A roll-over machine positioning correction system and method

Abstract

The embodiment of the application discloses a tipping machine positioning correction system and method. The tipping machine positioning correction system comprises: a turnover motor arranged on the tipping machine; an encoder arranged on the turnover motor and used for generating encoding information of the turnover motor; an image recognition module arranged on the tipping machine and used for recognizing track information of the tipping machine; and a controller connected with the turnover motor, the encoder and the image recognition module, used for controlling the turnover motor according to the encoding information and the track information, so as to perform positioning correction on the tipping machine. The tipping machine positioning correction system and method provided by the embodiment of the application can improve the reliability of positioning correction.

Description

Technical Field

[0001] The embodiments of the present invention relate to positioning correction technology, and more particularly to a tippler positioning correction system and method. Background Technology

[0002] A tippler, a large mechanical device used for unloading bulk materials from open railway wagons, is a loading and unloading machine that can tilt or tilt rail vehicles to unload materials. It is suitable for ports with high transport volumes and industrial sectors such as metallurgy, coal, and thermal power. To ensure the tippler's accurate positioning, it needs to be positioned and calibrated.

[0003] Currently, existing tippler positioning and correction methods typically achieve positioning through a master controller. When a fault occurs, the adjustment time is long and the accuracy is low. Track misalignment often occurs, and analog signals cannot be output, which reduces the reliability of positioning and correction. Summary of the Invention

[0004] This invention provides a tippler positioning correction system and method to improve the reliability of positioning correction.

[0005] In a first aspect, embodiments of the present invention provide a tippler positioning and correction system, comprising:

[0006] A tipping motor is installed in the tipper.

[0007] The encoder, installed on the flip motor, is used to generate the coded information for the flip motor;

[0008] An image recognition module is installed on the tippler to identify the track information of the tippler;

[0009] The controller, connected to the tippler motor, encoder, and image recognition module, is used to control the tippler motor based on the encoded information and track information in order to perform positioning correction on the tippler.

[0010] As can be seen from the above technical solution, the controller in the tippler positioning and correction system controls the tippler motor according to the coded information and track information. The coded information is presented as an analog signal generated by the encoder. The controller can control the running angle of the tippler motor according to the analog signal to realize the positioning and correction of the tippler and improve the control reliability.

[0011] Optionally, the image recognition module includes a camera and an image recognition processor, with the camera connected to the image recognition processor; the camera is used to capture images of the tipper's track, and the image recognition processor is used to process the track images to obtain the tipper's track information.

[0012] Optionally, the above-mentioned tippler positioning and correction system also includes a communication module, through which the controller communicates with the image recognition module.

[0013] Optionally, the encoder is a photoelectric encoder.

[0014] Optionally, the controller is a PLC controller.

[0015] In a second aspect, embodiments of the present invention provide a tippler positioning correction method, which is executed by the controller described in the first aspect, and includes:

[0016] Obtain the track information and the coding information of the tippler's motor;

[0017] The tippler is positioned and corrected based on track and coding information.

[0018] Optionally, the tippler can be positioned and corrected based on track and coding information, including:

[0019] Based on the track information and coding information, determine the coding information of the tippler on the target track and its current offset angle;

[0020] If the offset angle is not zero, control the flip motor to adjust the running angle so that the offset angle is zero.

[0021] Optionally, based on the track information and coding information, determine the coding information of the tippler on the target track and its current offset angle, including:

[0022] Based on the coding information, determine the coding information corresponding to the tippler on the target track, and determine the current offset angle of the tippler based on the track information.

[0023] Optionally, after determining the coded information of the tippler on the target track and its current offset angle, the process also includes:

[0024] If the offset angle is zero, the operating state of the control flip motor remains unchanged.

[0025] Optionally, the offset angle is the offset angle between the actual track of the tipper and the target track, where the actual track is the track corresponding to the coded information obtained by the controller.

[0026] The tippler positioning and correction system and method provided in this invention include: a tippler motor installed on the tippler; an encoder installed on the tippler motor for generating coded information for the tippler motor; an image recognition module installed on the tippler for recognizing the tippler's track information; and a controller connected to the tippler motor, encoder, and image recognition module for controlling the tippler motor based on the coded information and track information to perform positioning and correction on the tippler. In this invention, the controller controls the tippler motor based on the coded information and track information. The coded information is presented as an analog signal generated by the encoder. The controller can control the operating angle of the tippler motor based on the analog signal to achieve positioning and correction of the tippler, thereby improving the reliability of the positioning and correction. Attached Figure Description

[0027] Figure 1 This is a structural block diagram of a tippler positioning and correction system provided in Embodiment 1 of the present invention;

[0028] Figure 2 This is a structural block diagram of another tippler positioning and correction method provided in Embodiment 2 of the present invention;

[0029] Figure 3 This is a flowchart of a tippler positioning and correction method provided in Embodiment 3 of the present invention. Detailed Implementation

[0030] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0031] Example 1

[0032] Figure 1 This is a structural block diagram of a tippler positioning and correction system provided in Embodiment 1 of the present invention. (Reference) Figure 1 The tipper positioning and correction system includes: a tipping motor 10, an encoder 20, an image recognition module 30, and a controller 40.

[0033] The tilting motor 10 is installed in the tippler; the encoder 20 is installed in the tilting motor 10 and is used to generate the coded information of the tilting motor; the image recognition module 30 is installed in the tippler and is used to identify the track information of the tippler; the controller 40 is connected to the tilting motor 10, the encoder 20 and the image recognition module 30, and is used to control the tilting motor 10 according to the coded information and the track information in order to perform positioning correction of the tippler.

[0034] Specifically, both the tilting motor 10 and the image recognition module 30 are installed on the tippler. During tippler operation, the encoder 20 on the tilting motor 10 generates coded information for the tilting motor, and the image recognition module 30 identifies the tippler's track information. The coded information generated by the encoder 20 is presented as an analog signal. The encoder 20 transmits the generated coded information to the controller 40, and the image recognition module 30 transmits the identified track information to the controller 40. The controller 40 controls the tilting motor 10 based on the received coded information and track information. For example, based on the coded information and track information, it determines the coded information corresponding to the target track and the current offset angle (the offset angle is the offset angle of the current track relative to the target track; the current track is the track corresponding to the coded information generated by the encoder 20). If the offset angle is not zero, the controller adjusts the tilting motor's operating angle to reduce the offset angle to zero, thus achieving positioning correction of the tippler.

[0035] The tippler positioning and correction system provided in this embodiment includes: a tippler motor installed on the tippler; an encoder installed on the tippler motor for generating coded information for the tippler motor; an image recognition module installed on the tippler for recognizing the tippler's track information; and a controller connected to the tippler motor, encoder, and image recognition module for controlling the tippler motor based on the coded information and track information to perform positioning and correction of the tippler. In this tippler positioning and correction system, the controller controls the tippler motor based on the coded information and track information. The coded information is presented as an analog signal generated by the encoder. The controller can control the operating angle of the tippler motor based on the analog signal to achieve positioning and correction of the tippler, improving the reliability of the positioning and correction.

[0036] Example 2

[0037] Figure 2 This is a structural block diagram of a tippler positioning and correction system provided in Embodiment 2 of the present invention. This embodiment is based on Embodiment 1, with reference to... Figure 2 Optionally, the image recognition module 30 includes a camera 31 and an image recognition processor 32, with the camera 31 connected to the image recognition processor 32; the camera 31 is used to capture images of the tipper's track, and the image recognition processor 32 is used to process the track images to obtain the tipper's track information.

[0038] Specifically, camera 31 is used to capture images of the tippler's track and transmit the captured track images to image recognition processor 32. Image recognition processor 32 performs recognition processing on the received track images to obtain the tippler's track information and transmits the track information to controller 40 so that controller 40 can control the tippler according to the track information.

[0039] Optionally, the aforementioned tipper positioning and correction system also includes a communication module 50, through which the controller 40 communicates with the image recognition module 30. Specifically, the controller 40 can wirelessly communicate with the image recognition module 30 via the communication module 50. The specific communication method can be determined according to the actual system requirements and is not limited here.

[0040] Optionally, encoder 20 is a photoelectric encoder.

[0041] Among them, photoelectric encoders are sensors that convert mechanical geometric displacement on the output shaft into pulses or digital signals through photoelectric conversion, and are widely used sensors. A photoelectric encoder mainly consists of a grating disk and a photoelectric detection device. The grating disk is coaxial with the motor. When the motor rotates, the grating disk rotates at the same speed as the motor. The photoelectric detection device, composed of light-emitting diodes and other electronic components, detects and outputs several pulse signals. By calculating the number of pulses output per second by the photoelectric encoder, the current speed of the motor can be reflected. In addition, to determine the direction of motor rotation, the grating disk also has two channels of optical code output with a 90° phase difference. The direction of motor rotation can be determined based on the state changes of the dual-channel optical code. According to the detection principle, encoders can be divided into optical, magnetic, inductive, and capacitive types. According to their scaling method and signal output form, they can be divided into incremental, absolute, and hybrid types. The specific type of photoelectric encoder in this embodiment can be determined according to the actual system requirements and is not limited here.

[0042] Optionally, controller 40 is a PLC controller.

[0043] A PLC (Programmable Logic Controller) uses a programmable memory to store instructions for performing logical operations, sequential control, timing, counting, and arithmetic operations. It controls various types of mechanical equipment or production processes through digital or analog inputs and outputs. PLCs are widely used due to their high reliability, ease of programming, flexible configuration, complete input / output modules, convenient installation, and fast operation. Most PLCs use single-chip microcomputers, resulting in high integration and the inclusion of corresponding protection circuits and self-diagnostic functions, enhancing their reliability. PLC programming primarily uses relay control ladder diagrams and command statements, which are far fewer in number than microcomputer instructions, making them easier to learn and use. PLCs employ a modular structure, allowing users to easily modify their functions and scale through simple combinations, thus making them suitable for various control systems. One of the biggest advantages of PLCs is their ability to provide corresponding modules for different field signals (such as DC or AC, switching quantities, digital or analog quantities, voltage or current), allowing direct connection to industrial field devices (such as buttons, switches, sensors, motor starters, or control valves) and a bus connection to the CPU motherboard. Compared to computer systems, PLCs do not require a dedicated computer room or strict shielding measures. During use, simply connecting the detection devices to the actuators and the PLC's I / O interface terminals is sufficient for normal operation. PLC control is program-driven, offering high reliability and operating speed. In this embodiment, the PLC controls the operation of the tipper's tilting motor based on encoded and track information to achieve positioning and correction of the tipper.

[0044] The tippler positioning and correction system provided in this embodiment includes: a tippler motor installed on the tippler; an encoder installed on the tippler motor for generating coded information for the tippler motor; an image recognition module installed on the tippler for recognizing the tippler's track information; and a controller connected to the tippler motor, encoder, and image recognition module for controlling the tippler motor based on the coded information and track information to perform positioning and correction on the tippler. The image recognition module includes a camera and an image recognition processor, with the camera connected to the image recognition processor. The camera captures images of the tippler's track, and the image recognition processor processes the track images to obtain the tippler's track information. The encoder is a photoelectric encoder, and the controller is a PLC controller. The tippler positioning and correction system provided in this embodiment controls the tippler motor based on coded information and track information. The coded information is presented as an analog signal generated by an encoder. The controller can control and adjust the operating angle of the tippler motor based on the analog signal to achieve positioning and correction of the tippler. This solves the problem of low reliability in positioning and correction in the prior art due to the lack of analog signals, which makes fine-tuning impossible. Furthermore, the digital recognition of camera images is applied to the tippler's automatic track alignment function, enhancing the safety of the tippler's automated production process and improving the tippler's intelligent and unmanned technology.

[0045] Example 3

[0046] Figure 3 This is a flowchart of a tippler positioning and correction method provided in Embodiment 3 of the present invention. This embodiment can be applied to positioning and correction of tipplers, etc. The method can be executed by the controller in the tippler positioning and correction system, and the method specifically includes the following steps:

[0047] Step 110: Obtain the track information of the tippler and the coding information of the tippler motor.

[0048] The track information of the tippler can be obtained by the image recognition module in the tippler positioning and correction system, and the coding information of the tippler motor can be obtained by the encoder. The encoder is installed in the tippler motor, the tippler motor is installed in the tippler, and the image recognition module is also installed in the tippler. The controller is connected to the tippler motor, the encoder, and the image recognition module to obtain the coding information of the tippler motor generated by the encoder and the track information of the tippler identified by the image recognition module.

[0049] Step 120: Based on the track information and coding information, perform positioning and correction of the tippler.

[0050] Specifically, the controller can determine the corresponding encoding information of the tippler on the target track based on the encoding information, and determine the current offset angle of the tippler based on the track information. If the offset angle is not zero, the controller controls the tipping motor to adjust its running angle so that the offset angle is zero. If the offset angle is zero, the controller controls the operating state of the tipping motor to remain unchanged. The offset angle is the offset angle of the tippler's actual track relative to the target track, and the actual track of the tippler is the track corresponding to the encoding information obtained by the controller. For example, if the controller determines that the tippler's current track (i.e., the actual track) is offset to the left by ten degrees relative to the target track along the tippler's running direction, it controls the tippler's current track to move to the right by controlling the tipping motor until the offset angle is zero, thus placing the tippler on the target track and achieving positioning correction.

[0051] The tippler positioning and correction method provided in this embodiment acquires the tippler's track information and the coding information of the tippler's rotating motor. Based on the track and coding information, the tippler's positioning and correction are performed. Specifically, based on the track and coding information, the coding information corresponding to the tippler on the target track and the current offset angle are determined. If the offset angle is not zero, the rotating motor is controlled to adjust its operating angle to make the offset angle zero. If the offset angle is zero, the operating state of the rotating motor remains unchanged. The offset angle is the offset angle of the tippler's actual track relative to the target track, and the actual track of the tippler is the track corresponding to the coding information acquired by the controller. For example, if the controller determines that the tippler's current track (i.e., the actual track) is offset to the left by ten degrees relative to the target track along the tippler's operating direction, then the rotating motor is controlled to move the tippler's current track to the right until the offset angle is zero, placing the tippler on the target track, thereby achieving the tippler's positioning and correction.

[0052] The tippler positioning and correction method provided in this embodiment belongs to the same inventive concept as the tippler positioning and correction system provided in any embodiment of the present invention, and has corresponding beneficial effects. For technical details not covered in this embodiment, please refer to the tippler positioning and correction system provided in any embodiment of the present invention.

[0053] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, combinations, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.

Claims

1. A tippler positioning and correction system, characterized in that, include: A tipping motor is installed in the tipper. An encoder is installed on the flip motor and is used to generate the encoding information of the flip motor; An image recognition module is installed on the tippler and is used to identify the track information of the tippler; The controller, connected to the tilting motor, the encoder, and the image recognition module, is used to control the tilting motor according to the encoding information and the track information in order to perform positioning correction on the tipper. The image recognition module includes a camera and an image recognition processor, with the camera connected to the image recognition processor. The camera is used to capture images of the tipper's track, and the image recognition processor is used to process the track images to obtain the tipper's track information.

2. The tippler positioning and correction system according to claim 1, characterized in that, It also includes a communication module, through which the controller communicates with the image recognition module.

3. The tippler positioning and correction system according to claim 1, characterized in that, The encoder is a photoelectric encoder.

4. The tippler positioning and correction system according to claim 1, characterized in that, The controller is a PLC controller.

5. A method for positioning and correcting a tippler, characterized in that, The tippler positioning and correction method is performed by the tippler positioning and correction system according to any one of claims 1-4, and the tippler positioning and correction method includes: Obtain the track information and the coding information of the tippler's motor; The tipper is positioned and corrected based on the track information and the coding information.

6. The tippler positioning and correction method according to claim 5, characterized in that, The step of positioning and correcting the tippler based on the track information and the coding information includes: Based on the track information and the coding information, determine the coding information of the tippler on the target track and its current offset angle; If the offset angle is not zero, the flip motor is controlled to adjust its operating angle so that the offset angle is zero.

7. The tippler positioning and correction method according to claim 6, characterized in that, The step of determining the code information and current offset angle of the tipper on the target track based on the track information and the code information includes: Based on the encoding information, the encoding information corresponding to the tippler on the target track is determined, and the current offset angle of the tippler is determined based on the track information.

8. The tippler positioning and correction method according to claim 6, characterized in that, After determining the coding information of the tippler on the target track and its current offset angle, the process further includes: If the offset angle is zero, the operating state of the reversing motor remains unchanged.

9. The tippler positioning and correction method according to claim 6, characterized in that, The offset angle is the offset angle of the actual track of the tipper relative to the target track, and the actual track is the track corresponding to the coded information obtained by the controller.

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