Conveying and positioning method and device in driving process of mother-child vehicle, medium and product

Abstract

The invention discloses a conveying positioning method and device in the driving process of mother and child vehicles, a medium and a product, and relates to the field of positioning control. The method comprises the steps of driving a mother vehicle to run to an initial target position based on a relative stroke; optimizing a position coefficient based on the initial target position, the relative travel and the current position; updating the relative travel based on the optimized position coefficient, the current position and the target position; based on the updated relative stroke and the initial target position, the mother vehicle is controlled to run to the target position, and mother vehicle conveying positioning is completed; a Hall sensor is adopted to obtain magnetic substance positioning object information, and zero point coordinates of the parking area are obtained based on the magnetic substance positioning object information; based on the zero point coordinates, the mother vehicle adjusts the position of the child vehicle in the horizontal direction so that the child vehicle can be relatively matched with the zero point position; determining the travel of the sub-vehicle based on the zero position and the track length corresponding to the zero position, and completing the conveying and positioning of the sub-vehicle. According to the invention, stable operation and accurate positioning of the primary vehicle and the secondary vehicle can be realized.

Description

Technical Field

[0001] The present application relates to the field of positioning control, and in particular to a method, equipment, medium and product for transporting and positioning a mother-child vehicle during its travel. Background Art

[0002] In the transportation of raw materials in spinning mills, raw material transportation entirely relies on manual transportation, which has disadvantages such as high labor intensity and high labor cost.

[0003] In order to solve the above problems, a method of partially automatic conveying control is disclosed to realize automatic conveying of raw materials by controlling a trolley. The operation of the trolley is mainly completed by setting mechanical structures such as gear racks, which not only damages the ground environment, but also causes the problem of unstable operation of the trolley. In addition, due to mechanical friction, mechanical failure and other conditions in mechanical structures such as gear racks, the precise positioning of the trolley cannot be achieved. Summary of the invention

[0004] The purpose of this application is to provide a method, equipment, medium and product for transporting and positioning a mother-child vehicle during driving, which can achieve stable operation and precise positioning of the mother vehicle and the child vehicle.

[0005] To achieve the above objectives, this application provides the following solutions:

[0006] In the first aspect, the present application provides a method for conveying and positioning a mother-child vehicle during its travel, and the method for conveying and positioning a mother-child vehicle during its travel is applied to a conveyor line and a sliver tube conveying system thereof; the conveyor line and the sliver tube conveying system thereof include: a reducer, a two-dimensional code reader, a two-dimensional code belt, a child vehicle, a mother vehicle for carrying the child vehicle, a Hall sensor, and a magnetic material positioning object provided at a guide track of the mother vehicle for the Hall sensor to sense; the two-dimensional code reader is provided on the mother vehicle; the Hall sensor is provided on the child vehicle; the two-dimensional code is provided at the guide track of the mother vehicle; the reducer is used to control the deceleration of the mechanical structure of the conveyor line and the sliver tube conveying system thereof; the method for conveying and positioning a mother-child vehicle during its travel includes:

[0007] The coordinates of the mother vehicle are taught, and all coordinates are the two-dimensional code values ​​read by the two-dimensional code reader. When all position coordinates are taught, the two-dimensional code reader obtains the current position and determines the relative stroke according to the target position and the position coefficient; the relative stroke is sent to the driving servo motor of the mother vehicle, and the driving servo motor of the mother vehicle drives the mother vehicle to run to the initial target position;

[0008] Optimizing the position coefficient based on the initial target position, the relative travel, and the current position;

[0009] updating the relative stroke based on the optimized position coefficient, the current position and the target position;

[0010] Based on the updated relative stroke and the initial target position, the mother vehicle is controlled to move to the target position to complete the mother vehicle conveying positioning;

[0011] The Hall sensor is used to obtain information of the magnetic material positioning object, and the zero point coordinate of the parking area is obtained based on the information of the magnetic material positioning object;

[0012] The zero point position is determined based on the zero point coordinates, and the mother vehicle adjusts the position of the child vehicle in the horizontal direction so that the child vehicle relatively matches the zero point position;

[0013] Get the length of the track in the parking area;

[0014] The sub-trolley stroke is determined based on the zero point position and the track length corresponding to the zero point position, thereby completing the sub-trolley transport positioning.

[0015] Optionally, the method for transporting and positioning the mother-child vehicle during its travel also includes:

[0016] Obtain the accuracy parameters of the QR code read by the QR code reader, the error parameters of the mechanical structure reducer, the error parameters of the mother vehicle wheels, and the total stroke of the mother vehicle;

[0017] The alarm threshold is obtained based on the accuracy parameters of the QR code read by the QR code reader, the error parameters of the mechanical structure reducer, the error parameters of the mother vehicle wheels and the total stroke of the mother vehicle;

[0018] When the optimized position coefficient is less than or equal to the alarm threshold, no processing is performed;

[0019] When the optimized position coefficient is greater than the alarm threshold, an alarm signal is generated.

[0020] Optionally, the optimized position coefficient is expressed as:

[0021]

[0022] Where M′ is the optimized position coefficient, X2 is the initial target position, and X0 is the current position.

[0023] Optionally, the position coefficient includes a relative position coefficient when the two-dimensional code reader reads a two-dimensional code and converts it into a forward rotation of the servo drive, and a relative position coefficient when the two-dimensional code reader reads a two-dimensional code and converts it into a reverse rotation of the servo drive.

[0024] Optionally, the calculation formula of the relative stroke is:

[0025] S = M*(X1-X0);

[0026] Where M is the position coefficient, X1 is the target position, and X0 is the current position.

[0027] Optionally, based on the updated relative stroke and the initial target position, controlling the mother vehicle to move to the target position to complete the mother vehicle transportation positioning specifically includes:

[0028] determining a relative position based on the updated relative travel, the initial target position, and the target position;

[0029] Based on the relative position, the driving servo motor of the mother vehicle drives the mother vehicle to move to the target position, thereby completing the transportation and positioning of the mother vehicle.

[0030] Optionally, the relative position is determined by:

[0031]

[0032] In the formula, S 1 is the relative position, S′ is the updated relative stroke, X2 is the initial target position, X1 is the target position, and X0 is the current position.

[0033] In a second aspect, the present application provides a computer device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the method for transporting and positioning the mother-child vehicle during driving as described in any one of the above.

[0034] In a third aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method for transporting and positioning the mother-child vehicle during travel as described in any one of the above.

[0035] In a fourth aspect, the present application provides a computer program product, including a computer program, which, when executed by a processor, implements the steps of any of the above-mentioned methods for transporting and positioning the mother-child vehicle during travel.

[0036] According to the specific embodiments provided in this application, this application discloses the following technical effects:

[0037] The present application provides a method, device, medium and product for conveying and positioning a mother-child vehicle during its travel. The mother vehicle is controlled to run to the target position through the updated relative stroke and the initial target position to complete the conveying and positioning of the mother vehicle. The mother vehicle can be accurately positioned without using a mechanical structure of a gear rack, which simplifies the mechanical structure and does not damage the ground environment due to the installation of the rack. Moreover, the relative stroke is sent to the driving servo motor of the mother vehicle. The mother vehicle runs to the initial target position under the drive of the driving servo motor, which can ensure the stable operation of the mother vehicle and the rapid response, so as to achieve fast and accurate positioning. In addition, the stroke of the child vehicle is determined based on the zero position and the track length corresponding to the zero position, so that the accurate positioning of the child vehicle conveyance can be completed. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0039] Figure 1 A schematic diagram of a flow chart of a method for transporting and positioning a mother-child vehicle during travel provided by an embodiment of the present application;

[0040] Figure 2 A schematic diagram of the structure of a computer device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0041] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0042] In order to make the purpose, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0043] In an exemplary embodiment, a method for conveying and positioning during the travel of a mother-child vehicle is provided, and the method for conveying and positioning during the travel of the mother-child vehicle is applied to a conveyor line and its sliver tube conveying system. For example, the conveyor line and its sliver tube conveying system provided by the known Chinese patent application with application number 202411080318.5 include: a reducer, a QR code reader, a QR code tape, a child vehicle, a mother vehicle for transporting the child vehicle, a Hall sensor, and a magnetic material locator for Hall sensor sensing arranged at the guide track of the mother vehicle. The QR code reader is arranged on the mother vehicle. The Hall sensor is arranged on the child vehicle. The QR code is arranged at the guide track of the mother vehicle. The reducer is used to control the deceleration of the mechanical structure in the conveyor line and its sliver tube conveying system.

[0044] Based on this, the present application provides a method for positioning the mother-child vehicle during driving, such as Figure 1 As shown, including:

[0045] Step 100: Teach the coordinates of the mother vehicle. All coordinates are the QR code values ​​read by the QR code reader. When all position coordinates are taught, the QR code reader obtains the current position and determines the relative stroke based on the target position and the position coefficient. The relative stroke is sent to the driving servo motor of the mother vehicle, and the driving servo motor of the mother vehicle drives the mother vehicle to the initial target position. The position coefficient includes the relative position coefficient when the QR code reader reads the QR code and converts it into the forward rotation of the servo drive, and the relative position coefficient when the QR code reader reads the QR code and converts it into the reverse rotation of the servo drive.

[0046] For example, the relative travel is calculated as:

[0047] S=M*(X1-X0).

[0048] Where M is the position coefficient, X1 is the target position, and X0 is the current position.

[0049] Step 101: Optimize the position coefficient based on the initial target position, the relative travel distance and the current position. For example, the optimized position coefficient is expressed as:

[0050]

[0051] Wherein, M′ is the optimized position coefficient, which indicates the optimized relative position coefficient when the two-dimensional code reader reads the two-dimensional code and converts it into the forward rotation of the servo drive, or the optimized relative position coefficient when the two-dimensional code reader reads the two-dimensional code and converts it into the reverse rotation of the servo drive.

[0052] Step 102: Update the relative travel based on the optimized position coefficient, the current position and the target position.

[0053] Step 103: Based on the updated relative stroke and the initial target position, the mother vehicle is controlled to move to the target position to complete the mother vehicle transportation positioning.

[0054] Step 104: Use a Hall sensor to obtain information about the magnetic material positioning object, and obtain the zero point coordinate of the parking area based on the information about the magnetic material positioning object.

[0055] Step 105: The zero point position is determined based on the zero point coordinates, and the mother vehicle adjusts the position of the child vehicle in the horizontal direction so that the child vehicle relatively matches the zero point position.

[0056] Step 106: Obtain the track length in the parking area.

[0057] Step 107: Determine the sub-trolley travel based on the zero point position and the track length corresponding to the zero point position, and complete the sub-trolley transport positioning.

[0058] In another exemplary embodiment of the present application, in order to avoid other faults caused by excessive position coefficient due to equipment failure, the following implementation steps are also provided in this embodiment:

[0059] 1) Obtain the accuracy parameters of the QR code reader reading the QR code, the error parameters of the mechanical structure reducer, the error parameters of the mother vehicle wheels, and the total stroke of the mother vehicle.

[0060] 2) The alarm threshold is obtained based on the accuracy parameters of the QR code read by the QR code reader, the error parameters of the mechanical structure reducer, the error parameters of the mother vehicle wheels and the total stroke of the mother vehicle.

[0061] 3) When the optimized position coefficient is less than or equal to the alarm threshold, no processing is performed.

[0062] 4) When the optimized position coefficient is greater than the alarm threshold, an alarm signal is generated.

[0063] In another exemplary embodiment of the present application, the QR code reader requires an accuracy of more than 1mm and a repeatability of 0.1mm for reading the QR code. The PLC reading accuracy set in the mother vehicle and the child vehicle is accurate to more than 1mm, which far meets the requirement of servo positioning accuracy within ±2mm. Based on this, in this embodiment, the process of realizing the transportation positioning during the mother vehicle's driving is described. Among them:

[0064] (1) Teach the coordinates of the mother vehicle. All coordinates are the QR code values ​​read by the QR code reader. After all position coordinates are taught, the PLC obtains the current position QR code coordinates through the QR code reader, recorded as X0, and then calculates the relative stroke S based on the target position coordinates, recorded as X1, and sends this relative stroke S to the mother vehicle drive servo motor.

[0065] For example, taking the relative position coefficient of the servo drive when the 2D code is read by the 2D code reader and converted into the forward rotation of the servo drive as an example, the formula for determining the relative stroke S is:

[0066] S = β*(X1-X0).

[0067] In the formula, β is the relative position coefficient when the QR code reader reads the QR code and converts it into the forward rotation of the servo drive, and the initial value is 1. After the servo motor drives the mother vehicle to travel the relative stroke S, it actually reaches the position X2 (i.e. the initial position). The PLC optimizes the relative position coefficient β to update the relative stroke, and then sends the relative position S to the servo motor according to the current coordinates. 1 .

[0068] Among them, the optimized relative position coefficient β is expressed as β′: Based on this, the relative position S 1 It is expressed as:

[0069]

[0070] In the formula, S 1 is the relative position, S′ is the updated relative stroke, X2 is the initial target position, X1 is the target position, and X0 is the current position.

[0071] Similarly, the relative position coefficient δ when the two-dimensional code reader reads the two-dimensional code and converts the servo drive into reverse can be calculated and optimized according to the above method.

[0072] According to the accuracy parameter of the servo and the QR code reader reading the QR code ±0.1mm (denoted as a), according to the mechanical structure reducer and wheel error parameters (denoted as ±b and ±c respectively), and the total stroke of the mother vehicle S0 (for example, set to 20000mm), the alarm threshold is calculated to be S0*a*b*c.

[0073] Based on this, when β or δ is greater than S0*a*b*c, an alarm signal is issued. At this time, it means that the servo has lost too many pulses, the mechanical structure may be damaged, etc. This calculation realizes the protection of coefficients β and δ, avoiding excessive β and δ values ​​caused by equipment failure, thereby causing other faults.

[0074] In practical applications, β and δ are generally kept within 1±0.01.

[0075] In another exemplary embodiment of the present application, precise positioning of the sub-vehicle transportation can be achieved under the operation control of the vehicle control system by relying on a transmission system including an electric lifting device, a motor, a controller, active and passive transmission wheels, etc.

[0076] The present application also provides an application scenario, which applies the above-mentioned method for conveying and positioning during the travel of the mother-child vehicle. Specifically: The method for conveying and positioning during the travel of the mother-child vehicle provided in this embodiment can be applied to the process link of conveying sliver tubes between the drawing frame process and the roving frame process. Specifically, in the process link of conveying sliver tubes between the drawing frame process and the roving frame process, the transportation of full and empty sliver tubes between the drawing frame and the roving frame can be realized based on the positioning of the mother-child vehicle during travel.

[0077] In an exemplary embodiment, a computer device is provided. The computer device may be a server or a terminal. The internal structure diagram thereof may be as follows: Figure 2 As shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, referred to as I / O) and a communication interface. Among them, the processor, the memory and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store the positioning data of the mother-child vehicle. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a method for transporting and positioning the mother-child vehicle during driving is implemented.

[0078] Those skilled in the art will understand that Figure 2 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components. In an exemplary embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above-mentioned method embodiments when executing the computer program.

[0079] In an exemplary embodiment, a computer-readable storage medium is provided, storing a computer program, and when the computer program is executed by a processor, the steps in the above method embodiments are implemented.

[0080] In an exemplary embodiment, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, the steps in the above method embodiments are implemented.

[0081] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0082] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM may be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).

[0083] The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. The non-relational database may include a distributed database based on blockchain, etc., but is not limited thereto. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but is not limited thereto.

[0084] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0085] This article uses specific examples to illustrate the principles and implementation methods of this application. The description of the above embodiments is only used to help understand the method and core ideas of this application. At the same time, for those skilled in the art, according to the ideas of this application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting this application.

Claims

1. A method for transporting and positioning a mother-child vehicle during travel, characterized in that: The conveying and positioning method during the travel of the mother-child vehicle is applied to a conveying line and its sliver tube conveying system; the conveying line and its sliver tube conveying system include: a reducer, a two-dimensional code reader, a two-dimensional code belt, a child vehicle, a mother vehicle for carrying the child vehicle, a Hall sensor, and a magnetic material positioning object provided at the guide track of the mother vehicle for the Hall sensor to sense; the two-dimensional code reader is provided on the mother vehicle; the Hall sensor is provided on the child vehicle; the two-dimensional code belt is provided at the guide track of the mother vehicle; the reducer is used to control the deceleration of the mechanical structure in the conveying line and its sliver tube conveying system; the conveying and positioning method during the travel of the mother-child vehicle includes: The coordinates of the mother vehicle are taught, and all coordinates are the two-dimensional code values ​​read by the two-dimensional code reader. When all position coordinates are taught, the two-dimensional code reader obtains the current position and determines the relative stroke according to the target position and the position coefficient; the relative stroke is sent to the driving servo motor of the mother vehicle, and the driving servo motor of the mother vehicle drives the mother vehicle to run to the initial target position; Optimizing the position coefficient based on the initial target position, the relative travel, and the current position; updating the relative stroke based on the optimized position coefficient, the current position and the target position; Based on the updated relative stroke and the initial target position, the mother vehicle is controlled to move to the target position to complete the mother vehicle conveying positioning; The Hall sensor is used to obtain information of the magnetic material positioning object, and the zero point coordinate of the parking area is obtained based on the information of the magnetic material positioning object; The zero point position is determined based on the zero point coordinates, and the mother vehicle adjusts the position of the child vehicle in the horizontal direction so that the child vehicle relatively matches the zero point position; Get the length of the track in the parking area; The sub-trolley stroke is determined based on the zero point position and the track length corresponding to the zero point position, thereby completing the sub-trolley transport positioning.

2. The method for transporting and positioning the mother-child vehicle during driving according to claim 1, characterized in that: The method for transporting and positioning the mother-child vehicle during its travel also includes: Obtain the accuracy parameters of the QR code read by the QR code reader, the error parameters of the mechanical structure reducer, the error parameters of the mother vehicle wheels, and the total stroke of the mother vehicle; The alarm threshold is obtained based on the accuracy parameters of the QR code read by the QR code reader, the error parameters of the mechanical structure reducer, the error parameters of the mother vehicle wheels and the total stroke of the mother vehicle; When the optimized position coefficient is less than or equal to the alarm threshold, no processing is performed; When the optimized position coefficient is greater than the alarm threshold, an alarm signal is generated.

3. The method for transporting and positioning the mother-child vehicle during driving according to claim 1, characterized in that: The optimized position coefficient is expressed as: Where M′ is the optimized position coefficient, X2 is the initial target position, and X0 is the current position.

4. The method for transporting and positioning the mother-child vehicle during driving according to claim 1, characterized in that: The position coefficient includes a relative position coefficient when the two-dimensional code reader reads a two-dimensional code and converts it into a forward rotation of the servo drive, and a relative position coefficient when the two-dimensional code reader reads a two-dimensional code and converts it into a reverse rotation of the servo drive.

5. The method for transporting and positioning the mother-child vehicle during travel according to claim 1, characterized in that: The calculation formula of the relative stroke is: S = M*(X1-X0); Where M is the position coefficient, X1 is the target position, and X0 is the current position.

6. The method for transporting and positioning the mother-child vehicle during driving according to claim 1, characterized in that: Based on the updated relative stroke and the initial target position, the mother vehicle is controlled to move to the target position to complete the mother vehicle transportation positioning, specifically including: determining a relative position based on the updated relative travel, the initial target position, and the target position; Based on the relative position, the driving servo motor of the mother vehicle drives the mother vehicle to move to the target position, thereby completing the transportation and positioning of the mother vehicle.

7. The method for transporting and positioning the mother-child vehicle during travel according to claim 6, characterized in that: The formula for determining the relative position is: Where S1 is the relative position, S′ is the updated relative stroke, X2 is the initial target position, X1 is the target position, and X0 is the current position.

8. A computer device comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the method for transporting and positioning the mother-child vehicle during travel as described in any one of claims 1-7.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method for transporting and positioning the mother-child vehicle during travel according to any one of claims 1 to 7 is implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the method for transporting and positioning the mother-child vehicle during travel according to any one of claims 1 to 7 is implemented.

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