One-button parking method for stacker-reclaimer

Abstract

The present invention relates to the technical field of stacker-reclaimers, and specifically to a one-touch parking method for stacker-reclaimers, comprising: each time a truck passes an anchor point, a controller determines the positional relationship between the truck and the anchor point based on the current truck travel direction and the triggering status of a sensor switch at the anchor point, and synchronously displays the information on a touch screen; the controller displays a prompt message on the touch screen to prompt an operator that the truck has entered a one-touch parking zone; the operator triggers a one-touch parking button on the touch screen, which in turn sends a one-touch parking command to the controller. Upon receiving the one-touch parking command, the controller controls the truck to decelerate and stop; the truck is controlled to travel in reverse at a first rated speed, and during travel, when all sensor plates provided at the anchor points are simultaneously sensed by the sensor switches on the corresponding travel tracks, the truck's travel brakes engage and the truck stops. During parking, the sensor switches and sensor plates achieve precise alignment, thereby ensuring alignment accuracy while reducing costs.

Description

Technical Field

[0001] The present invention relates to the technical field of stacker-reclaimers, and in particular to a one-key parking method for a stacker-reclaimer. Background Art

[0002] The stacker / reclaimer's traveling mechanism, also known as the trolley, typically travels on long, fixed tracks. To prevent the trolley from sliding along the track when the trolley is stationary and in high winds, multiple anchor pits are typically located on either side of the track to facilitate anchoring. During anchoring, symmetrical anchor rods extend downward from each side of the trolley and engage with ground anchor pits. These ground anchor pits are typically connected to a concrete structure and extend into the foundation on either side of the track, providing significant grounding force.

[0003] At present, when anchoring a trolley, it usually requires two people to cooperate in the operation: one person operates the trolley and the other person observes whether the trolley anchor rod is aligned with the anchor pit. However, due to the large inertia of the trolley, the alignment accuracy of the anchor rod and the anchor pit must reach the centimeter level. As a result, during alignment, the braking distance of the trolley is easily too long or too short, resulting in inaccurate alignment. Multiple alignments are required, which is time-consuming and labor-intensive.

[0004] To address the above issues, existing technologies have adopted systems that use encoders, RFID, or GPS for alignment. However, encoders have cumulative errors and require regular calibration, and the hardware cost of RFID or GPS is relatively high. Summary of the Invention

[0005] In response to the above problems, an embodiment of the present invention provides a one-key parking method for a stacker-reclaimer.

[0006] In one aspect of the present invention, a one-touch parking method for a stacker and reclaimer is provided, which is applied to a one-touch parking positioning system. The one-touch parking positioning system includes: a touch screen, a controller, a sensor switch, and a sensor sheet. The controller is communicatively connected to the touch screen, and the controller is electrically connected to the sensor switch. The sensor switch is installed near an anchoring rod with the sensing surface downward, and the sensor sheet is set on an anchoring pit. Two anchoring pits symmetrically arranged on both sides of the trolley track form a group as an anchor point. The walking tracks of the various sensor switches driven by the trolley do not overlap, and the sensor sheets on each anchor point are respectively located on the walking track of a certain sensor switch, and the number and position of the sensor sheets set on each anchor point are unique. When the anchoring rod is aligned with the anchor point, all the sensor sheets set on the anchor point can be simultaneously sensed by the sensor switches on the corresponding walking tracks. The one-touch parking method includes:

[0007] Each time the trolley passes an anchor point, the controller determines the positional relationship between the trolley and the anchor point based on the current trolley direction and the triggering status of the induction switch at the anchor point, and displays it on the touch screen synchronously.

[0008] The controller displays a prompt message on the touch screen to remind the operator that the vehicle has entered the one-button parking zone;

[0009] The operator triggers the one-touch parking button on the touch screen, which in turn sends a one-touch parking command to the controller. After receiving the one-touch parking command, the controller controls the truck to slow down and stop.

[0010] The trolley is controlled to travel in the reverse direction at the first rated speed. During travel, all the induction plates set on the anchor points are simultaneously sensed by the induction switches on the corresponding travel tracks, and the trolley travel brake is engaged to stop the vehicle.

[0011] Compared with the prior art, the beneficial effects of the present invention are that the number and position of the sensor plates set on each anchor point are unique, so that the walking position of the trolley can be determined according to the triggering of the sensor switch. Based on this, the operator can select the required parking position according to the displayed trolley position; when parking, precise alignment is achieved through the sensor switch and the sensor plate, which can reduce costs while ensuring alignment accuracy.

[0012] Optionally, after the step of applying the travel brake of the trolley to stop the vehicle, the method further includes: a controller determining whether the trolley has passed the anchor point based on a signal from the induction switch;

[0013] If the anchor point is crossed, determine whether the number of times the anchor point is crossed exceeds the rated number;

[0014] If the rated number of times is not exceeded, the first rated speed is updated according to the set deceleration step, and the control returns to execute the process of controlling the trolley to drive in the reverse direction at the first rated speed. During driving, all the induction plates set on the anchor points are simultaneously sensed by the induction switches on the corresponding walking tracks, and the trolley's travel brakes engage and stop the vehicle. If the rated number of times is exceeded, the one-button parking process ends, and an alarm message indicating the failure of one-button parking is displayed on the touch screen.

[0015] If the anchor point is not crossed, the one-touch parking process is completed and a prompt message indicating that the one-touch parking is successful is displayed on the touch screen.

[0016] Optionally, the controller determines whether the vehicle has passed the anchor point based on the signal from the induction switch, and also determines whether the one-touch parking process exceeds a first rated time.

[0017] If the first rated time is exceeded, the one-touch parking process is terminated, and an alarm message indicating that the one-touch parking has failed is displayed on the touch screen;

[0018] If the first rated time period is not exceeded and the anchor point is crossed, a step of determining whether the number of times the anchor point is crossed exceeds a rated number is performed.

[0019] Optionally, it also includes: when the truck is driving at a speed not lower than the second rated speed, when an induction switch is triggered and the induction switch is not triggered again within the second rated time, an alarm message is displayed on the touch screen to prompt the operator to check whether the induction switch has failed or malfunctioned.

[0020] Optionally, it also includes: when it is determined based on the induction switch signal that the trolley has passed the outermost anchor point in the driving direction, an alarm message is displayed on the touch screen to prompt that the trolley is approaching the end of the track, and the trolley is controlled to slow down until it stops. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The drawings described herein are used to provide a further understanding of the present invention, constitute a part of this application, and do not constitute a limitation of the present invention. In the drawings:

[0022] Figure 1 A schematic diagram of a flow chart of a one-key parking method for a stacker-reclaimer provided in an embodiment of the present invention;

[0023] Figure 2 A schematic diagram of the installation position of an induction switch and an induction sheet provided in an embodiment of the present invention;

[0024] Figure 3 A schematic diagram of the distribution of sensor plates at various anchor points provided in an embodiment of the present invention.

[0025] Among them, there are induction switch 1, induction plate 2, anchoring rod 3, anchoring pit 4, and trolley track 5. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the embodiments and the accompanying drawings. Here, the exemplary embodiments of the present invention and their descriptions are used to explain the present invention, but are not intended to limit the present invention.

[0027] See also Figure 1 and Figure 2, an embodiment of the present invention provides a one-key parking method for a stacker and reclaimer, which is applied to a one-key parking positioning system, and the one-key parking positioning system includes: a touch screen, a controller, a sensor switch 1, and a sensor sheet 2; the controller is communicatively connected to the touch screen, and the controller is electrically connected to the sensor switch 1; the sensor switch 1 is installed near the anchoring rod 3 with the sensing surface downward, and the sensor sheet 2 is set on the anchoring pit 4, and two anchoring pits symmetrically arranged on both sides of the trolley track 5 are grouped as an anchor point; the walking tracks of each sensor switch 1 driven by the trolley do not overlap, and each sensor sheet 2 on each anchor point is respectively located on the walking track of a certain sensor switch 1, and the number and position of the sensor sheets 2 set on each anchor point are unique; when the anchoring rod 3 is aligned with the anchor point, all the sensor sheets 2 set on the anchor point can be simultaneously sensed by the sensor switch 1 on the corresponding walking track; the one-key parking method includes:

[0028] S1. Every time the trolley passes an anchor point, the controller determines the positional relationship between the trolley and the anchor point based on the current trolley direction and the triggering status of the sensor switch at the anchor point, and displays it on the touch screen synchronously.

[0029] S2. The controller displays a prompt message on the touch screen to remind the operator that the vehicle has entered the one-touch parking zone. The prompt message is displayed for 30 seconds. If the operator triggers the one-touch parking button within 30 seconds, the subsequent one-touch parking process will be carried out. If the button is pressed after 30 seconds, the one-touch parking process will be invalid.

[0030] S3. The operator triggers the one-touch parking button on the touch screen, which in turn sends a one-touch parking command to the controller. After receiving the one-touch parking command, the controller controls the truck to slow down and stop.

[0031] S4. Control the trolley to travel in the reverse direction at the first rated speed. During driving, all the induction plates set on the anchor points are simultaneously sensed by the induction switches on the corresponding travel tracks, and the trolley's travel brakes engage to stop the vehicle.

[0032] In the implementation, after the step of applying the travel brake to stop the vehicle, the following steps are further included: S5, the controller determines whether the vehicle has passed the anchor point based on the signal of the induction switch; if the vehicle has passed the anchor point, S6 is executed; if the vehicle has not passed the anchor point, S9 is executed;

[0033] S6, determine whether the number of times crossing the anchor point exceeds the rated number, if not, execute S7; if exceeded, execute S8;

[0034] S7: updating the first rated speed according to the set deceleration step length, and returning to execute S4 to control the trolley to travel in the reverse direction at the first rated speed. During driving, after all the sensor plates set on the anchor points are simultaneously sensed by the sensor switches on the corresponding travel tracks, the trolley travel brakes engage and stop the vehicle. S8: ending the one-button parking process, and displaying an alarm message on the touch screen to indicate that the one-button parking failed.

[0035] S9. The one-touch parking process is completed and a prompt message indicating that the one-touch parking is successful is displayed on the touch screen.

[0036] During implementation, the controller executes S5 to determine whether the vehicle has passed the anchor point based on the signal of the induction switch, and also executes S10 to determine whether the one-button parking process exceeds the first rated time; if the first rated time is exceeded, S11 is executed;

[0037] S11, ending the one-touch parking process, and displaying an alarm message indicating a failure of the one-touch parking process on the touch screen;

[0038] If the first rated time period is not exceeded and the anchor point is crossed, step S6 is executed to determine whether the number of times the anchor point is crossed exceeds the rated number.

[0039] See also Figure 3 In a specific embodiment provided, anchor points 1-7 are included, and ①②③④ marked on both sides of the anchor pit 4 are the setting positions of the corresponding induction plates; accordingly, 4 induction switches are set, and the setting form corresponds to the positions of the four induction plates at anchor point No. 1, that is, when the trolley passes through anchor point No. 1, the 4 induction switches set are all triggered; the number and position of the induction plates set at each anchor point are unique, so that the anchor point at which the trolley is located can be determined based on the triggering situation of the induction switch. For example, when induction switches No. 1 and No. 4 are triggered, it can be determined that the trolley is located at the position of anchor point No. 4.

[0040] In practice, the first rated speed can be 10% of the rated speed during normal operation, and the rated number of times can be three. The deceleration step can be a fixed deceleration value, such as reducing the current speed by 3%, that is, the first rated speed is initially 10% of the rated speed, and after one deceleration, it is reduced to 7%. In addition, a fixed deceleration ratio can be used, such as 50% of the previous speed after each deceleration, that is, the first rated speed is initially 10% of the rated speed, and after one deceleration, it is reduced to 5%. In actual application, the minimum speed can be set to 3% of the rated speed during normal operation before no further deceleration. The first rated time can be 30 seconds, that is, the time starts from the beginning of the one-touch parking attempt. If it exceeds 30 seconds, it will be considered a one-touch parking failure. The rated number of times can be set to 3 times, that is, if the precise positioning cannot be achieved after three deceleration attempts, the one-touch parking will be considered a failure.

[0041] The basis for judging whether the anchor point has been crossed is specifically whether the induction switch signal disappears after the induction switch is triggered. That is, when the anchor point is crossed, the induction switch 1 and the induction plate 2 will change from being aligned to being offset. At this time, the induction switch signal will change from being present to being absent, and it can be determined that the anchor point has been crossed; correspondingly, if the induction switch signal remains, it is determined that the anchor point is successfully aligned.

[0042] During implementation, when the truck is driving at a speed not lower than the second rated speed, when a sensor switch is triggered and no sensor switch is triggered again within the second rated time, an alarm message is displayed on the touch screen to prompt the operator to check whether the sensor switch has failed or malfunctioned. The second rated speed can be 15% of the rated speed of the truck during normal driving.

[0043] During driving, if the trolley is determined to have passed the outermost anchor point in the driving direction based on the induction switch signal, the touch screen will display an alarm message to prompt that the trolley is approaching the end of the track, and the trolley will be controlled to slow down until it stops.

[0044] The solution provided by the embodiment of the present invention is that the number and position of the sensor plates set on each anchor point are unique, and the traveling position of the truck can be determined according to the triggering status of the sensor switch. Based on this, the operator can select the required parking position according to the displayed truck position; when parking, precise alignment is achieved through the sensor switch and the sensor plate, which can reduce costs while ensuring alignment accuracy.

[0045] The above description is only a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention are included in the scope of protection of the present invention.

Claims

1. A one-key parking method for a stacker / reclaimer, characterized in that: The system is applied to a one-touch parking positioning system, which includes: a touch screen, a controller, a sensor switch, and a sensor sheet; the controller is communicatively connected to the touch screen, and the controller is electrically connected to the sensor switch; the sensor switch is installed near the anchor rod with the sensor surface facing downward, and the sensor sheet is set on the anchor pit. Two anchor pits symmetrically arranged on both sides of the trolley track form a group as an anchor point; the movement paths of the sensor switches driven by the trolley do not overlap, and the sensor sheets on each anchor point are respectively located on the movement path of a certain sensor switch, and the number and position of the sensor sheets set on each anchor point are unique; when the anchor rod is aligned with the anchor point, all the sensor sheets set on the anchor point can be simultaneously sensed by the sensor switches on the corresponding movement paths; the one-touch parking method includes: Each time the trolley passes an anchor point, the controller determines the positional relationship between the trolley and the anchor point based on the current trolley direction and the triggering status of the induction switch at the anchor point, and displays it on the touch screen synchronously. The controller displays a prompt message on the touch screen to remind the operator that the vehicle has entered the one-button parking zone; The operator triggers the one-touch parking button on the touch screen, which in turn sends a one-touch parking command to the controller. After receiving the one-touch parking command, the controller controls the truck to slow down and stop. The trolley is controlled to travel in the reverse direction at the first rated speed. During travel, all the induction plates set on the anchor points are simultaneously sensed by the induction switches on the corresponding travel tracks, and the trolley travel brake is engaged to stop the vehicle.

2. The one-key parking method for a stacker and reclaimer according to claim 1, characterized in that: After the step of applying the traveling brake of the trolley to stop the vehicle, the method further includes: a controller determining whether the trolley has passed the anchor point based on a signal from the induction switch; If the anchor point is crossed, determine whether the number of times the anchor point is crossed exceeds the rated number; If the rated number of times is not exceeded, the first rated speed is updated according to the set deceleration step, and the control returns to execute the process of controlling the trolley to drive in the reverse direction at the first rated speed. During driving, all the induction plates set on the anchor points are simultaneously sensed by the induction switches on the corresponding walking tracks, and the trolley's travel brakes engage and stop the vehicle. If the rated number of times is exceeded, the one-button parking process ends, and an alarm message indicating the failure of one-button parking is displayed on the touch screen. If the anchor point is not crossed, the one-touch parking process is completed and a prompt message indicating that the one-touch parking is successful is displayed on the touch screen.

3. The one-key parking method for a stacker and reclaimer according to claim 2, wherein: The controller determines whether the vehicle has passed the anchor point based on the signal from the induction switch and also determines whether the one-touch parking process exceeds a first rated time. If the first rated time is exceeded, the one-touch parking process is terminated, and an alarm message indicating that the one-touch parking has failed is displayed on the touch screen; If the first rated time period is not exceeded and the anchor point is crossed, a step of determining whether the number of times the anchor point is crossed exceeds a rated number is performed.

4. The one-key parking method for a stacker and reclaimer according to claim 1, wherein: Also includes: When the truck is traveling at a speed not lower than the second rated speed, when a sensor switch is triggered and no sensor switch is triggered again within the second rated time, an alarm message is displayed on the touch screen to prompt the operator to check whether the sensor switch is invalid or malfunctioning.

5. The one-key parking method for a stacker and reclaimer according to claim 1, wherein: Also includes: When it is determined based on the induction switch signal that the trolley has passed the outermost anchor point in the driving direction, an alarm message is displayed on the touch screen to prompt that the trolley is approaching the end of the track, and the trolley is controlled to slow down until it stops.

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