks are necessary during the assembly and installation process. Currently, track calibration lifts exist to calibrate and test the installed tracks. These lifts have a standard track section; by controlling the rise and fall of this standard track to the track requiring calibration, the alignment of the joints can be used to determine if the installed track is misaligned and requires calibration. However, besides checking if the track joints are at the same horizontal level, misalignment can also occur if, although at the same level, the cross-sections of the two tracks are offset or deflected, causing them to malalign.

[0003] Currently, the entire calibration process is done manually, meaning the elevator's standard track is raised and lowered manually, and alignment is determined visually. This method is not only labor-intensive but also inefficient, resulting in large errors in the test results.

[0004] Therefore, the requirements for automated detection of track alignment are now very high. For example, Chinese invention patent CN114494373A provides a high-precision track alignment method and system based on target detection and image registration, including the following steps: Step S1, firstly, perform preliminary matching of the target region through target detection; Step S2, search for key point positions in all scale spaces after preliminary matching and extract key points; Step S3, locate the extracted key points by fitting a model and determine the gradient distribution characteristics and orientation distribution characteristics of the key points; Step S4, construct feature vectors of key points for feature comparison, and establish a descriptor for each key point based on its position, scale, and orientation; Step S5, achieve alignment with the original image through image key point matching. The above invention can align images with pixel-level precision, effectively achieving fast and accurate key point matching and image alignment for track scenarios. The measurement of information is of great practical significance and provides a good data foundation for subsequent track anomaly detection.

[0005] However, the above-mentioned track alignment method still has the following problems: the alignment process is complicated, the requirements for instruments and equipment are high, the cost is high, and it is only convenient to use for large rails. It is not suitable for small hanging transport rails in workshops. Small rails have many segments, and the alignment test is also many times. The measurement is not convenient enough and the cost is high, which still wastes a lot of human and financial resources.

[0006] Therefore, in order to solve the above problems, it is necessary to design a reasonable induction-based method for detecting the alignment of transportation tracks. Summary of the Invention

[0007] The purpose of this invention is to provide a sensor-based method for detecting the alignment of transport tracks. This method is simple, convenient, and low-cost. It detects whether the standard track and the track under test are aligned by testing the displacement of the vehicle. Furthermore, it uses laser sensing to amplify the alignment error between the standard track and the track under test before detection, resulting in higher detection accuracy. The entire process can be automated, improving the efficiency of track correction and installation.

[0008] To achieve the above objectives, the present invention employs the following technical solution:

[0009] A sensor-based method for detecting the alignment of transport tracks includes the following steps:

[0010] S1: After the track to be tested is pre-installed, the height of the track to be tested is obtained, and the standard track is raised or lowered to the height of the track to be tested, so that the end of the standard track is connected to the end of the track to be tested;

[0011] S2: An induction plate is set at one end of the standard track away from the track to be tested, and the test vehicle set on the standard track is driven to move towards the track to be tested. The laser emitter set on the test vehicle and extending towards the induction plate is turned on, and the laser receiving point on the induction plate is acquired in real time.

[0012] S3: Determine whether the laser receiving point is still located on the sensing plate after the test vehicle leaves the standard track. If yes, proceed to step S4; otherwise, the test track is faulty and the test track is reinstalled.

[0013] S4: Drive the test vehicle to move towards the standard track direction, and determine whether the test vehicle can return to the standard track. If so, the track to be tested is installed evenly; otherwise, send an adjustment notification to the management terminal.

[0014] As a preferred embodiment of the present invention, in step S4, after the track to be tested is installed flush, the method further includes:

[0015] S5: Plot the curve of the laser receiving point on the induction plate changing with time, analyze and obtain the installation alignment parameters of the track to be tested, and correct the track to be tested.

[0016] As a preferred embodiment of the present invention, when performing step S1, after obtaining the height of the track to be measured, the height of the standard track is obtained, and the height difference between the track to be measured and the standard track is obtained. The standard track is then raised or lowered by the lifting plate below the standard track to raise or lower the height difference, thereby raising or lowering the standard track to the height of the track to be measured.

[0017] As a preferred embodiment of the present invention, when performing step S1, the end of the standard track is connected to the unused end of the track to be tested.

[0018] As a preferred embodiment of the present invention, when performing step S2, the sensing plate is arranged perpendicularly to the standard track, and when the laser emitter is located on the standard track, the direction of the emitted laser is arranged parallel to the standard track.

[0019] As a preferred embodiment of the present invention, when performing steps S2 and S4, the test vehicle is driven to move by rotating brushes set on the sides of the standard track and the track to be tested.

[0020] As a preferred embodiment of the present invention, when performing step S3, it is first determined whether the test vehicle can leave the standard track, and when the test vehicle can leave the standard track, it is determined whether the laser receiving point is still located on the sensing plate after the test vehicle leaves the standard track.

[0021] As a preferred embodiment of the present invention, when performing step S4, if the test vehicle cannot return to the standard track, the information that the test vehicle cannot return to the standard track is packaged into an adjustment notification and sent to the management terminal.

[0022] As a preferred embodiment of the present invention, when performing step S5, a curve of the laser receiving point on the induction plate changing with time is plotted, the position of the test vehicle is obtained based on the intensity of the laser receiving point obtained on the induction plate, the height parameters at various points of the track under test are analyzed, the installation error at various points of the track under test is obtained, and the track under test is corrected based on the installation error.

[0023] The advantages of the induction-based transport track alignment detection method of the present invention are: it is simple, convenient, and low in cost. It can effectively detect the alignment of small suspended transport track joints. The whole process can be completed automatically, and it can determine whether the track cannot be aligned due to cross-sectional issues, thereby improving the efficiency of track correction and installation. Attached Figure Description

[0024] Figure 1 This is a schematic flowchart of a sensing-based method for detecting the alignment of transport tracks according to the present invention. Detailed Implementation

[0025] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings.

[0026] In the following description, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The following description provides multiple embodiments of this application, which can be substituted or combined with each other. Therefore, this application can also be considered to include all possible combinations of the same and / or different embodiments described. Thus, if one embodiment includes features A, B, and C, and another embodiment includes features B and D, then this application should also be considered to include embodiments containing one or more other possible combinations of A, B, C, and D, even if such embodiments are not explicitly described in the following text.

[0027] The following description provides examples and does not limit the scope, applicability, or examples set forth in the claims. Changes may be made to the function and arrangement of the described elements without departing from the scope of this application. Various processes or components may be appropriately omitted, substituted, or added to the examples. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Furthermore, features described with respect to some examples may be combined into other examples.

[0028] Example 1: As Figure 1 As shown, Figure 1 This is a flowchart illustrating a sensor-based method for detecting the alignment of transport tracks according to the present invention. It is merely one embodiment of the invention. The sensor-based method for detecting the alignment of transport tracks still involves comparing a standard track with the track to be tested for alignment detection. The track to be tested is the track that needs to be installed. Generally, multiple track sections are installed sequentially during track installation. Each track section can be considered as the track to be tested during installation, with the uninstalled end of the track to be tested being the front end of the installation. The standard track is placed on a lifting platform plate, which can be raised and lowered. The lifting platform plate is actually mounted on the moving vehicle and can move along the extension direction of the track to be installed. During the installation of each track section (i.e., during the installation of the track to be tested), the standard track is ensured to be located below the front end of the track to be tested. The standard track is raised and lowered to the front end of the track to be tested using the lifting function of the lifting platform plate. The alignment of the standard track and the track to be tested is then used to verify whether the track to be tested is installed correctly.

[0029] The alignment detection method includes the following steps:

[0030] S1: After the track to be tested is pre-installed, the height of the track to be tested is obtained, and the standard track is raised or lowered to the height of the track to be tested, so that the end of the standard track is connected to the end of the track to be tested;

[0031] After the initial installation of the track to be tested is completed, it needs to be checked whether it is aligned. If it is aligned, the installation of the track to be tested is completed and the installation of the next track section can begin; otherwise, if it is not aligned, the track to be tested needs to be adjusted.

[0032] When performing step S1, after obtaining the height of the track to be tested, the height of the standard track is obtained, and the height difference between the track to be tested and the standard track is obtained. The standard track is then raised or lowered by the lifting plate below the standard track to the height of the track to be tested.

[0033] The height of the track to be measured is obtained by a first altimeter installed under the track to be measured; the height of the standard track is obtained by a second altimeter installed under the standard track; both the first and second altimeters are infrared rangefinders that extend vertically downwards and are used to measure the distance between them and the ground, which is the height of the first and second altimeters.

[0034] Of course, when performing step S1, the end of the standard track is connected to the unused end of the track to be tested.

[0035] S2: An induction plate is set at one end of the standard track away from the track to be tested, and the test vehicle set on the standard track is driven to move towards the track to be tested. The laser emitter set on the test vehicle and extending towards the induction plate is turned on, and the laser receiving point on the induction plate is acquired in real time.

[0036] Here, it is equivalent to amplifying the connectivity between the standard track and the track under test. A laser is emitted from the test vehicle toward the induction plate, and the position of the laser receiving point is recorded on the induction plate, thus amplifying even small changes in the track onto the induction plate.

[0037] Furthermore, the induction plate is preferably mounted vertically on the wall at the end of the standard track away from the track to be tested.

[0038] In summary, when performing step S2, the sensing plate is set perpendicular to the standard track, and when the laser emitter is located on the standard track, the direction of the emitted laser is set parallel to the standard track.

[0039] S3: Determine whether the laser receiving point is still located on the sensing plate after the test vehicle leaves the standard track. If yes, proceed to step S4; otherwise, the test track is faulty and the test track is reinstalled.

[0040] Since the standard track can be regarded as a track with completely standard specifications, there is no need to amplify the parameters of the standard track. Instead, the parameters are needed after the test vehicle is displaced from the standard track to the track to be tested.

[0041] It should be noted that when performing step S3, it is first determined whether the test vehicle can leave the standard track and reach the track to be tested. And when the test vehicle can leave the standard track and reach the track to be tested, it is determined whether the laser receiving point is still located on the sensing plate after the test vehicle leaves the standard track.

[0042] In other words, determining whether the laser receiving point is still located on the sensing plate after the test vehicle leaves the standard track is based on the premise that the test vehicle can leave the standard track and reach the track to be tested. This can be regarded as determining whether the laser receiving point is still located on the sensing plate when the test vehicle reaches the track to be tested.

[0043] The process of determining whether the test vehicle can detach from the standard track and reach the track to be tested has the following results:

[0044] If the test vehicle gets stuck at the end of the track to be tested, preventing it from leaving the standard track and reaching the track to be tested, then the conclusion is that the track to be tested is faulty (error), and the track to be tested needs to be reinstalled.

[0045] If the test vehicle can detach from the standard track but does not reach the track under test, it means that the standard track and the track under test cannot be aligned, and the installation of the track under test must be faulty. The track under test should be reinstalled.

[0046] If the test vehicle can detach from the standard track and reach the track under test, it indicates that the track under test and the standard track are connected, and the installation status of the track under test needs to be further confirmed.

[0047] In addition, to determine whether the laser receiving point is still located on the sensing plate after the test vehicle leaves the standard track, the following results can be obtained:

[0048] If the laser receiving point is not located on the sensing plate, it indicates that the track under test is offset or deflected too much from the standard track. This means that there is an installation fault in the track under test, and the track under test still needs to be reinstalled.

[0049] If the laser receiving point is still located on the sensing plate, it means that the deviation or deflection of the track under test from the standard track is within the allowable range.

[0050] It should be noted that the size of the sensor plate can be varied. The larger the sensor plate, the easier it is for the laser receiving point to detach from the sensor plate. The size of the entire sensor plate should be set according to the installation standards of the transport track.

[0051] S4: Drive the test vehicle to move towards the standard track direction, and determine whether the test vehicle can return to the standard track. If so, the track to be tested is installed evenly; otherwise, send an adjustment notification to the management terminal.

[0052] The test vehicle can leave the standard track and reach the track to be tested, but it is necessary to ensure that the test vehicle can leave the track to be tested and return to the standard track. If it can return to the standard track, it means that the alignment is correct. Otherwise, there may still be some deviation, which may affect subsequent logistics and transportation.

[0053] When performing step S4, if the test vehicle cannot return to the standard track, the information that the test vehicle cannot return to the standard track is packaged into an adjustment notification and sent to the management terminal. The staff will then make small adjustments to the track under test to ensure that the track under test is installed and aligned.

[0054] This invention discloses a sensor-based method for detecting the alignment of transport tracks. It is simple, convenient, and low-cost. The method detects whether the standard track and the track under test are aligned by testing the displacement of the vehicle. Furthermore, it uses laser sensing to amplify the alignment error between the standard track and the track under test before detection, resulting in higher detection accuracy. The entire process can be automated, improving the efficiency of track correction and installation.

[0055] Example 2: As before Figure 1 As shown, this is only one embodiment of the present invention. Based on the first embodiment, in the induction-based transportation track alignment detection method of the present invention, when performing steps S2 and S4, the test vehicle is driven to move by rotating brushes set on the sides of the standard track and the track to be tested.

[0056] In addition, after the track to be tested is installed flush in step S4, the process also includes:

[0057] Step S5: Plot the curve of the laser receiving point on the induction plate changing with time, analyze and obtain the installation alignment parameters of the track to be tested, and correct the track to be tested.

[0058] When performing step S5, a curve of the laser receiving point on the induction plate changing with time is plotted. Based on the intensity of the laser receiving point obtained on the induction plate, the position of the test vehicle is obtained. The height parameters at various points on the track under test are analyzed and the installation error at various points on the track under test is obtained. The track under test is then corrected based on the installation error.

[0059] Here, corrections are only needed if the installation errors at various points on the track under test are within the predetermined error range. Conversely, if the installation errors at various points on the track under test exceed the predetermined error range, it indicates that the track itself has significant manufacturing defects, and it is best to replace the track under test for installation.

[0060] Once the track under test has been corrected and installed, the installation and alignment testing of the next track segment can begin.

[0061] This invention discloses a sensor-based method for detecting the alignment of transport tracks. It is simple, convenient, and low-cost. The method detects whether the standard track and the track under test are aligned by testing the displacement of the vehicle. Furthermore, it uses laser sensing to amplify the alignment error between the standard track and the track under test before detection, resulting in higher detection accuracy. The entire process can be automated, improving the efficiency of track correction and installation.

[0062] This invention is not limited to the specific embodiments described above, and various modifications and variations are possible. Any modifications, equivalent substitutions, or improvements made to the above embodiments based on the technical essence of this invention should be included within the scope of protection of this invention.

Claims

1. A sensor-based method for detecting the alignment of transport tracks, characterized in that, Includes the following steps: S1: After the track to be tested is pre-installed, the height of the track to be tested is obtained, and the standard track is raised or lowered to the height of the track to be tested, so that the end of the standard track is connected to the end of the track to be tested; S2: An induction plate is set at one end of the standard track away from the track to be tested, and the test vehicle set on the standard track is driven to move towards the track to be tested. The laser emitter set on the test vehicle and extending towards the induction plate is turned on, and the laser receiving point on the induction plate is acquired in real time. S3: Determine whether the laser receiving point is still located on the sensing plate after the test vehicle leaves the standard track. If yes, proceed to step S4; otherwise, the test track is faulty and the test track is reinstalled. S4: Drive the test vehicle to move towards the standard track, and determine whether the test vehicle can return to the standard track. If so, the track to be tested is installed flush. Conversely, an adjustment notification is sent to the management terminal; In step S4, after the track to be tested is installed flush, the process further includes: S5: Plot the curve of the laser receiving point on the induction plate changing with time, analyze and obtain the installation alignment parameters of the track to be tested, and correct the track to be tested. When performing step S5, the curve of the laser receiving point on the induction plate changing with time is plotted. Based on the intensity of the laser receiving point obtained on the induction plate, the position of the test vehicle is obtained. The height parameters at various points of the track under test are analyzed and the installation error at various points of the track under test is obtained. The track under test is corrected based on the installation error.

2. The induction-based method for detecting the alignment of transport tracks according to claim 1, characterized in that: When performing step S1, after obtaining the height of the track to be tested, the height of the standard track is obtained, and the height difference between the track to be tested and the standard track is obtained. The standard track is then raised or lowered by the lifting plate below the standard track to the height of the track to be tested.

3. The induction-based method for detecting the alignment of transport tracks according to claim 1, characterized in that: When performing step S1, the end of the standard track is connected to the unused end of the track to be tested.

4. The induction-based method for detecting the alignment of transport tracks according to claim 1, characterized in that: When performing step S2, the sensing plate is set perpendicular to the standard track, and when the laser emitter is located on the standard track, the direction of the emitted laser is set parallel to the standard track.

5. The induction-based method for detecting the alignment of transport tracks according to claim 1, characterized in that: When performing steps S2 and S4, the test vehicle is displaced by rotating brushes set on the sides of the standard track and the track to be tested.

6. The induction-based method for detecting the alignment of transport tracks according to claim 1, characterized in that: When performing step S3, it is first determined whether the test vehicle can leave the standard track, and if the test vehicle can leave the standard track, it is determined whether the laser receiving point is still located on the sensing plate after the test vehicle leaves the standard track.

7. The induction-based method for detecting the alignment of transport tracks according to claim 1, characterized in that: When performing step S4, if the test vehicle fails to return to the standard track, the information that the test vehicle cannot return to the standard track is packaged into an adjustment notification and sent to the management terminal.

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