A material positioning and tracking method and system for a block chain trolley

Abstract

The application provides a material positioning and tracking method and system for a storage and accumulation chain trolley, and relates to the technical field of material positioning and tracking. The method comprises sequentially coding a lifting appliance on the storage and accumulation chain trolley and grid coding a storage space under the lifting appliance; obtaining a mapping relationship of each material stored on the storage and accumulation chain trolley corresponding to the lifting appliance and the storage space, and obtaining a position coding result of each material; obtaining a storage and accumulation chain displacement based on integral operation of the storage and accumulation chain speed relative to time, and obtaining a current position coordinate of the storage and accumulation chain trolley based on the storage and accumulation chain displacement; and realizing positioning and tracking of the materials on the storage and accumulation chain trolley based on the current position coordinate of the storage and accumulation chain trolley and the position coding result of each material. The application realizes accurate positioning of the position of each material by matching each material with the grid coding, and realizes real-time and effective positioning and tracking of each material on the storage and accumulation chain trolley.

Description

Technical Field

[0001] This invention belongs to the field of material positioning and tracking technology, and in particular to a material positioning and tracking method and system for an accumulation chain trolley. Background Technology

[0002] Currently, material positioning and tracking methods for stacking conveyor belts mainly rely on RFID technology, laser / visual positioning, ultrasonic positioning, and photoelectric sensors. The inventors discovered that while these technologies often provide a unified location for the final stopping position of the materials transported on the stacking conveyor belt, they lack real-time positioning during the transport process.

[0003] For example, a stop sensor is pre-set. After the accumulator cart stops in its designated position, the sensor is used for positioning, RFID chip data is read, and the location data of the accumulator cart is obtained, thereby obtaining the location information of the materials on the accumulator cart. However, during operation, the real-time position of the accumulator cart cannot be effectively monitored, nor can the material information on the accumulator cart be effectively tracked, making it impossible to achieve full-process information management of production. If abnormal shutdowns or other situations occur, causing deviations in the accumulator cart's position, the current material data information cannot be determined.

[0004] Furthermore, the inventors discovered that the aforementioned positioning and tracking technology can only perform overall positioning of the accumulator cart and the materials transported on it, but lacks individual material positioning. When a quality problem occurs with a particular material during the production process, it is impossible to quickly and accurately locate the material's position based on the accumulator cart's positioning information. Summary of the Invention

[0005] To overcome the shortcomings of the prior art, the present invention provides a material positioning and tracking method and system for an accumulation chain cart. The storage space of the accumulation chain cart is pre-coded into a grid. When materials are placed on the accumulation chain cart, the correspondence between each material and the pre-coded storage space is obtained. By using the matching result of each material and the grid code, the accurate positioning of each material is achieved. At the same time, the real-time position is obtained by integrating the speed of the accumulation chain cart, which enables real-time and effective positioning and tracking of each material on the accumulation chain cart.

[0006] To achieve the above objectives, one or more embodiments of the present invention provide the following technical solutions: The first aspect of the present invention provides a material positioning and tracking method for an accumulation chain trolley.

[0007] A material positioning and tracking method for an accumulation chain cart includes the following steps: The lifting devices on the stacking chain trolley are sequentially coded, and the storage space under the lifting devices is grid-coded. Obtain the mapping relationship between each material stored on the accumulation chain trolley and the lifting device and the storage space, and obtain the position code result of each material; The displacement of the accumulation chain is obtained by integrating the speed of the accumulation chain with respect to time, and the current position coordinates of the accumulation chain trolley are obtained based on the displacement of the accumulation chain. Based on the current position coordinates of the accumulating chain cart and the position code of each material, the location tracking of materials on the accumulating chain cart is realized.

[0008] A second aspect of the present invention provides a material positioning and tracking system for an accumulation chain trolley.

[0009] A material positioning and tracking system for an accumulation chain cart, comprising: The coding module is configured to sequentially code the spreaders on the accumulation chain trolley and to perform grid coding on the storage space under the spreaders; The mapping module is configured to: obtain the mapping relationship between each material stored on the accumulation chain trolley and the lifting device and the storage space, and obtain the position code result of each material; The integral calculation module is configured to: obtain the displacement of the accumulation chain based on the integral operation of the accumulation chain speed relative to time, and obtain the current position coordinates of the accumulation chain trolley based on the displacement of the accumulation chain; The positioning and tracking module is configured to: locate and track the materials on the accumulation chain cart based on the current position coordinates of the accumulation chain cart and the position code result of each material. A third aspect of the present invention provides a computer-readable storage medium having a program stored thereon that, when executed by a processor, implements the steps of the material positioning and tracking method for an accumulation chain cart as described in the first aspect of the present invention.

[0010] A fourth aspect of the present invention provides an electronic device including a memory, a processor, and a program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps in the material positioning and tracking method for an accumulation chain cart as described in the first aspect of the present invention.

[0011] The above one or more technical solutions have the following beneficial effects: (1) The present invention provides a material positioning and tracking method and system for a stacking chain trolley. The storage space of the stacking chain trolley is pre-coded into a grid, and the lifting device is sequentially coded. When the material is placed on the stacking chain trolley, the correspondence between each material and the pre-coded storage space is obtained. By using the matching result of each material with the grid code and the matching result of each material with the lifting device, the accurate positioning of each material is achieved. At the same time, the real-time position is obtained by integrating the speed of the stacking chain trolley, so as to realize the real-time and effective positioning and tracking of each material on the stacking chain trolley.

[0012] (2) When a material has a quality problem during the production process, the location of the material can be quickly and accurately found and manually handled according to the above positioning and tracking method.

[0013] (3) The sensor is fixed in place and has a fixed position in the production line. Therefore, the sensor has a position coordinate. When the accumulation chain trolley passes the sensor, the sensor position coordinate value is transmitted to the trolley tracking position coordinate to eliminate the cumulative error caused by integration calculation.

[0014] (4) The present invention can calculate and track the material position of the accumulating chain trolley in real time, and transmit the material information of the accumulating chain trolley according to the material group hanging information; when the accumulating chain trolley stops, it reads the RFID chip data and compares the data to ensure the accuracy and reliability of the data.

[0015] (5) The material information and positioning information of the accumulation chain trolley are written to the database in real time, and historical data is retained to ensure data traceability, which is conducive to the closed-loop management of production data. When an abnormal situation occurs, the material information of the accumulation chain trolley is corrected by comparing the database information and the current status of the accumulation chain.

[0016] Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0017] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0018] Figure 1 This is a flowchart of the method in the first embodiment.

[0019] Figure 2 This is a schematic diagram of the storage space grid encoding for the first embodiment.

[0020] Figure 3 This is a schematic diagram of the location coding results of the material in the first embodiment.

[0021] Figure 4 This is a system architecture diagram of the first embodiment applied to an automated powder coating production line. Detailed Implementation

[0022] It should be noted that the following detailed descriptions are exemplary and intended to provide further illustration of the invention. Unless otherwise specified, 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 invention pertains.

[0023] It should be noted that the terminology used herein is for the purpose of describing particular implementations only and is not intended to limit the exemplary implementations of the present invention.

[0024] Where there is no conflict, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0025] Example 1 This embodiment discloses a material positioning and tracking method for an accumulation chain trolley.

[0026] like Figure 1 As shown, a material positioning and tracking method for an accumulation chain cart includes the following steps: The lifting devices on the stacking chain trolley are sequentially coded, and the storage space under the lifting devices is grid-coded. Obtain the mapping relationship between each material stored on the accumulation chain trolley and the lifting device and the storage space, and obtain the position code result of each material; The displacement of the accumulation chain is obtained by integrating the speed of the accumulation chain with respect to time, and the current position coordinates of the accumulation chain trolley are obtained based on the displacement of the accumulation chain. Based on the current position coordinates of the accumulating chain cart and the position code of each material, the location tracking of materials on the accumulating chain cart is realized.

[0027] This embodiment uses a gridded mode, such as Figure 2 As shown, the storage space under the lifting device is divided into an a*b grid, where a is the number of rows and b is the number of columns. Each grid after division is represented by the number of rows a and the number of columns b, thus completing the grid-based encoding of the storage space.

[0028] like Figure 2As shown, the lifting devices on the stacking chain trolley are coded (using Roman numerals, etc.) to distinguish each device; the storage space under the device is divided into an a*b grid, with the column number encoded using uppercase letters and the row number encoded using Arabic numerals. For example, the table in the first column and first row can be represented as A1, the table in the first column and second row can be represented as A2, the table in the second column and first row can be represented as B1, and so on. In this way, each table has a unique coded representation.

[0029] Furthermore, the mapping relationship between each material on the accumulation chain trolley and the lifting device is obtained, and the coding result of each material corresponding to the lifting device is obtained; Obtain the mapping relationship between each material on the accumulation chain trolley and the grid of the storage space under the spreader, and get the encoding result of each material corresponding to the grid; The location coding result of each material is obtained by combining the coding result of the lifting device corresponding to the grid.

[0030] Based on the position of the storage space grid occupied by each material on the accumulation chain trolley, the mapping relationship between each material and the grid of the storage space under the lifting device is obtained.

[0031] Specifically: The materials are assembled and hung according to the actual production materials, and the location information of each material is entered into the feeding terminal. Figure 3 For example: The location information for the first material occupies A1, B1, and C1; The location information for the second material occupies A2, B2, and C2; The location information for the third material occupies A3, B3, and C3; The fourth material location information occupies D1, D2, and D3; The fifth material location information occupies E1, E2, and E3; The location information for the sixth material occupies F1, F2, F3, G1, G2, and G3; The location information of the seventh material occupies H1, H2, H3, I1, I2, and I3.

[0032] The location coding result of each material is obtained by combining the coding result of the lifting device corresponding to the grid.

[0033] In this embodiment, the materials on the current accumulation chain are assembled and hung in the manner described above. The position information of each material can be encoded and located, and the position information of each accumulation chain trolley is located in real time according to the trolley's full-line tracking algorithm. Thus, real-time positioning and tracking of each material on the accumulation chain trolley can be achieved.

[0034] In summary, the real-time location of every piece of production material can be traced during the production process. This facilitates information-based management of the production process. For example, if a material has a quality problem during production, its location can be quickly and accurately located using the aforementioned positioning algorithm, and manual handling can then be performed.

[0035] Furthermore, in order to obtain more accurate position information of the accumulator cart, in this embodiment, the position coordinates of the sensor at a preset position are obtained. When the accumulator cart is detected to have passed the sensor, the position coordinates of the sensor are used to cover the position coordinates of the accumulator cart, which are then used as the current position coordinates of the accumulator cart at the instant it passes the sensor.

[0036] Testing revealed that the tracking algorithm for the entire production line had some error, with the error within 200mm during a 10-meter straight-line run. By fixing the sensor in place within the production line, the sensor has a fixed position coordinate. When the accumulator cart passes the sensor, the sensor's position coordinate value is transmitted to the cart's tracking position coordinate, thereby eliminating the accumulated error caused by integration calculations.

[0037] Furthermore, it also includes: When the accumulation chain trolley passes the sensor, the trolley position coordinates of the preceding integration are compared with the sensor position coordinates: When the difference is within a reasonable range, the material tracking program is correct, and the sensor position coordinate value is transmitted to the current accumulation chain trolley position coordinate value to correct the cumulative error of the integral calculation; When the difference is large and exceeds the reasonable range, manual processing is required. At this time, the material tracking program is inaccurate and needs to be manually corrected.

[0038] More specifically: When the accumulator cart passes the sensor, the time used for integration in the previous step is cleared to zero. After the position coordinates of the sensor are overwritten by the position coordinates of the accumulator cart, the running time is recalculated. The new accumulation chain displacement is obtained by integrating the accumulation chain speed with respect to the recalculated running time. Based on the sum of the new accumulation chain displacement and the sensor position coordinates, the current position coordinates of the accumulation chain trolley after passing the sensor are obtained.

[0039] Furthermore, it also includes: When materials are stored on the accumulation chain trolley, the information of the stored materials is identified; When the accumulating chain trolley reaches the preset endpoint, the actual material information is identified and compared with the initially identified material information.

[0040] When the RFID data reads are the same, the material information data of the current accumulation chain trolley is correct, and the normal production process can proceed. If the RFID data reads are inconsistent, the material information data of the current accumulation chain cart is incorrect. The problem needs to be resolved manually, and the database information and RFID data need to be updated before the normal production process can proceed.

[0041] Furthermore, it determines whether the current position of the accumulation chain trolley deviates from the preset trajectory, and issues an alarm signal when the deviation exceeds a set threshold.

[0042] The method described in this embodiment can calculate and track the material position of the accumulating chain trolley in real time, and transmit the material information of the accumulating chain trolley according to the material group hanging information; when the accumulating chain trolley stops, the RFID chip data is read and the data is compared to ensure the accuracy and reliability of the data.

[0043] Material information and location information of the accumulator cart are written to the database in real time, retaining historical data and ensuring data traceability, which is conducive to closed-loop management of production data. When an anomaly occurs, the material information of the accumulator cart is corrected by comparing the database information with the current status of the accumulator cart.

[0044] like Figure 4 As shown, this invention can be applied to automatic coating production lines, as well as other related automated production lines, to realize information management of material data, improve the efficiency of automated production line operation, and has broad application prospects.

[0045] Example: The automatic powder coating process of an automated coating production line includes: Workpiece hanging → Automatic shot blasting → Cleaning and dust blowing → Dry ice cleaning → Manual masking → Automatic powder spraying → Infrared preheating and curing → Dust curing → Dust cooling → Workpiece labeling → Workpiece unhanging.

[0046] In actual automated powder coating production lines, the position of the accumulating chain trolley, the real-time process of the workpiece, and the current position of the workpiece can all be tracked in real time.

[0047] The material positioning and tracking method described in this embodiment is applied to an automated coating production line. It mainly involves material grouping and coding, accumulation chain lifting device numbering, and material information transmission. Through grid-based thinking, HMI data binding, QR code scanning, handheld terminal APP data transmission, central control database storage, trolley full-line tracking algorithm, RFID card reader correction, and automatic printing of finished product information labels after unloading, the accurate tracking position of materials on the accumulation chain trolley is achieved, enabling information-based and automated management.

[0048] 1. Grid-based thinking The lifting devices on the stacking chain trolley are coded (using Roman numerals, etc.) to distinguish each device; the storage space under the device is divided into an a*b grid, with the column number coded using uppercase letters and the row number coded using Arabic numerals, and each grid has a coded representation.

[0049] After encoding is completed, Figure 4 The Advanced Planning and Scheduling (APS) system stores and displays the coded lifting fixtures and grids. Then, the components on the stacking trolley are arranged based on the coded lifting fixtures and grids displayed in the APS system, maintaining consistency with the production schedule distribution diagram, such as... Figure 3 As shown.

[0050] 2. HMI Data Binding Data binding is performed through HMI, and the HMI human-machine interface is used to create the group hanging area interface, and the components are bound through grid-based methods.

[0051] Handheld terminal APP data transmission The production tablet app transmits data and obtains the location coding and matching results of materials by calling the Web API service.

[0052] 3. Central control database storage The central control data storage uses a real-time database, which contains six main tables: a data acquisition variable table, a communication protocol table, a real-time alarm table, an alarm history table, a variable grouping table, and a diagnostic group table. The entire system uses real-time data acquisition and distribution to control the operation of the production line's trolley.

[0053] 4. Car full-line tracking algorithm The PLC acquires the current accumulation chain speed in real time, calculates the current PLC scan cycle, performs integration to obtain the accumulation chain displacement, and then calculates the current position coordinates of the accumulation chain. Upon reaching the stop position, the position sensor corrects the current accumulation chain position coordinates to eliminate accumulated errors caused by the integration calculation. Simultaneously, material number information is transmitted.

[0054] 5. RFID reader correction Using RFID technology on the production line, when materials arrive, the RFID data is read and compared with the transmitted data to ensure the accuracy and reliability of the data.

[0055] 6. Automatic printing of finished product information labels upon unloading. After the production process is completed and the components are unmounted, information labels are automatically printed. These labels are then manually affixed to the surface of the components. This ensures data traceability and information-based management of materials.

[0056] like Figure 4As shown, the S7-Profinet is connected to the conveyor PLC, shot blasting machine PLC, powder spraying PLC, infrared preheating PLC and powder curing PLC respectively. The PLC is connected to the frequency converter, encoder, RFID and touch screen for communication. The shot blasting machine's PLC is connected to the frequency converter, sensors, instruments, and touch screen for communication. The powder coating PLC is connected to the robot, servo motor, I / O station and touch screen respectively; The infrared preheating PLC is communicatively connected to the heater, instrument, and touch screen, respectively. The powder curing PLC is connected to the valves, instruments, and touch screen for communication.

[0057] Figure 4 The information exchange process between the WebAPI interface service and S7-Profinet is existing technology and will not be described in detail here.

[0058] The material positioning and tracking method described in this embodiment, when applied to an automated coating production line, has the following advantages: Intelligentization: By introducing advanced frameworks and technologies, the spraying operation has been automated and made intelligent. Information technology: By connecting to MES, data acquisition and other systems, real-time information sharing and transmission have been achieved, improving management efficiency; Real-time: Real-time access to alarm information, group displays, and 3D models; Grid-based: A grid-based model is adopted to achieve real-time tracking of materials at the component level.

[0059] The method of this invention enables automated, intelligent, and information-based management of spraying operations, which not only improves management efficiency but also reduces labor costs and operation time. Furthermore, the application of this method improves the accuracy and reliability of spraying operations, reduces human intervention and errors, and enhances operational accuracy and efficiency.

[0060] Example 2 This embodiment discloses a material positioning and tracking system for an accumulation chain trolley.

[0061] A material positioning and tracking system for an accumulation chain cart, comprising: The coding module is configured to sequentially code the spreaders on the accumulation chain trolley and to perform grid coding on the storage space under the spreaders; The mapping module is configured to: obtain the mapping relationship between each material stored on the accumulation chain trolley and the lifting device and the storage space, and obtain the position code result of each material; The integral calculation module is configured to: obtain the displacement of the accumulation chain based on the integral operation of the accumulation chain speed relative to time, and obtain the current position coordinates of the accumulation chain trolley based on the displacement of the accumulation chain; The positioning and tracking module is configured to: locate and track the materials on the accumulation chain cart based on the current position coordinates of the accumulation chain cart and the position code result of each material.

[0062] Example 3 The purpose of this embodiment is to provide a computer-readable storage medium.

[0063] A computer-readable storage medium having a computer program stored thereon that, when executed by a processor, implements the steps in the material positioning and tracking method for an accumulation chain cart as described in Embodiment 1 of this disclosure.

[0064] Example 4 The purpose of this embodiment is to provide an electronic device.

[0065] An electronic device includes a memory, a processor, and a program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps in the material positioning and tracking method for an accumulation chain cart as described in Embodiment 1 of this disclosure.

[0066] The steps and methods involved in the apparatuses of Embodiments 2, 3, and 4 above correspond to those in Embodiment 1. For specific implementation details, please refer to the relevant description section of Embodiment 1. The term "computer-readable storage medium" should be understood as a single medium or multiple media including one or more instruction sets; it should also be understood as including any medium capable of storing, encoding, or carrying an instruction set for execution by a processor and enabling the processor to perform any of the methods in this invention.

[0067] Those skilled in the art will understand that the modules or steps of the present invention described above can be implemented using general-purpose computer devices. Optionally, they can be implemented using computer-executable program code, thereby allowing them to be stored in a storage device for execution by a computer device, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. The present invention is not limited to any particular combination of hardware and software.

[0068] While the specific embodiments of the present invention have been described above in conjunction with the accompanying drawings, this is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without creative effort based on the technical solutions of the present invention are still within the scope of protection of the present invention.

Claims

1. A material positioning and tracking method for an accumulation chain trolley, characterized in that, Includes the following steps: The lifting devices on the stacking chain trolley are sequentially coded, and the storage space under the lifting devices is coded in a grid pattern. Obtain the mapping relationship between each material stored on the accumulation chain trolley and the lifting device and the storage space, and obtain the position code result of each material; The displacement of the accumulation chain is obtained by integrating the speed of the accumulation chain with respect to time, and the current position coordinates of the accumulation chain trolley are obtained based on the displacement of the accumulation chain. Based on the current position coordinates of the accumulating chain cart and the position code of each material, the location tracking of the materials on the accumulating chain cart is realized. The storage space under the lifting device is divided into an a*b grid, where a is the number of rows and b is the number of columns. Each grid is represented by the number of rows a and the number of columns b, thus completing the grid-based encoding of the storage space. Obtain the mapping relationship between each material on the accumulation chain trolley and the lifting device, and get the coding result of each material corresponding to the lifting device; Obtain the mapping relationship between each material on the accumulation chain trolley and the grid of the storage space under the spreader, and get the encoding result of each material corresponding to the grid; The location coding result of each material is obtained by combining the coding result of the lifting device corresponding to the grid.

2. The material positioning and tracking method for an accumulation chain trolley as described in claim 1, characterized in that, Obtain the position coordinates of the sensor at the preset position. When the accumulation chain trolley is detected to have passed the sensor, the position coordinates of the sensor are used to overwrite the position coordinates of the accumulation chain trolley, which are then used as the current position coordinates of the accumulation chain trolley at the instant it passes the sensor.

3. The material positioning and tracking method for an accumulation chain trolley as described in claim 2, characterized in that: When the accumulator cart passes the sensor, the time used for integration in the previous step is cleared to zero. After the position coordinates of the sensor are overwritten by the position coordinates of the accumulator cart, the running time is recalculated. The new accumulation chain displacement is obtained by integrating the accumulation chain speed with respect to the recalculated running time. Based on the sum of the new accumulation chain displacement and the sensor position coordinates, the current position coordinates of the accumulation chain trolley after passing the sensor are obtained.

4. The material positioning and tracking method for an accumulation chain cart as described in claim 1, characterized in that, Also includes: When materials are stored on the accumulation chain trolley, the information of the stored materials is identified; When the accumulating chain trolley reaches the preset endpoint, the actual material information is identified and compared with the initially identified material information.

5. The material positioning and tracking method for an accumulation chain trolley as described in claim 1, characterized in that, The system determines whether the current position of the accumulator cart deviates from the preset trajectory, and issues an alarm signal when the deviation exceeds a set threshold.

6. A material positioning and tracking system for an accumulation chain cart, employing the material positioning and tracking method for an accumulation chain cart as described in any one of claims 1-5, characterized in that: include: The coding module is configured to sequentially code the spreaders on the accumulation chain trolley and to perform grid coding on the storage space under the spreaders; The mapping module is configured to: obtain the mapping relationship between each material stored on the accumulation chain trolley and the lifting device and the storage space, and obtain the position code result of each material; The integral calculation module is configured to: obtain the displacement of the accumulation chain based on the integral operation of the accumulation chain speed relative to time, and obtain the current position coordinates of the accumulation chain trolley based on the displacement of the accumulation chain; The positioning and tracking module is configured to: locate and track the materials on the accumulation chain cart based on the current position coordinates of the accumulation chain cart and the position code result of each material.

7. A computer-readable storage medium having a program stored thereon, characterized in that, When executed by the processor, the program implements the steps in the material positioning and tracking method for an accumulation chain cart as described in any one of claims 1-5.

8. An electronic device, comprising a memory, a processor, and a program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the steps in the material positioning and tracking method for an accumulation chain cart as described in any one of claims 1-5.

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