Control method of small rail car, controller, storage medium and small rail car

Abstract

The invention discloses a rail trolley control method, a controller, a storage medium and a rail trolley, and relates to the technical field of automatic control. The small rail car comprises a car body, a near-point proximity switch and a fixed-point proximity switch, wherein the near-point proximity switch and the fixed-point proximity switch are arranged on one side of the moving direction of the car body at intervals. The method comprises the following steps: receiving a first feedback signal sent by a near point proximity switch; if it is determined that the rail trolley reaches the deceleration position based on the first feedback signal, controlling the rail trolley to decelerate; receiving a second feedback signal sent by the fixed-point proximity switch; if it is determined that the rail trolley reaches the target position based on the second feedback signal, the rail trolley is controlled to execute preset parking operation. Therefore, accurate positioning of the rail trolley is achieved, and the parking accuracy of the rail trolley is improved.

Description

Technical Field

[0001] The present application relates to the field of automatic control technology, and in particular to a control method, a controller, a storage medium and a rail trolley. Background Art

[0002] With the development of modern manufacturing industry, automated logistics system has become one of the important means to improve production efficiency. As a common logistics transportation tool, rail trolleys are widely used in various factories and warehouses.

[0003] However, traditional rail trolleys are usually designed to carry heavy loads, so they use sturdy and durable steel rails and steel wheels. Although such a design can ensure that the rail trolley has a high load capacity and a long service life, it also brings some inherent problems. For example, due to the characteristics of the rails and steel wheels, the rail trolley will slip during operation, resulting in the rail trolley not being able to stop accurately. Summary of the invention

[0004] The main purpose of the present application is to provide a control method, a controller, a storage medium and a rail trolley for achieving accurate positioning of the rail trolley and improving the parking accuracy of the rail trolley.

[0005] To achieve the above-mentioned purpose, the present application provides a control method for a rail trolley, the rail trolley comprising a vehicle body and a near-point proximity switch and a fixed-point proximity switch arranged at intervals on one side of the vehicle body in the direction of movement, the fixed-point proximity switch being close to the vehicle body; the method comprising: Receiving a first feedback signal sent by the near-point proximity switch; If it is determined based on the first feedback signal that the rail trolley has reached the deceleration position, controlling the rail trolley to decelerate; Receiving a second feedback signal sent by the fixed-point proximity switch; If it is determined based on the second feedback signal that the rail trolley has reached the target position, the rail trolley is controlled to perform a preset parking operation.

[0006] Optionally, the rail trolley also includes a motor. After receiving the first feedback signal sent by the near-point proximity switch, the method also includes: obtaining the number of encoder pulses of the motor; if it is determined based on the first feedback signal that the rail trolley has reached the deceleration position, then controlling the rail trolley to decelerate, including: if it is determined based on the first feedback signal that the rail trolley has reached the deceleration position, or the number of encoder pulses reaches a preset threshold, then controlling the rail trolley to decelerate.

[0007] Optionally, the preset parking operation includes a creeping return to zero positioning operation.

[0008] Optionally, after controlling the rail trolley to perform a preset parking operation, the method further includes: controlling the encoder pulse number of the motor to return to zero.

[0009] The present application also provides a controller, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements a control method for a rail vehicle as described in any one of the above when executing the computer program.

[0010] The present application also provides a non-transitory computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the control method of the rail vehicle as described in any one of the above is implemented.

[0011] In addition, to achieve the above-mentioned purpose, the present application also provides a rail trolley, including the controller as described above, a vehicle body, and a near-point proximity switch and a fixed-point proximity switch arranged at intervals in the direction of movement of the vehicle body, and the near-point proximity switch is located on the side of the fixed-point proximity switch away from the vehicle body, and the controller is connected to the near-point proximity switch and the fixed-point proximity switch; the near-point proximity switch is used to send a first feedback signal to the controller; the fixed-point proximity switch is used to send a second feedback signal to the controller; the controller is used to output a deceleration operation command according to the first feedback signal, and output a preset parking operation command according to the second feedback signal.

[0012] Optionally, the rail trolley also includes a first mounting rod and a second mounting rod, the near-point proximity switch includes a first near-point proximity switch and a second near-point proximity switch, and the fixed-point proximity switch includes a first fixed-point proximity switch and a second fixed-point proximity switch; one end of the first mounting rod is fixedly connected to a surface on one side of the vehicle body in the direction of movement, the first fixed-point proximity switch is arranged at an end of the first mounting rod close to the vehicle body, and the first near-point proximity switch is arranged at an end of the first mounting rod away from the vehicle body; one end of the second mounting rod is fixedly connected to a surface on the opposite side of the vehicle body in the direction of movement, the second fixed-point proximity switch is arranged at an end of the second mounting rod close to the vehicle body, and the second near-point proximity switch is arranged at an end of the second mounting rod away from the vehicle body.

[0013] Optionally, the rail trolley also includes a motor, a control end of the motor is connected to the controller, and an output end of the motor is connected to each wheel of the vehicle body; the motor is used to send an encoder pulse number to the controller; the controller is also used to output a deceleration operation command based on the encoder pulse number and the first feedback signal.

[0014] Optionally, the rail trolley also includes a driving unit, one end of the driving unit is connected to the controller, and the other end of the driving unit is connected to the motor; the driving unit is used to receive the encoder pulse number sent by the motor, and forward the encoder pulse number to the controller; the driving unit is also used to receive the deceleration operation command and the preset stop operation command sent by the controller, and drive the motor to operate based on the deceleration operation command and the preset stop operation command.

[0015] The control method of the rail trolley of the present application is provided with a near-point proximity switch and a fixed-point proximity switch on the vehicle body on one side of the moving direction of the rail trolley. When a first feedback signal sent by the near-point proximity switch is received and it is determined through the first feedback signal that the rail trolley has reached the deceleration position, the rail trolley is controlled to start decelerating; when a second feedback signal sent by the fixed-point proximity switch is received and it is determined through the second feedback signal that the rail trolley has reached the target position, the rail trolley is controlled to perform a preset parking operation, thereby realizing double positioning and control of the operation of the rail trolley by adding two proximity switches to the structure as a deceleration detection device and an on-point positioning detection device, thereby realizing accurate positioning of the rail trolley and improving the parking accuracy of the rail trolley. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the structure of the rail trolley of an embodiment of the present application; Figure 2 is a flow chart of a control method of a rail vehicle according to an embodiment of the present application; Figure 3 An example of a physical structure diagram of a controller is shown; In the figure, 110, controller; 120, vehicle body; 130, near-point proximity switch; 131, first near-point proximity switch; 132, second near-point proximity switch; 140, fixed-point proximity switch; 141, first fixed-point proximity switch; 142, second fixed-point proximity switch; 150, first mounting rod; 160, second mounting rod; 170, motor; 180, drive unit; 310, processor; 320, communication interface; 330, memory; 340, communication bus.

[0017] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical solutions and advantages of this application clearer, the technical solutions in this application will be clearly and completely described below in conjunction with the drawings in this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0019] Rail trolleys are automated equipment that run on fixed tracks, mainly used for material handling, cargo transportation, and other applications that require precise movement. Due to their high efficiency and reliability, rail trolleys have been widely used in many fields, including but not limited to manufacturing, warehousing and logistics, automobile production, aviation maintenance, and other fields.

[0020] However, traditional rail trolleys are usually designed to carry heavy loads, so they are designed with sturdy and durable steel rails and steel wheels. Although such a design can ensure that the rail trolley has a high load capacity and a long service life, it also brings some inherent problems.

[0021] First, because rail trolleys usually operate in a relatively harsh working environment, such as oil, dust and temperature changes in the workshop, the surface condition of the rails will be poor. In addition, the friction coefficient between the steel wheel and the rail will decrease when it is wet or has impurities, which makes the trolley prone to slipping during high-speed operation. Slipping will not only affect the normal operation of the rail trolley, but may also cause inaccurate positioning of the rail trolley.

[0022] Secondly, the control systems of traditional rail trolleys are often simple and not intelligent enough, and cannot achieve high-precision parking functions. For example, due to the slippage of rail trolleys, it is impossible to use only the encoder pulse counting (semi-closed loop) of the servo motor itself for positioning. However, if the grating ruler absolute position positioning (full closed loop) is used for positioning, the manufacturing cost and subsequent maintenance cost will be greatly increased. Therefore, in application scenarios that require frequent material handling and precise loading and unloading, this rail trolley that lacks precise positioning capabilities obviously cannot meet actual needs. Therefore, how to overcome the above defects and develop a rail trolley that can operate stably in complex environments and has precise parking functions has become an urgent problem to be solved.

[0023] Based on this, the embodiments of the present application provide a control method, a controller, a storage medium and a rail trolley for a rail vehicle. By adding a near-point proximity switch and a positioning proximity switch, they are used for near-point deceleration detection and punctual positioning detection respectively. The deceleration command is determined based on the signal feedback from the near-point proximity switch and the number of pulses of the motor's own encoder. The stop command is then determined based on the signal feedback from the positioning proximity switch, thereby making the operation of the rail vehicle safer and more reliable. The structure is simple and the cost is low. It can also effectively improve the positioning accuracy of the rail vehicle, and ultimately achieve precise parking.

[0024] For ease of understanding, the structure of the rail trolley is first introduced in detail below.

[0025] Figure 1 Schematic diagram of the structure of the rail vehicle in the embodiment of the present application. Figure 1 As shown, the rail vehicle may include a controller 110, a vehicle body 120, and a near-point proximity switch 130 and a fixed-point proximity switch 140 arranged at intervals in the moving direction of the vehicle body 120, and the near-point proximity switch 130 is located on the side of the fixed-point proximity switch 140 away from the vehicle body 120. Among them, the controller 110 is connected with the near-point proximity switch 130 and the fixed-point proximity switch 140; the near-point proximity switch 130 is used to send a first feedback signal to the controller 110; the fixed-point proximity switch 140 is used to send a second feedback signal to the controller 110; the controller 110 is used to output a deceleration operation command according to the first feedback signal, and output a preset parking operation command according to the second feedback signal.

[0026] First of all, it should be noted that a proximity switch is a sensor that can sense the presence of a detection object without direct contact with the detection object. They are widely used in automated control systems to detect the position, speed or presence of an object. The proximity switch described in this embodiment can be an inductive proximity switch, a photoelectric proximity switch, a capacitive proximity switch, a magnetic proximity switch, an ultrasonic proximity switch, a Hall effect proximity switch, etc.

[0027] In this embodiment, the body 120 of the rail trolley may be rectangular, the wheels of the body 120 may be made of steel, and the rail trolley travels along the track via the steel wheels. The controller 110 may be disposed inside the rail trolley body 120, and the controller 110 may be a PLC controller (Programmable Logic Controller), a microcontroller, a programmable automation controller (PAC), etc., and the embodiments of this application will be described later using a PLC controller as an example.

[0028] In this embodiment, a near-point proximity switch 130 and a fixed-point proximity switch 140 may be arranged at intervals on one side of the moving direction of the vehicle body 120. It should be noted that the moving direction of the vehicle body 120 refers to the moving direction of the rail vehicle on the track. Since the rail vehicle moves along the track, the moving direction of the vehicle body 120 includes two directions relative to the track. Figure 1 , Figure 1 When the rail trolley moves from the origin position to the working position, the movement direction of the rail trolley is to the left, so the near point proximity switch 130 and the fixed point proximity switch 140 can be set on one side of the forward direction of the vehicle body 120, that is, Figure 1 Similarly, when the rail trolley moves from the working position to the origin position, the movement direction of the rail trolley is to the right, at this time, the near point proximity switch 130 and the fixed point proximity switch 140 can be set at Figure 1 The right side of the vehicle body 120.

[0029] Since the rail trolley has only two movement directions when running on the track, a near-point proximity switch 130 and a fixed-point proximity switch 140 can be directly set on the two sides of the vehicle body 120, so that the rail trolley can achieve accurate positioning and accurate parking when traveling along the two different movement directions.

[0030] In addition, the fixed-point proximity switch 140 in this embodiment can be installed at a position close to the surface of the vehicle body 120, because the fixed-point proximity switch 140 is used to detect whether the rail trolley has reached the target position, so the closer the fixed-point proximity switch 140 is to the vehicle body 120, the more accurate the detection result is. The near-point proximity switch 130 in this embodiment can be installed at a position with a certain distance from the surface of the vehicle body 120, and the near-point proximity switch 130 and the fixed-point proximity switch 140 are arranged at intervals in the horizontal direction, because the near-point proximity switch 130 is used to detect whether the rail trolley has reached the deceleration position (i.e., it is about to reach the target position), so the near-point proximity switch 130 can be spaced a certain distance from the vehicle body 120. It should be noted that the specific distance between the near-point proximity switch 130 and the vehicle body 120 can be calculated based on the speed of the rail trolley, the friction between the wheel and the track, the wheel braking capacity, the distance between the deceleration position and the target position, and the position of the near-point proximity switch 130 can be adjusted as the parameters change.

[0031] The controller 110 may be electrically connected to the near-point proximity switch 130 and the fixed-point proximity switch 140 to receive a first feedback signal sent by the near-point proximity switch 130 and a second feedback signal sent by the fixed-point proximity switch 140. The controller 110 may determine whether the deceleration position has been reached according to the first feedback signal, so as to control the rail vehicle to decelerate; the controller 110 may also determine whether the target position has been reached according to the second feedback signal, so as to control the rail vehicle of the controller 110 to perform a parking operation.

[0032] Continue to refer Figure 1 In some embodiments, the rail vehicle further includes a first mounting rod 150 and a second mounting rod 160, the near-point proximity switch 130 includes a first near-point proximity switch 131 and a second near-point proximity switch 132, and the fixed-point proximity switch 140 includes a first fixed-point proximity switch 141 and a second fixed-point proximity switch 142. One end of the first mounting rod 150 is fixedly connected to a surface on one side of the moving direction of the vehicle body 120, the first fixed-point proximity switch 141 is arranged at an end of the first mounting rod 150 close to the vehicle body 120, and the first near-point proximity switch 131 is arranged at an end of the first mounting rod 150 away from the vehicle body 120; one end of the second mounting rod 160 is fixedly connected to a surface on the opposite side of the moving direction of the vehicle body 120, the second fixed-point proximity switch 142 is arranged at an end of the second mounting rod 160 close to the vehicle body 120, and the second near-point proximity switch 132 is arranged at an end of the second mounting rod 160 away from the vehicle body 120.

[0033] In this embodiment, the first mounting rod 150 and the second mounting rod 160 may be in the shape of a long tube. Figure 1 Taking the moving direction of the rail trolley shown in as an example, one end of the first mounting rod 150 can be fixedly connected to the surface on the side of the moving direction of the vehicle body 120, and the first mounting rod 150 can be installed on the side of the surface close to the wheel, so as to facilitate the proximity switch to detect. The first fixed-point proximity switch 141 can be set at the end of the first mounting rod 150 close to the vehicle body 120, and the first near-point proximity switch 131 can be set at the end of the first mounting rod 150 away from the vehicle body 120. The distance between the first fixed-point proximity switch 141 and the first near-point proximity switch 131 can be calculated and determined according to the needs, and the spacing distance is not specifically limited here.

[0034] Likewise, still Figure 1 Taking the moving direction of the track trolley shown in as an example, one end of the second mounting rod 160 can be fixed on the surface on the opposite side of the moving direction of the vehicle body 120, and the second mounting rod 160 can be installed on the side of the surface close to the wheel, so as to facilitate the proximity switch to detect. The second fixed-point proximity switch 142 can be set at the end of the second mounting rod 160 close to the vehicle body 120, and the second near-point proximity switch 132 can be set at the end of the second mounting rod 160 away from the vehicle body 120.

[0035] Continue to refer Figure 1 In some embodiments, the rail vehicle further includes a motor 170, a control end of the motor 170 is connected to the controller 110, and an output end of the motor 170 is connected to each wheel of the vehicle body 120; the motor 170 is used to send an encoder pulse number to the controller 110; the controller 110 is also used to output a deceleration operation command according to the encoder pulse number and the first feedback signal.

[0036] Specifically, the motor 170 can be arranged inside the rail trolley body 120, the control end of the motor 170 can be connected to the controller 110, the output end of the motor 170 can be connected to the wheel, and the motor 170 is controlled by the controller 110 to provide power for the rail trolley wheel. When the rail trolley is running, the motor 170 can send its own encoder pulse number to the controller 110 in real time. The controller 110 can calculate the actual rotation angle or displacement of the motor 170 by reading the pulse number fed back by the encoder, thereby realizing precise control of the position of the rail trolley.

[0037] The following are the basic steps of how the controller 110 achieves positioning based on the number of encoder pulses: The controller 110 first needs to be initialized, including but not limited to: setting the resolution of the encoder (i.e., the number of pulses generated per revolution), clearing the encoder counter to ensure that counting starts from zero, and recording the initial position for subsequent calculations. Furthermore, when the motor 170 rotates, the encoder will generate a corresponding pulse signal according to the angle of rotation. The controller 110 calculates the rotation angle or displacement of the motor 170 by reading these pulse signals. The controller 110 updates the position information of the current track trolley according to the calculated displacement.

[0038] In order to achieve more accurate positioning, the controller 110 usually adopts a closed-loop control strategy, which means that the controller 110 continuously monitors the difference between the actual position and the target position, and adjusts the speed or direction of the motor 170 accordingly to achieve the desired position.

[0039] In the present embodiment, the controller 110 not only realizes the positioning of the rail trolley based on the number of encoder pulses, but also considers the first feedback signal sent by the near-point proximity switch 130, so that the controller 110 can position the rail trolley more accurately.

[0040] Continue to refer Figure 1In some embodiments, the rail trolley further includes a drive unit 180, one end of the drive unit 180 is connected to the controller 110, and the other end of the drive unit 180 is connected to the motor 170; the drive unit 180 is used to receive the encoder pulse number sent by the motor 170, and forward the encoder pulse number to the controller 110; the drive unit 180 is also used to receive the deceleration operation command and the preset stop operation command sent by the controller 110, and drive the motor 170 to operate based on the deceleration operation command and the preset stop operation command.

[0041] In this embodiment, a drive unit 180 may be provided to drive the motor 170, and the drive unit 180 may adopt a servo drive currently available on the market. One end of the drive unit 180 is connected to the controller 110, and the drive unit 180 may exchange data with the controller 110; the other end of the drive unit 180 is connected to the motor 170, and the drive unit 180 may control the operation of the motor 170 according to the command issued by the controller 110.

[0042] Specifically, when the rail trolley is running, the motor 170 can feed back the encoder pulse number to the drive unit 180 in real time, and the drive unit 180 then sends the encoder pulse number to the controller 110. The controller 110 generates a deceleration operation command based on the encoder pulse number and the first feedback signal, and the controller 110 then transmits the deceleration operation command to the drive unit 180, and the drive unit 180 controls the motor 170 based on the deceleration operation command to control the rail trolley to decelerate; the controller 110 can also generate a preset parking operation command based on the second feedback signal, and transmit the command to the drive unit 180, and the drive unit 180 controls the output power of the motor 170 based on the preset parking operation command to control the rail trolley to accurately park according to the preset parking strategy.

[0043] The above is a detailed introduction to the structure of the rail trolley in the embodiment of the present application. The following is a detailed introduction to the positioning control method of the rail trolley based on the specific structure of the rail trolley.

[0044] Figure 2 1 is a flow chart of the control method of the rail vehicle in the embodiment of the present application. The control method of the rail vehicle can be executed by the controller 110 in the above embodiment, such as Figure 2 As shown, the control method of the rail vehicle may include the following steps: Step 210: Receive a first feedback signal sent by a near-point proximity switch.

[0045] Step 220: If it is determined based on the first feedback signal that the rail trolley has reached the deceleration position, the rail trolley is controlled to decelerate.

[0046] Step 230: Receive a second feedback signal sent by the fixed-point proximity switch.

[0047] Step 240: If it is determined based on the second feedback signal that the rail trolley has reached the target position, the rail trolley is controlled to perform a preset parking operation.

[0048] In this embodiment, after each proximity switch is installed on the rail trolley and the rail trolley has the positioning conditions, the rail trolley and its positioning program are started, and the rail trolley accelerates to the maximum speed. When the rail trolley is running, the controller 110 receives the first feedback signal sent by the near-point proximity switch 130 in real time. It should be noted that if the rail trolley is traveling from the origin position to the working position, the controller 110 receives the first feedback signal sent by the first near-point proximity switch 131. If the rail trolley is traveling from the working position to the origin position, the controller 110 receives the first feedback signal sent by the second near-point proximity switch 132.

[0049] Specifically, after the near-point proximity switch 130 detects an object or device placed at the target position, it will send a feedback signal to the controller 110. The controller 110 receives the first feedback signal and records the current time; further, the controller 110 determines whether the near-point proximity switch 130 has reached the target position based on the first feedback signal, thereby updating the position of the rail trolley. If the controller 110 determines that the near-point proximity switch 130 has reached the target position based on the first feedback signal, it indicates that the rail trolley has reached the deceleration position, that is, the rail trolley body 120 is about to reach the target position. At this time, the controller 110 can send a deceleration operation command to the drive unit 180, and the drive unit 180 controls the motor 170 according to the deceleration operation command to make the rail trolley start to decelerate.

[0050] It is understandable that the object or device at the target position is used for detection by the proximity switch, and the type of proximity switch is different, so the object or device placed at the target position is also different. For example, if the proximity switch is an inductive proximity switch, a metal object can be placed at the target position; if the proximity switch is a photoelectric proximity switch, an object that can reflect light can be placed at the target position.

[0051] After the rail trolley slows down, the controller 110 receives the second feedback signal sent by the fixed-point proximity switch 140 in real time. It should be noted here that if the rail trolley is traveling from the origin position to the working position, the controller 110 receives the second feedback signal sent by the first fixed-point proximity switch 141; if the rail trolley is traveling from the working position to the origin position, the controller 110 receives the second feedback signal sent by the second fixed-point proximity switch 142.

[0052] Specifically, after the fixed-point proximity switch 140 detects an object or device placed at the target position, a feedback signal is also sent to the controller 110. The controller 110 receives the second feedback signal, and the controller 110 determines whether the fixed-point proximity switch 140 has reached the target position according to the second feedback signal. If the controller 110 determines that the fixed-point proximity switch 140 has reached the target position according to the second feedback signal, it indicates that the rail vehicle has reached the target position. At this time, the controller 110 can send a preset parking operation command to the drive unit 180, and the drive unit 180 controls the motor 170 according to the preset parking operation command, so that the rail vehicle performs the parking operation.

[0053] In some embodiments, the preset parking operation includes a creep return to zero positioning operation. Specifically, the controller 110 sends a creep return to zero positioning command to the drive unit 180, and the drive unit 180 controls the motor 170 to slowly move the rail trolley along the direction of movement. In this process, the controller 110 detects whether the zero mark is reached through the fixed point proximity switch 140. The zero mark can be a mechanical limit switch, a magnetic strip at a specific position, a grating code, etc.

[0054] Furthermore, when the rail cart approaches the preset zero position, it will enter the "creep mode". In this mode, the rail cart will move at an extremely slow speed to ensure that it stops at the zero position as accurately as possible. This can avoid overshoot or undershoot due to inertia. Once the controller 110 determines that the rail cart has reached the zero mark, the controller 110 will further adjust the position until it is fully aligned with the zero point. This step may require multiple fine-tuning until the controller 110 confirms that the rail cart has been accurately aligned with the zero position. Finally, when the rail cart successfully aligns the zero point, the controller 110 will record this position as a new reference point and set it as the origin of the coordinate system. In this way, the rail cart has a clear starting point for subsequent precise positioning operations.

[0055] In some embodiments, the rail trolley also includes a motor 170. After receiving the first feedback signal sent by the near-point proximity switch 130, the control method of the rail trolley may further include: obtaining the number of encoder pulses of the motor 170; if it is determined based on the first feedback signal that the rail trolley reaches the deceleration position, then controlling the rail trolley to decelerate, including: if it is determined based on the first feedback signal that the rail trolley reaches the deceleration position, or the number of encoder pulses reaches a preset threshold, then controlling the rail trolley to decelerate.

[0056] Specifically, when the motor 170 is running, it will send its own encoder pulse number to the drive unit 180 in real time, and the drive unit 180 will send it to the controller 110. After the controller 110 obtains the encoder pulse number, if the controller 110 determines that the received encoder pulse number has reached the preset threshold, it also indicates that the rail trolley has reached the deceleration position. At this time, the controller 110 also sends a deceleration operation command to the drive unit 180 to control the rail trolley to decelerate. It should be noted that the preset threshold can be set by the staff according to actual needs, or set according to a large amount of experimental data, and the preset threshold is not specifically limited here.

[0057] In this embodiment, the controller 110 can determine whether the rail trolley has reached the deceleration position based on the first feedback signal, or it can determine whether the rail trolley has reached the deceleration position by whether the number of encoder pulses reaches a preset threshold. As long as either of these two conditions is met, the controller 110 sends a deceleration operation command to the drive unit 180.

[0058] In some embodiments, after controlling the rail trolley to perform a preset parking operation, the control method of the rail trolley further includes: controlling the encoder pulse count of the motor 170 to return to zero. Specifically, after the rail trolley stops, the controller 110 may send an encoder reset command to the drive unit 180, and the drive unit 180 forwards the encoder reset command to the motor 170, so that the encoder count of the motor 170 is reset to zero. The encoder pulse count of the motor 170 as an equal judgment condition for the deceleration position not only increases the reliability of the rail trolley positioning, but also can reset the entire operation process by clearing the encoder count during the positioning operation.

[0059] The following is a program code example of the rail vehicle control method according to an embodiment of the present application. For the PLC controller 110, the corresponding program code can be written in ST language, which has good portability.

[0060] First, you can use the camelCase naming convention to define variables: xWorkStationDecSensor:bool; / / Workstation deceleration sensor xWorkStationSensor:bool; / / Workstation sensor xZeroStationDecSensor:bool; / / Origin deceleration sensor xZeroStationSensor:bool; / / Origin position sensor ixGoWork:bool; / / Start running to the working position ixGoHome:bool; Start running to the origin AbsVelocity:real; the car is set to run at a speed OfPosiPV:real; the current position of the car Furthermore, the positioning control of the rail car can be achieved through the following code: / / ***********The track trolley is positioned to the origin*************** IF ixGoHome AND (AbsVelocity<>0) THEN statGoHome:=TRUE; END_IF IF statGoHome THEN CASE statHomeStep OF 0: IF ofPosiPV>200.0 AND NOT xZeroStationDecSensor AND NOT xZeroStationSensor THEN AbsVelocity:=100.0 / / The car runs at full speed END_IF; IFofPosiPV<200.0 OR xZeroStationDecSensor / / Judge whether the deceleration condition has been reached THEN AbsVelocity:=10.0 END_IF; IF xZeroStationSensor / / Judge whether the positioning position has been reached THEN Call FB_Axis.GoHome / / Call back to zero positioning function END_IF TON_0(IN:=ZeroCheck,PT:=2S,Q=>,ET=>); IF TON_0.Q THEN StatHomeStep:=10 / / After returning to zero, jump to step END_IF 10: iXHome:=TURE; IF ox_HomeDone THEN iXHome:=FALSE; StatHomeStep:= 0 StatGoHome:=FALSE; / / Reset operation, code count returns to zero END_IF END_CASE END_IF Therefore, by setting the near-point proximity switch 130 and the positioning proximity switch on the rail trolley, it is respectively detected whether the rail trolley has reached the deceleration position and the target position, and the encoder pulse number of the motor 170 is combined to jointly determine whether the rail trolley has reached the deceleration position, thereby improving the reliability and accuracy of the rail trolley positioning, achieving precise parking, and its structure is simple and the cost is low, which is very suitable for the precise positioning and automatic loading and unloading of rail trolleys in low-cost occasions. The positioning accuracy has a certain relationship with the deadweight and load-bearing capacity of the rail trolley. The rail trolley of the embodiment of the present application is tested. If the rail trolley has a maximum load of 15 tons of materials, its positioning accuracy can reach within 1mm, which can meet the requirements of precise positioning of most rail trolleys.

[0061] Figure 3 An example of a physical structure diagram of a controller is shown below: Figure 3 As shown, the controller may include: a processor 310, a communication interface 320, a memory 330 and a communication bus 340, wherein the processor 310, the communication interface 320 and the memory 330 communicate with each other through the communication bus 340. The processor 310 may call the logic instructions in the memory 330 to execute the control method of the rail trolley, the method comprising: receiving a first feedback signal sent by a near-point proximity switch; if it is determined based on the first feedback signal that the rail trolley has reached a deceleration position, then controlling the rail trolley to decelerate; receiving a second feedback signal sent by a fixed-point proximity switch; if it is determined based on the second feedback signal that the rail trolley has reached a target position, then controlling the rail trolley to perform a preset parking operation.

[0062] In addition, the logic instructions in the above-mentioned memory 330 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0063] On the other hand, the present invention also provides a computer program product, which includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the above-mentioned rail trolley control method, which includes: receiving a first feedback signal sent by a near-point proximity switch; if it is determined based on the first feedback signal that the rail trolley has reached a deceleration position, then controlling the rail trolley to decelerate; receiving a second feedback signal sent by a fixed-point proximity switch; if it is determined based on the second feedback signal that the rail trolley has reached a target position, then controlling the rail trolley to perform a preset parking operation.

[0064] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the control method of the above-mentioned rail trolley is implemented, and the method includes: receiving a first feedback signal sent by a near-point proximity switch; if it is determined based on the first feedback signal that the rail trolley has reached a deceleration position, then controlling the rail trolley to decelerate; receiving a second feedback signal sent by a fixed-point proximity switch; if it is determined based on the second feedback signal that the rail trolley has reached a target position, then controlling the rail trolley to perform a preset parking operation.

[0065] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0066] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0067] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A control method for a rail vehicle, characterized in that: The rail trolley comprises a vehicle body, and a near-point proximity switch and a fixed-point proximity switch arranged at intervals on one side of the vehicle body in the direction of movement, wherein the fixed-point proximity switch is close to the vehicle body; the method comprises: Receiving a first feedback signal sent by the near-point proximity switch; If it is determined based on the first feedback signal that the rail trolley has reached the deceleration position, controlling the rail trolley to decelerate; Receiving a second feedback signal sent by the fixed-point proximity switch; If it is determined based on the second feedback signal that the rail trolley has reached the target position, the rail trolley is controlled to perform a preset parking operation.

2. The control method of the rail vehicle according to claim 1, characterized in that: The rail vehicle further includes a motor. After receiving a first feedback signal sent by the near-point proximity switch, the method further includes: Obtaining the encoder pulse number of the motor; If it is determined based on the first feedback signal that the rail trolley reaches the deceleration position, controlling the rail trolley to decelerate, comprising: If it is determined based on the first feedback signal that the rail trolley has reached the deceleration position, or the encoder pulse number reaches a preset threshold, the rail trolley is controlled to decelerate.

3. The control method of the rail vehicle according to claim 1, characterized in that: The preset parking operation includes a creep return to zero positioning operation.

4. The control method of the rail vehicle according to claim 2, characterized in that: After controlling the rail trolley to perform a preset parking operation, the method further includes: The number of encoder pulses controlling the motor is reset to zero.

5. A controller comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the control method of the rail vehicle as described in any one of claims 1 to 4 is implemented.

6. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the control method of the rail vehicle as described in any one of claims 1 to 4 is implemented.

7. A rail trolley, characterized in that: The method comprises the controller as claimed in claim 5, a vehicle body, and a near-point proximity switch and a fixed-point proximity switch arranged at intervals in the direction of movement of the vehicle body, wherein the near-point proximity switch is located on a side of the fixed-point proximity switch away from the vehicle body, and the controller is connected to the near-point proximity switch and the fixed-point proximity switch; The near-point proximity switch is used to send a first feedback signal to the controller; The fixed-point proximity switch is used to send a second feedback signal to the controller; The controller is used to output a deceleration operation command according to the first feedback signal, and to output a preset parking operation command according to the second feedback signal.

8. The rail trolley according to claim 7, characterized in that: The rail trolley further comprises a first mounting rod and a second mounting rod, the near-point proximity switch comprises a first near-point proximity switch and a second near-point proximity switch, and the fixed-point proximity switch comprises a first fixed-point proximity switch and a second fixed-point proximity switch; One end of the first mounting rod is fixedly connected to a surface of one side of the vehicle body in the moving direction, the first fixed-point proximity switch is arranged at an end of the first mounting rod close to the vehicle body, and the first near-point proximity switch is arranged at an end of the first mounting rod away from the vehicle body; One end of the second mounting rod is fixedly connected to the side surface opposite to the vehicle body in the direction of movement, the second fixed-point proximity switch is arranged at the end of the second mounting rod close to the vehicle body, and the second near-point proximity switch is arranged at the end of the second mounting rod away from the vehicle body.

9. The rail trolley according to claim 7, characterized in that: The rail trolley further comprises a motor, a control end of the motor is connected to the controller, and an output end of the motor is connected to each wheel of the vehicle body; The motor is used to send encoder pulse numbers to the controller; The controller is also used to output a deceleration operation command according to the encoder pulse number and the first feedback signal.

10. The rail trolley according to claim 9, characterized in that: The rail trolley further comprises a driving unit, one end of which is connected to the controller, and the other end of which is connected to the motor; The driving unit is used to receive the encoder pulse number sent by the motor and forward the encoder pulse number to the controller; The driving unit is further configured to receive the deceleration operation command and the preset parking operation command sent by the controller, and drive the motor to operate based on the deceleration operation command and the preset parking operation command.

Images