Method, device and equipment for adjusting position of tipping machine and storage medium

Abstract

The present disclosure relates to the field of automation, in particular to a method, device, equipment and storage medium for adjusting a positioning vehicle of a roll-over machine, by installing an ultrasonic sensor on each side of the top of the main arm structure of the positioning vehicle, when the detection distances of the two ultrasonic sensors are equal and equal to the detection distance of the ultrasonic sensor of the positioning vehicle to the side of the carriage, the positioning vehicle is driven to continue moving forward at a first speed along the moving direction; when the detection distances of the two ultrasonic sensors are not equal, the positioning vehicle is driven to continue moving forward at a second speed along the moving direction, and the horizontal distance of the positioning vehicle to the center position of the gap between the positioning vehicle and the carriage is determined; the positioning vehicle is adjusted according to the horizontal distance of the positioning vehicle to the center position of the gap between the positioning vehicle and the carriage until the horizontal distance of the positioning vehicle to the center position of the gap is less than a preset threshold. The ultrasonic sensor of the main arm of the positioning vehicle realizes accurate positioning of the positioning vehicle, which helps to improve the work efficiency.

Description

Technical Field

[0001] This disclosure relates to the field of automation technology, and in particular to a method, apparatus, device, and storage medium for adjusting the positioning vehicle of a tippler. Background Technology

[0002] During automated operation, the tippler works by moving a positioning car to the position of the train car, coupling it with the train car via coupler, and then pulling the train car into the tippler for unloading. After the operation is completed, the positioning car quickly returns to the train car position to find the coupler between the cars for the next operation. The main reason that affects the positioning car's rapid return to find the coupler is that the position of the train car changes significantly, making it difficult to accurately determine the appropriate deceleration position for the positioning car. If the deceleration range is too long, the positioning car will have an excessively long slow-speed coupler-finding period; if the deceleration range is too short, it will lead to inaccurate coupler-finding.

[0003] During automated operation of a tippler, a positioning car pulls / pulls the train carriages. The position of the pulling carriages needs to be determined based on the position of the positioning car. Therefore, the accuracy of the positioning car's positioning directly determines whether the train carriages are positioned correctly within the tippler. Currently, the tippler's positioning car uses a single absolute encoder, which is prone to inaccurate positioning. Inaccurate positioning can prevent proper unloading, necessitating a switch to manual operation to manually adjust the tippler's position to meet unloading requirements. This lengthens the unloading process and reduces operational efficiency. Summary of the Invention

[0004] This disclosure provides a method, apparatus, equipment, and storage medium for adjusting the positioning vehicle of a tippler, in order to solve the problems of inaccurate positioning and low operating efficiency of the tippler positioning vehicle in existing methods.

[0005] In a first aspect, this disclosure provides a method for adjusting the positioning vehicle of a tippler, wherein an ultrasonic sensor is installed on each of the two sides of the top of the main boom structure of the positioning vehicle, the method comprising:

[0006] When the detection distances of the ultrasonic sensors on both sides are equal and equal to the detection distance from the ultrasonic sensor of the positioning vehicle to the side of the vehicle body, the positioning vehicle is driven to continue moving forward in the direction of travel at the first speed.

[0007] When the detection distances of the ultrasonic sensors on both sides are not equal, the positioning vehicle is driven to continue moving forward in the direction of travel at a second speed. The horizontal distance between the positioning vehicle and the center position of the gap between the two sides is determined based on the detection distance of the ultrasonic sensor on the side away from the direction of travel and the gap between the two sides. The second speed is less than the first speed.

[0008] Adjust the positioning vehicle according to the horizontal distance between the center of the positioning vehicle and the center of the gap between the positioning vehicle and the carriage until the horizontal distance between the positioning vehicle and the center of the gap between the positioning vehicle and the carriage is less than the preset threshold.

[0009] In some embodiments, determining the horizontal distance between the positioning vehicle and the center position of the gap between the vehicle and the carriage based on the detection distance of the ultrasonic sensor on the side away from the direction of travel and the gap between the vehicle and the carriage includes:

[0010] The fourth distance is obtained by subtracting the detection distance from the ultrasonic sensor of the positioning vehicle to the side of the vehicle body from the detection distance of the ultrasonic sensor on the side away from the direction of travel;

[0011] Subtract half of the gap between the carriages from the horizontal projection distance of the fourth distance to obtain the horizontal distance between the positioning vehicle and the center position of the gap between the carriages.

[0012] In some embodiments, adjusting the positioning vehicle according to the horizontal distance between the positioning vehicle and the center position of the gap between the positioning vehicle and the carriage includes:

[0013] When the horizontal distance between the positioning vehicle and the center of the gap between the positioning vehicle and the carriage is greater than 0, the positioning vehicle is driven to perform a traction action and continue to move forward in the direction of travel until the horizontal distance between the positioning vehicle and the center of the gap between the positioning vehicle and the carriage is less than the preset threshold.

[0014] When the horizontal distance between the positioning vehicle and the center of the gap between the positioning vehicle and the carriage is less than 0, the positioning vehicle is driven to pull and move forward in the opposite direction of travel until the horizontal distance between the positioning vehicle and the center of the gap between the positioning vehicle and the carriage is less than the preset threshold.

[0015] In some embodiments, an ultrasonic sensor is installed at both the inlet and outlet of the tippler, and the method further includes:

[0016] Obtain the detection distance of the ultrasonic sensor at the tippler entrance and the ultrasonic sensor at the tippler exit;

[0017] The positioning vehicle is adjusted according to the detection distance of the ultrasonic sensor at the tipper entrance and the ultrasonic sensor at the tipper exit to position the car body in the center of the tipper.

[0018] In some embodiments, adjusting the positioning vehicle based on the detection distance of the ultrasonic sensor at the tipper entrance and the detection distance of the ultrasonic sensor at the tipper exit includes:

[0019] When the detection distance of the ultrasonic sensor at the tipper entrance is equal to the detection distance of the ultrasonic sensor at the tipper exit, and is also equal to the detection distance from the tipper ultrasonic sensor to the side of the truck bed, the positioning vehicle will continue to move forward in the direction of travel.

[0020] In some embodiments, adjusting the positioning vehicle based on the detection distance of the ultrasonic sensor at the tipper entrance and the detection distance of the ultrasonic sensor at the tipper exit includes:

[0021] When the detection distance of the ultrasonic sensor at the tipper entrance is greater than the detection distance of the ultrasonic sensor at the tipper exit, it is determined that the car body has slipped towards the exit direction, and the positioning car is driven to pull it.

[0022] When the detection distance of the ultrasonic sensor at the tipper entrance is less than the detection distance of the ultrasonic sensor at the tipper exit, it is determined that the car body is slipping towards the entrance, and the positioning vehicle is driven to perform a traction action.

[0023] Secondly, this disclosure provides a device for adjusting the positioning vehicle of a tippler, comprising:

[0024] The drive module is used to drive the positioning vehicle to continue moving forward in the direction of travel at a first speed when the detection distances of the ultrasonic sensors on both sides are equal and equal to the detection distance from the ultrasonic sensor of the positioning vehicle to the side of the vehicle body.

[0025] The processing module is used to drive the positioning vehicle to continue moving forward along the direction of travel at a second speed when the detection distances of the ultrasonic sensors on both sides are not equal, and to determine the horizontal distance between the positioning vehicle and the center position of the gap between the vehicle and the carriage based on the detection distance of the ultrasonic sensor on the side away from the direction of travel and the gap between the vehicle and the carriage. The second speed is less than the first speed.

[0026] The adjustment module is used to adjust the positioning vehicle according to the horizontal distance between the center position of the positioning vehicle and the center position of the gap between the positioning vehicle and the carriage until the horizontal distance between the center position of the positioning vehicle and the center position of the gap between the positioning vehicle and the carriage is less than a preset threshold.

[0027] Thirdly, this disclosure provides a computer device including a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of the method described in the foregoing aspects.

[0028] Fourthly, this disclosure provides a computer-readable storage medium having a computer program stored thereon that, when executed by a processor, implements the steps of the methods described in the above aspects.

[0029] Fifthly, this disclosure provides a computer program product, including a computer program / instructions that, when executed by a processor, implement the steps of the methods described in the foregoing aspects.

[0030] This disclosure provides a method, apparatus, device, and storage medium for adjusting the positioning vehicle of a tipper. An ultrasonic sensor is installed on each side of the top of the main boom structure of the positioning vehicle. When the detection distances of the ultrasonic sensors on both sides are equal and equal to the detection distance from the ultrasonic sensor to the side of the truck bed, the positioning vehicle is driven to continue moving forward in the direction of travel at a first speed. When the detection distances of the ultrasonic sensors on both sides are unequal, the positioning vehicle is driven to continue moving forward in the direction of travel at a second speed. The horizontal distance between the positioning vehicle and the center of the gap between the positioning vehicle and the truck bed is determined based on the detection distance of the ultrasonic sensor on the side away from the direction of travel and the gap between the truck bed. The second speed is less than the first speed. The positioning vehicle is adjusted according to the horizontal distance between the positioning vehicle and the center of the gap between the positioning vehicle and the truck bed until the horizontal distance between the positioning vehicle and the center of the gap between the positioning vehicle and the truck bed is less than a preset threshold. The ultrasonic sensors on the main boom of the positioning vehicle achieve precise positioning, which helps to improve operational efficiency. Attached Figure Description

[0031] The present disclosure will be described in more detail below based on embodiments and with reference to the accompanying drawings:

[0032] Figure 1 A flowchart illustrating the method for adjusting the positioning vehicle of a tippler provided in this embodiment of the disclosure;

[0033] Figure 2 This is a top view of the positioning vehicle and the carriage provided in an embodiment of this disclosure;

[0034] Figure 3 A top view schematic diagram of the installation of the ultrasonic sensor for the tipper provided in an embodiment of this disclosure;

[0035] Figure 4 This is a schematic diagram showing the location of the tipper entrance provided in an embodiment of this disclosure;

[0036] Figure 5 This is a schematic diagram showing the location of the tipper exit provided in an embodiment of this disclosure;

[0037] Figure 6 This is a schematic diagram of the device for adjusting the positioning vehicle of the tippler provided in an embodiment of this disclosure.

[0038] In the accompanying drawings, the same parts are referred to by the same reference numerals, and the drawings are not drawn to scale. Detailed Implementation

[0039] To enable those skilled in the art to better understand the technical solutions of this disclosure, and to fully understand and implement the process of how this disclosure applies technical means to solve technical problems and achieve corresponding technical effects, the technical solutions in the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, not all embodiments. The embodiments of this disclosure and the various features within them can be combined with each other without conflict, and the resulting technical solutions are all within the protection scope of this disclosure. Based on the embodiments of this disclosure, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of this disclosure.

[0040] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this disclosure are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this disclosure described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0041] It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases the steps shown or described may be executed in a different order than that shown here.

[0042] Example 1

[0043] Figure 1 This is a flowchart illustrating a method for adjusting the positioning vehicle of a tippler provided in an embodiment of this disclosure. Figure 1 As shown in this embodiment, in the method for adjusting the tippler positioning vehicle, an ultrasonic sensor is installed on each of the top sides of the main boom structure of the positioning vehicle. Specifically, two ultrasonic sensors can be installed at staggered heights. The method may specifically include:

[0044] S101. When the detection distances of the ultrasonic sensors on both sides are equal and equal to the detection distance from the ultrasonic sensor of the positioning vehicle to the side of the vehicle body, the positioning vehicle is driven to continue moving forward in the direction of travel at the first speed.

[0045] In this embodiment, not only is an absolute encoder installed on the positioning vehicle and connected to the Programmable Logic Controller (PLC) system via an Ethernet network, but also the distance traveled by the positioning vehicle is obtained through calculation and integration algorithms based on the operating data of the frequency converter drive (the frequency converter controls the motor to rotate at a specified speed), simulating the position of the positioning vehicle and verifying the data with the absolute encoder. The redundant positioning system increases the stability of the positioning vehicle and helps to improve the efficiency of fault diagnosis.

[0046] After completing one operation, the positioning vehicle needs to return to the train car location to find the hook between the cars for the next operation. This embodiment divides this process into two stages: the first stage is the high-speed return and hook-finding stage, and the second stage is the low-speed, precise positioning stage. Since the length of a single car is fixed, during the high-speed return, the positioning vehicle can first be positioned near the target location using a redundant positioning system (for example, at the gap before the car to be positioned), and then adjusted based on the detection distance of the ultrasonic sensors on both sides.

[0047] like Figure 2 As shown in (a), during the journey, when the positioning vehicle is located on the side of the carriage, the detection distance of the ultrasonic sensors on both sides is equal and equal to the detection distance of the ultrasonic sensors of the positioning vehicle to the side of the carriage. Figure 2 In this context, L1 represents the distance between the ultrasonic sensors installed on both sides of the top of the main boom, i.e., the distance between the two ultrasonic sensors on the positioning vehicle; θ represents the angle between the ultrasonic signal emitted by the ultrasonic sensor and the horizontal; L2 represents the vertical distance between the ultrasonic sensors on the positioning vehicle and the vehicle body; and L3 represents the clearance between the vehicle body and the vehicle body. In this embodiment, the detection distance L from the ultrasonic sensors on the positioning vehicle to the side of the vehicle body is... D It can be determined based on L1 and θ, or based on L2 and θ, specifically according to the following expression:

[0048]

[0049] or,

[0050]

[0051] When the detection distances of the ultrasonic sensors on both sides are equal and equal to the detection distance from the ultrasonic sensor of the positioning vehicle to the side of the carriage, it indicates that the positioning vehicle has traveled to the side of the carriage. At this time, it is still in the first stage (i.e., the positioning vehicle high-speed return to find the hook stage). Therefore, it is necessary to drive the positioning vehicle forward at high speed. In this embodiment, the positioning vehicle is driven to continue to move forward in the direction of travel at the first speed.

[0052] S102. When the detection distances of the ultrasonic sensors on both sides are not equal, the positioning vehicle is driven to continue moving forward along the direction of travel at a second speed. The horizontal distance between the positioning vehicle and the center position of the gap between the two sides of the vehicle is determined based on the detection distance of the ultrasonic sensor on the side away from the direction of travel and the gap between the two sides of the vehicle. The second speed is less than the first speed.

[0053] like Figure 2 As shown in (b), when the positioning vehicle continues to move forward and reaches the boundary between the side of the vehicle body and the gap between the vehicle body and the vehicle body, the detection distance of the ultrasonic sensor on the side away from the direction of travel will increase first, followed by the detection distance of the ultrasonic sensor on the side closer to the direction of travel. At this point, the detection distances of the ultrasonic sensors on both sides become unequal, indicating that the positioning vehicle has reached the gap between the vehicle body and enters the second stage (i.e., the low-speed precise positioning stage of the positioning vehicle). In this embodiment, when the detection distances of the ultrasonic sensors on both sides are unequal, the positioning vehicle is driven to continue moving forward along the direction of travel at a second speed, where the second speed is less than the first speed. Figure 2 L4 in the text represents the detection distance of the ultrasonic sensor on the side away from the direction of travel minus the detection distance of the positioning vehicle's ultrasonic sensor to the side of the vehicle body.

[0054] After entering the second stage, the horizontal distance between the positioning vehicle and the center of the gap between the positioning vehicle and the carriage is determined based on the detection distance of the ultrasonic sensor on the side away from the direction of travel and the gap between the carriages. For example... Figure 2 As shown in (c), point O represents the origin of the positioning vehicle, point P represents the center position of the gap between the carriages, and Lm represents the horizontal distance between the positioning vehicle and the center position of the gap between the carriages.

[0055] In some embodiments, the horizontal distance between the positioning vehicle and the center position of the gap between the positioning vehicle and the vehicle is determined based on the detection distance of the ultrasonic sensor on the side away from the direction of travel and the gap between the vehicle and the vehicle. Specifically, this may include: subtracting the detection distance from the ultrasonic sensor of the positioning vehicle to the side of the vehicle from the detection distance of the ultrasonic sensor on the side away from the direction of travel to obtain a fourth distance L4; and subtracting half of the gap between the vehicle and the vehicle from the horizontal projection distance of the fourth distance to obtain the horizontal distance between the positioning vehicle and the center position of the gap between the vehicle and the vehicle. Specifically, the horizontal distance Lm between the positioning vehicle and the center position of the gap between the vehicle and the vehicle can be determined according to the following expression:

[0056]

[0057] S103. Adjust the positioning vehicle according to the horizontal distance between the center of the positioning vehicle and the center of the gap between the positioning vehicle and the carriage until the horizontal distance between the positioning vehicle and the center of the gap between the carriage is less than the preset threshold.

[0058] After obtaining the horizontal distance between the center of the gap between the positioning vehicle and the carriage, the positioning vehicle can be adjusted based on this distance. Ideally, it should be as follows: Figure 2As shown in (d), the horizontal distance Lm between the positioning vehicle and the center of the gap between the positioning vehicle and the carriage reaches 0, achieving precise docking. However, to avoid the positioning vehicle oscillating back and forth at the ideal position, the positioning vehicle is adjusted in this embodiment until the horizontal distance between the positioning vehicle and the center of the gap between the positioning vehicle and the carriage is less than a preset threshold. The preset threshold can be determined based on the allowable positioning error, for example, the preset threshold can be set to 0.01m.

[0059] The method for adjusting the positioning vehicle of the tipper provided in this embodiment involves installing an ultrasonic sensor on each side of the top of the main boom structure of the positioning vehicle. When the detection distances of the ultrasonic sensors on both sides are equal and equal to the detection distance from the ultrasonic sensor of the positioning vehicle to the side of the truck bed, the positioning vehicle is driven to continue moving forward in the direction of travel at a first speed. When the detection distances of the ultrasonic sensors on both sides are not equal, the positioning vehicle is driven to continue moving forward in the direction of travel at a second speed. The horizontal distance between the positioning vehicle and the center position of the gap between the truck bed is determined based on the detection distance of the ultrasonic sensor on the side away from the direction of travel and the gap between the truck bed. The second speed is less than the first speed. The positioning vehicle is adjusted according to the horizontal distance between the positioning vehicle and the center position of the gap between the truck bed until the horizontal distance between the positioning vehicle and the center position of the gap between the truck bed is less than a preset threshold. The ultrasonic sensors on the main boom of the positioning vehicle achieve precise positioning of the positioning vehicle, which helps to improve operational efficiency.

[0060] Example 2

[0061] Based on the above embodiments, the following will further explain in detail how to adjust the positioning vehicle according to the horizontal distance between the positioning vehicle and the center position of the gap between the positioning vehicle and the carriage. In some embodiments, adjusting the positioning vehicle according to the horizontal distance between the positioning vehicle and the center position of the gap between the positioning vehicle and the carriage may specifically include: when the horizontal distance between the positioning vehicle and the center position of the gap between the positioning vehicle and the carriage is greater than 0, driving the positioning vehicle to perform a traction action, continuing to move forward in the direction of travel until the horizontal distance between the positioning vehicle and the center position of the gap between the positioning vehicle and the carriage is less than a preset threshold; when the horizontal distance between the positioning vehicle and the center position of the gap between the positioning vehicle and the carriage is less than 0, driving the positioning vehicle to perform a pulling action, moving forward in the opposite direction of travel until the horizontal distance between the positioning vehicle and the center position of the gap between the positioning vehicle and the carriage is less than the preset threshold.

[0062] When Lm > 0, it indicates that the center point O of the positioning vehicle is located to the left of the horizontal position of the center point P of the gap between the train carriages. In this case, the positioning vehicle needs to be driven to perform a traction action to make the center point O of the positioning vehicle coincide with the center point P of the gap between the train carriages, until Lm = 0. When Lm < 0, it indicates that the center point O of the positioning vehicle is located to the right of the horizontal position of the center point P of the gap between the train carriages. The positioning vehicle needs to be driven to perform a pulling action to make the center point O of the positioning vehicle coincide with the center point P of the gap between the train carriages, until Lm = 0. It should be noted that in this embodiment, left and right refer to… Figure 2 As shown below.

[0063] It should be noted that during normal operation, the positioning vehicle also uses slow movement in the final stage of hook finding. Therefore, this embodiment can also be combined with the existing hook finding program to help the positioning vehicle to find the hook normally. It can accurately position itself in the center of the gap between the car body and the hook, and can also avoid the positioning deviation problem caused by the compression of the car body spring.

[0064] Example 3

[0065] During automated operation, the spring connections between the wagon carriages make it prone to slipping when the machine stops. If the carriage blocks the photoelectric sensor, the wagon cannot tip over. Normal operation requires manual intervention, typically taking 5-10 minutes, impacting the efficiency of automated production. To address this slippage issue and improve unloading efficiency, the position of the loaded wagon on the tipper must be accurately measured. Considering the harsh working conditions and significant dust interference with sensors in the tipper area, this embodiment employs a high-precision ultrasonic sensor with strong dust resistance for measurement. Figure 3 As shown, an ultrasonic sensor is installed on the ground at both the entrance and exit of the tippler. It shines a beam of light at a 45-degree angle onto the wagon bed, ensuring the beam height matches the center height of the wagon bed to avoid interference from the coupler. After receiving the detection data, the PLC control system determines whether the current position is within the appropriate area of ​​the tippler platform by detecting the difference in distance between the wagon bed and the gap between them. The ultrasonic sensors near the tippler entrance and exit use trigonometric functions to calculate the actual distance between the sensors and the wagon beds on both sides.

[0066] In some embodiments, an ultrasonic sensor is installed at the tippler entrance and exit, respectively. The method for adjusting the tippler positioning vehicle may further include: obtaining the detection distance of the ultrasonic sensor at the tippler entrance and the detection distance of the ultrasonic sensor at the tippler exit; adjusting the positioning vehicle according to the detection distance of the ultrasonic sensor at the tippler entrance and the detection distance of the ultrasonic sensor at the tippler exit, so as to position the vehicle at the center of the tippler.

[0067] like Figure 4 As shown, the detection distance of the ultrasonic sensor at the tipper entrance is Lx; Figure 5 As shown, the detection distance of the ultrasonic sensor at the tipper exit is Ly. Figure 4 The first location of the inlet ultrasonic wave shown in the figure, and Figure 5The diagram shows the first position of the ultrasonic sensor at the exit. At this position, the detection distances of the two ultrasonic sensors are fixed. The detection distances of the ultrasonic sensors at the tipper entrance and exit are equal, and also equal to the detection distance from the tipper's ultrasonic sensor to the side of the truck bed. At this point, the truck bed has not yet reached the center position of the tipper and needs to continue moving forward. Therefore, the driving positioning vehicle continues to move forward in the direction of travel. It should be noted that the detection distance from the tipper's ultrasonic sensor to the side of the truck bed can be determined based on the vertical distance (L) between the tipper's ultrasonic sensor and the truck bed and the angle (45°) between the ultrasonic signal emitted by the tipper's ultrasonic sensor and the horizontal. For example, it can be expressed as L / cos45°.

[0068] In other words, in some embodiments, the positioning vehicle is adjusted according to the detection distance of the ultrasonic sensor at the tipper entrance and the ultrasonic sensor at the tipper exit. Specifically, this may include: when the detection distance of the ultrasonic sensor at the tipper entrance and the ultrasonic sensor at the tipper exit are equal and equal to the detection distance from the ultrasonic sensor of the tipper to the side of the vehicle, the positioning vehicle is driven to continue moving forward in the direction of travel.

[0069] When the carriage moves Figure 4 The second location of the inlet ultrasonic wave shown in the figure and Figure 5 When the ultrasonic sensor at the second location shown at the exit is reached, the detection distance of the tipper's ultrasonic sensor will increase. Continuing to travel, the detection distances of the ultrasonic sensors at the tipper's entrance and exit will become greater than the detection distance from the tipper's ultrasonic sensor to the side of the truck bed. At this point, the positioning vehicle can be adjusted by comparing the detection distances of the ultrasonic sensors at the tipper's entrance and exit.

[0070] In other words, in some embodiments, the positioning vehicle is adjusted based on the detection distance of the ultrasonic sensor at the tipper entrance and the ultrasonic sensor at the tipper exit. Specifically, this may include: when the detection distance of the ultrasonic sensor at the tipper entrance is greater than the detection distance of the ultrasonic sensor at the tipper exit, it is determined that the car body is slipping towards the exit direction, and the positioning vehicle is driven to perform a pulling action; when the detection distance of the ultrasonic sensor at the tipper entrance is less than the detection distance of the ultrasonic sensor at the tipper exit, it is determined that the car body is slipping towards the entrance direction, and the positioning vehicle is driven to perform a traction action.

[0071] When the carriage moves Figure 4 The third position of the inlet ultrasonic wave shown in the figure and Figure 5 When the ultrasonic wave reaches the third position shown at the outlet, the carriage reaches the center position of the tipper and the tipping operation is carried out.

[0072] In summary, the method for adjusting the tippler positioning vehicle provided in this embodiment can increase the stability of the positioning vehicle and improve the efficiency of fault diagnosis by using a redundant positioning system; it can perform real-time detection, comparison and correction of the redundant encoder by using ultrasonic sensors; it can accurately determine the horizontal distance between the positioning vehicle and the car body by using high-precision ultrasonic sensors on both sides of the main arm of the positioning vehicle, so as to achieve precise docking between the positioning vehicle and the coupler; and it can accurately determine the direction of the car slippage by using ultrasonic sensors at the tippler entrance and exit, so as to accurately position the car body at the center of the tippler.

[0073] Example 4

[0074] Figure 6 This is a schematic diagram of the device for adjusting the positioning vehicle of the tippler provided in an embodiment of this disclosure. Figure 6 As shown, the device 60 for adjusting the positioning vehicle of the tipper provided in this embodiment may include: a drive module 601, a processing module 602 and an adjustment module 603.

[0075] The drive module 601 is used to drive the positioning vehicle to continue moving forward in the direction of travel at a first speed when the detection distances of the ultrasonic sensors on both sides are equal and equal to the detection distance from the ultrasonic sensor of the positioning vehicle to the side of the vehicle body.

[0076] The processing module 602 is used to drive the positioning vehicle to continue moving forward along the direction of travel at a second speed when the detection distances of the ultrasonic sensors on both sides are not equal, and to determine the horizontal distance between the positioning vehicle and the center position of the gap between the vehicle and the carriage based on the detection distance of the ultrasonic sensor on the side away from the direction of travel and the gap between the vehicle and the carriage. The second speed is less than the first speed.

[0077] The adjustment module 603 is used to adjust the positioning vehicle according to the horizontal distance between the center position of the positioning vehicle and the center position of the gap between the positioning vehicle and the carriage until the horizontal distance between the center position of the positioning vehicle and the center position of the gap between the carriage is less than a preset threshold.

[0078] In some embodiments, the processing module 602 is used to determine the horizontal distance between the positioning vehicle and the center position of the gap between the vehicle and the carriage based on the detection distance of the ultrasonic sensor on the side away from the direction of travel and the gap distance between the vehicle and the carriage. Specifically, this may include:

[0079] The fourth distance is obtained by subtracting the detection distance from the ultrasonic sensor of the positioning vehicle to the side of the vehicle body from the detection distance of the ultrasonic sensor on the side away from the direction of travel;

[0080] Subtract half of the gap between the carriages from the horizontal projection distance of the fourth distance to obtain the horizontal distance between the positioning vehicle and the center position of the gap between the carriages.

[0081] In some embodiments, the adjustment module 603 is used to adjust the positioning vehicle according to the horizontal distance between the center position of the positioning vehicle and the car body, which may specifically include:

[0082] When the horizontal distance between the positioning vehicle and the center of the gap between the positioning vehicle and the carriage is greater than 0, the positioning vehicle is driven to perform a traction action and continue to move forward in the direction of travel until the horizontal distance between the positioning vehicle and the center of the gap between the positioning vehicle and the carriage is less than the preset threshold.

[0083] When the horizontal distance between the positioning vehicle and the center of the gap between the positioning vehicle and the carriage is less than 0, the positioning vehicle is driven to pull and move forward in the opposite direction of travel until the horizontal distance between the positioning vehicle and the center of the gap between the positioning vehicle and the carriage is less than the preset threshold.

[0084] In some embodiments, an ultrasonic sensor is installed at both the inlet and outlet of the tippler, and the adjustment module 603 is further configured to:

[0085] Obtain the detection distance of the ultrasonic sensor at the tippler entrance and the ultrasonic sensor at the tippler exit;

[0086] The positioning vehicle is adjusted according to the detection distance of the ultrasonic sensor at the tipper entrance and the ultrasonic sensor at the tipper exit to position the car body in the center of the tipper.

[0087] In some embodiments, the adjustment module 603 is used to adjust the positioning vehicle according to the detection distance of the ultrasonic sensor at the tipper entrance and the detection distance of the ultrasonic sensor at the tipper exit, specifically including:

[0088] When the detection distance of the ultrasonic sensor at the tipper entrance is equal to the detection distance of the ultrasonic sensor at the tipper exit, and is also equal to the detection distance from the tipper ultrasonic sensor to the side of the truck bed, the positioning vehicle will continue to move forward in the direction of travel.

[0089] In some embodiments, the adjustment module 603 is used to adjust the positioning vehicle according to the detection distance of the ultrasonic sensor at the tipper entrance and the ultrasonic sensor at the tipper exit. Specifically, it may include: when the detection distance of the ultrasonic sensor at the tipper entrance is greater than the detection distance of the ultrasonic sensor at the tipper exit, it is determined that the car body has slipped towards the exit direction, and the positioning vehicle is driven to perform a pulling action; when the detection distance of the ultrasonic sensor at the tipper entrance is less than the detection distance of the ultrasonic sensor at the tipper exit, it is determined that the car body has slipped towards the entrance direction, and the positioning vehicle is driven to perform a traction action.

[0090] Example 5

[0091] Based on the above embodiments, this embodiment provides a computer device, including a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of the method described in the above embodiments.

[0092] In some embodiments of this example, a computer-readable storage medium is provided, on which a computer program is stored, characterized in that the computer program, when executed by a processor, implements the steps of the method described in the above embodiments.

[0093] In some embodiments of this example, a computer program product is provided, including a computer program / instructions, characterized in that the computer program, when executed by a processor, implements the steps of the method described in the above embodiments.

[0094] The processor may include, but is not limited to, one or more processors or microprocessors. Each processor may be implemented as an Application Specific Integrated Circuit (ASIC), Digital Signal Processor (DSP), Digital Signal Processing Device (DSPD), Programmable Logic Device (PLD), Field Programmable Gate Array (FPGA), controller, microcontroller, microprocessor, or other electronic component, for executing the methods described in the above embodiments.

[0095] Computer-readable storage media can be implemented by any type of volatile or non-volatile storage device or a combination thereof. Computer-readable storage media may include, but are not limited to, random access memory (RAM), read-only memory (ROM), flash memory, EPROM memory, EEPROM memory, registers, and computer storage media (e.g., hard disks, floppy disks, solid-state drives, removable disks, CD-ROMs, DVD-ROMs, Blu-ray discs, etc.).

[0096] Computer-readable storage media may also store at least one computer-executable program / instruction, such as computer-readable instructions. Computer-readable storage media include, but are not limited to, volatile memory and / or non-volatile memory. Volatile memory may include, for example, random access memory (RAM) and / or cache memory. Computer-readable storage media may include, for example, read-only memory (ROM), hard disk, flash memory, etc. For example, a non-transitory computer-readable storage medium may be connected to a computing device such as a computer, and then, when the computing device executes the computer-readable instructions stored on the computer-readable storage medium, the various methods described above can be performed.

[0097] In addition, the computer device may include (but is not limited to) a data bus, an input / output (I / O) bus, a display, and input / output devices (e.g., keyboard, mouse, speakers, etc.).

[0098] The processor can communicate with external devices via the I / O bus through wired or wireless networks.

[0099] In one embodiment, the at least one computer-executable instruction may also be compiled into or comprise a software product / computer program product, wherein one or more computer-executable instructions are executed by a processor to perform the steps of the various functions and / or methods in the embodiments described herein.

[0100] In the embodiments provided in this disclosure, it should be understood that the disclosed apparatus and methods can also be implemented in other ways. The apparatus embodiments described above are merely illustrative; for example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0101] It should be noted that, in this disclosure, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element limited by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0102] While the embodiments disclosed herein are as described above, the foregoing content is merely for the purpose of facilitating understanding of this disclosure and is not intended to limit this disclosure. Any person skilled in the art to which this disclosure pertains may make any modifications and changes in form and detail of the implementation without departing from the spirit and scope of this disclosure; however, the scope of patent protection of this disclosure shall still be determined by the scope defined in the appended claims.

Claims

1. A method for adjusting the positioning vehicle of a tippler, characterized in that, An ultrasonic sensor is installed on each of the top two sides of the main boom structure of the positioning vehicle. The method includes: When the detection distances of the ultrasonic sensors on both sides are equal and equal to the detection distance from the ultrasonic sensor of the positioning vehicle to the side of the vehicle body, the positioning vehicle is driven to continue moving forward in the direction of travel at a first speed. When the detection distances of the ultrasonic sensors on both sides are not equal, the positioning vehicle is driven to continue moving forward along the direction of travel at a second speed. The horizontal distance between the positioning vehicle and the center position of the gap between the two sides is determined based on the detection distance of the ultrasonic sensor on the side away from the direction of travel and the gap between the two sides. The second speed is less than the first speed. The positioning vehicle is adjusted according to the horizontal distance between the center position of the positioning vehicle and the center position of the gap between the positioning vehicle and the carriage until the horizontal distance between the positioning vehicle and the center position of the gap between the carriage is less than a preset threshold.

2. The method according to claim 1, characterized in that, The determination of the horizontal distance between the positioning vehicle and the center position of the gap between the positioning vehicle and the carriage, based on the detection distance of the ultrasonic sensor on the side away from the direction of travel and the gap between the carriages, includes: The fourth distance is obtained by subtracting the detection distance from the ultrasonic sensor of the positioning vehicle to the side of the vehicle body from the detection distance of the ultrasonic sensor on the side away from the direction of travel; The horizontal distance between the positioning vehicle and the center position of the gap between the carriages is obtained by subtracting half of the horizontal projection distance of the fourth distance.

3. The method according to claim 2, characterized in that, The step of adjusting the positioning vehicle based on the horizontal distance between the positioning vehicle and the center position of the gap between the positioning vehicle and the carriage includes: When the horizontal distance between the positioning vehicle and the center of the gap between the positioning vehicle and the carriage is greater than 0, the positioning vehicle is driven to perform a traction action and continue to move forward in the direction of travel until the horizontal distance between the positioning vehicle and the center of the gap between the positioning vehicle and the carriage is less than a preset threshold. When the horizontal distance between the positioning vehicle and the center of the gap between the positioning vehicle and the carriage is less than 0, the positioning vehicle is driven to pull and move forward in the opposite direction of the travel direction until the horizontal distance between the positioning vehicle and the center of the gap between the positioning vehicle and the carriage is less than a preset threshold.

4. The method according to claim 1, characterized in that, An ultrasonic sensor is installed at both the inlet and outlet of the tipper. The method further includes: Obtain the detection distance of the ultrasonic sensor at the tippler entrance and the ultrasonic sensor at the tippler exit; The positioning vehicle is adjusted according to the detection distance of the ultrasonic sensor at the tipper entrance and the ultrasonic sensor at the tipper exit to position the car body at the center of the tipper.

5. The method according to claim 4, characterized in that, The step of adjusting the positioning vehicle based on the detection distance of the ultrasonic sensor at the tipper entrance and the detection distance of the ultrasonic sensor at the tipper exit includes: When the detection distance of the ultrasonic sensor at the tipper entrance is equal to the detection distance of the ultrasonic sensor at the tipper exit, and is also equal to the detection distance from the tipper ultrasonic sensor to the side of the vehicle, the positioning vehicle is driven to continue moving forward in the direction of travel.

6. The method according to claim 4, characterized in that, The step of adjusting the positioning vehicle based on the detection distance of the ultrasonic sensor at the tipper entrance and the detection distance of the ultrasonic sensor at the tipper exit includes: When the detection distance of the ultrasonic sensor at the tipper entrance is greater than the detection distance of the ultrasonic sensor at the tipper exit, it is determined that the car body has slipped towards the exit direction, and the positioning vehicle is driven to pull it. When the detection distance of the ultrasonic sensor at the tipper entrance is less than the detection distance of the ultrasonic sensor at the tipper exit, it is determined that the car body is slipping towards the entrance, and the positioning vehicle is driven to perform a traction action.

7. A device for adjusting the positioning vehicle of a tippler, characterized in that, include: The drive module is used to drive the positioning vehicle to continue moving forward in the direction of travel at a first speed when the detection distances of the ultrasonic sensors on both sides are equal and equal to the detection distance from the ultrasonic sensor of the positioning vehicle to the side of the vehicle body. The processing module is used to drive the positioning vehicle to continue moving forward along the direction of travel at a second speed when the detection distances of the ultrasonic sensors on both sides are not equal, and to determine the horizontal distance between the positioning vehicle and the center position of the gap between the vehicle and the carriage based on the detection distance of the ultrasonic sensor on the side away from the direction of travel and the gap between the vehicle and the carriage, wherein the second speed is less than the first speed. The adjustment module is used to adjust the positioning vehicle according to the horizontal distance between the center position of the positioning vehicle and the center position of the gap between the positioning vehicle and the carriage, until the horizontal distance between the center position of the positioning vehicle and the center position of the gap between the carriage is less than a preset threshold.

8. A computer device, comprising a memory, a processor, and a computer program stored in the memory, characterized in that, The processor executes the computer program to implement the steps of the method according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the computer program implements the steps of the method according to any one of claims 1 to 6.

10. A computer program product comprising a computer program / instructions, characterized in that, When executed by a processor, the computer program implements the steps of the method according to any one of claims 1 to 6.

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