Control method, controller, storage medium and rail trolley

Abstract

The present application discloses a control method, controller, storage medium and rail trolley for a rail trolley, and relates to the field of automatic control technology. The rail trolley includes a car body and a near-point proximity switch and a fixed-point proximity switch spaced apart on one side of the car body in the direction of movement, wherein the fixed-point proximity switch is close to the car body; the method includes: receiving a first feedback signal sent by the near-point proximity switch; if the rail trolley is determined to have reached a deceleration position based on the first feedback signal, then controlling the rail trolley to decelerate; receiving a second feedback signal sent by the fixed-point proximity switch; if the rail trolley is determined to have reached a target position based on the second feedback signal, then controlling the rail trolley to perform a preset parking operation. In this way, accurate positioning of the rail trolley can be achieved, and the accuracy of parking of the rail trolley can be 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, automated logistics systems have 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-mounted trolleys are typically designed to carry heavy loads, utilizing durable steel rails and wheels. While this design ensures a high load capacity and a long service life, it also presents inherent challenges. For example, due to the inherent properties of the rails and wheels, rail-mounted trolleys can slip during operation, making them unable to stop accurately. Summary of the Invention

[0004] The main purpose of this application is to provide a control method, controller, storage medium and 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 object, 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 spaced apart on one side of the vehicle body in a direction of movement, the fixed-point proximity switch being close to the vehicle body; the method comprising:

[0006] receiving a first feedback signal sent by the near-point proximity switch;

[0007] 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;

[0008] receiving a second feedback signal sent by the fixed-point proximity switch;

[0009] 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.

[0010] Optionally, the rail trolley also includes a motor. After receiving the first feedback signal sent by the near-point proximity switch, the method further 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.

[0011] Optionally, the preset parking operation includes a creeping return to zero positioning operation.

[0012] Optionally, after controlling the rail trolley to perform a preset parking operation, the method further includes: controlling the number of encoder pulses of the motor to return to zero.

[0013] 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 the control method of the rail vehicle as described in any one of the above when executing the computer program.

[0014] The present application also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the control method of the rail vehicle as described in any one of the above.

[0015] In addition, to achieve the above-mentioned purpose, the present application also provides a rail trolley, comprising the controller as described above, a car body, and a near-point proximity switch and a fixed-point proximity switch arranged at intervals in the direction of movement of the car body, and the near-point proximity switch is located on the side of the fixed-point proximity switch away from the car 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.

[0016] 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 the surface of one side of the vehicle body in the direction of movement, the first fixed-point proximity switch is arranged at the end of the first mounting rod close to the vehicle body, and the first near-point proximity switch is arranged at the end of the first mounting rod away from the vehicle body; one end of the second mounting rod is fixedly connected to the surface of the opposite side in the direction of movement of the vehicle body, 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.

[0017] Optionally, the rail trolley also includes a motor, the control end of the motor is connected to the controller, and the 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.

[0018] Optionally, the rail trolley also includes a drive unit, one end of the drive unit is connected to the controller, and the other end of the drive unit is connected to the motor; the drive unit is used to receive the encoder pulse number sent by the motor and forward the encoder pulse number to the controller; the drive 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.

[0019] The control method of the rail trolley of the present application is to set a near-point proximity switch and a fixed-point proximity switch on the car 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 by the first feedback signal that the rail trolley has reached the deceleration position, the rail trolley is controlled to start deceleration; when a second feedback signal sent by the fixed-point proximity switch is received and it is determined by the second feedback signal that the rail trolley has reached the target position, the rail trolley is controlled to perform a preset parking operation. Therefore, by adding two proximity switches to the structure as a deceleration detection device and an on-point positioning detection device, double positioning and control of the rail trolley operation are achieved, thereby achieving precise positioning of the rail trolley and improving the accuracy of the rail trolley parking. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic structural diagram of a rail trolley according to an embodiment of the present application;

[0021] Figure 2 is a flow chart of a method for controlling a rail vehicle according to an embodiment of the present application;

[0022] Figure 3 An example of a physical structure diagram of a controller is shown;

[0023] 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.

[0024] The realization of the objectives, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0025] To make the objectives, technical solutions, and advantages of this application more clear, the technical solutions in this application will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0026] Rail-mounted trolleys are automated devices that run on fixed tracks and are primarily used for material handling, cargo transportation, and other applications requiring precise movement. Due to their efficiency and reliability, rail-mounted trolleys are widely used in many fields, including but not limited to manufacturing, warehousing and logistics, automotive production, and aviation maintenance.

[0027] However, traditional rail trolleys are typically designed to carry heavy loads, so they are designed with durable steel rails and steel wheels. While this design ensures a high load capacity and a long service life for the trolley, it also brings some inherent problems.

[0028] First, because rail trolleys typically operate in harsh working environments, factors such as oil, dust, and temperature fluctuations in the workshop can lead to poor rail surface condition. Furthermore, the friction coefficient between the wheels and rails decreases when wet or contaminated, making the trolley prone to slipping during high-speed operation. Slippage not only affects the normal operation of the trolley but can also lead to inaccurate positioning of the trolley.

[0029] Secondly, the control systems of traditional rail-mounted trolleys are often simple and lack intelligence, making them incapable of achieving high-precision parking functions. For example, due to the slippage of rail-mounted trolleys, positioning cannot be achieved solely using the servo motor's encoder pulse counting (semi-closed loop). However, using a grating scale for absolute positioning (full closed loop) would significantly increase manufacturing and subsequent maintenance costs. Therefore, in applications requiring frequent material handling and precise loading and unloading, rail-mounted trolleys lacking precise positioning capabilities clearly cannot meet actual needs. Therefore, overcoming these shortcomings and developing a rail-mounted trolley that can operate stably in complex environments and has precise parking functions has become an urgent issue.

[0030] Based on this, the embodiment of the present application provides a control method, controller, storage medium and rail trolley for a rail trolley. By adding a near-point proximity switch and a positioning proximity switch, they are used as near-point deceleration detection and on-point positioning detection respectively. The deceleration command is determined based on the signal feedback from the near-point proximity switch and combined with the number of pulses of the motor's own encoder. The parking command is then determined based on the signal feedback from the positioning proximity switch, thereby making the operation of the rail trolley safer and more reliable. It has a simple structure and low cost, and can effectively improve the positioning accuracy of the rail trolley, and ultimately achieve precise parking.

[0031] For ease of understanding, the structure of the rail trolley is first introduced in detail below.

[0032] Figure 1 Schematic diagram of the structure of the rail car 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 spaced apart in the direction of motion of the vehicle body 120. The near-point proximity switch 130 is located on the side of the fixed-point proximity switch 140 away from the vehicle body 120. The controller 110 is connected to the near-point proximity switch 130 and the fixed-point proximity switch 140. The near-point proximity switch 130 is configured to send a first feedback signal to the controller 110. The fixed-point proximity switch 140 is configured to send a second feedback signal to the controller 110. The controller 110 is configured to output a deceleration command based on the first feedback signal and a preset parking operation command based on the second feedback signal.

[0033] First, it should be noted that a proximity switch is a sensor that detects the presence of an object without direct contact. 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, or the like.

[0034] In this embodiment, the vehicle body 120 of the railcar may be rectangular, and the wheels of the vehicle body 120 may be made of steel. The railcar travels along the track using the steel wheels. The controller 110 may be disposed within the vehicle body 120. The controller 110 may be a PLC (Programmable Logic Controller), a microcontroller, a programmable automation controller (PAC), or the like. The following embodiments of this application will use a PLC controller as an example.

[0035] In this embodiment, a near-point proximity switch 130 and a fixed-point proximity switch 140 can be set 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 direction in which the rail vehicle moves 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. For example, referring to Figure 1 , Figure 1 When the rail trolley moves from the origin 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 the 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, 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 middle vehicle body 120.

[0036] 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 both sides of the vehicle body 120, so that the rail trolley can achieve precise positioning and precise parking when traveling along these two different movement directions.

[0037] Furthermore, the fixed-point proximity switch 140 in this embodiment can be installed close to the surface of the vehicle body 120. Because the fixed-point proximity switch 140 is used to detect whether the railcar has reached its target position, the closer the fixed-point proximity switch 140 is to the vehicle body 120, the more accurate the detection result. The near-point proximity switch 130 in this embodiment can be installed at 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 spaced apart horizontally. Because the near-point proximity switch 130 is used to detect whether the railcar has reached the deceleration position (i.e., is about to reach the target position), 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 parameters such as the speed of the railcar, the friction between the wheels and the track, the wheel braking capacity, and the distance between the deceleration position and the target position, and the position of the near-point proximity switch 130 can be adjusted as these parameters change.

[0038] The controller 110 can 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 can determine whether the deceleration position has been reached based on the first feedback signal, so as to control the rail vehicle to decelerate; the controller 110 can also determine whether the target position has been reached based on the second feedback signal, so as to control the rail vehicle to perform a parking operation.

[0039] 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 vehicle body 120 in the direction of movement, the first fixed-point proximity switch 141 is disposed at an end of the first mounting rod 150 close to the vehicle body 120, and the first near-point proximity switch 131 is disposed 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 vehicle body 120 in the direction of movement, the second fixed-point proximity switch 142 is disposed at an end of the second mounting rod 160 close to the vehicle body 120, and the second near-point proximity switch 132 is disposed at an end of the second mounting rod 160 away from the vehicle body 120.

[0040] In this embodiment, the first mounting rod 150 and the second mounting rod 160 may be in the shape of long tubes. Figure 1 Taking the direction of motion of the rail trolley shown in the figure as an example, one end of the first mounting rod 150 can be fixedly connected to the surface on the side of the motion 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 detection by the proximity switch. 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 needs, and the spacing distance is not specifically limited here.

[0041] Likewise, still Figure 1 Taking the direction of motion of the rail trolley shown in FIG as an example, one end of the second mounting rod 160 can be fixed to the surface on the opposite side of the motion 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, thereby facilitating detection by the proximity switch. The second fixed-point proximity switch 142 can be installed on the end of the second mounting rod 160 close to the vehicle body 120, and the second near-point proximity switch 132 can be installed on the end of the second mounting rod 160 away from the vehicle body 120.

[0042] Continue to refer Figure 1 In some embodiments, the rail trolley 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.

[0043] Specifically, the motor 170 can be disposed inside the trolley body 120, the control end of the motor 170 can be connected to the controller 110, and the output end of the motor 170 can be connected to the wheels. The motor 170 is controlled by the controller 110 to provide power for the trolley wheels. When the 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 achieving precise control of the position of the trolley.

[0044] The following are the basic steps of how the controller 110 implements positioning based on the encoder pulse count:

[0045] Controller 110 first needs to perform initialization settings, including but not limited to: setting the encoder resolution (i.e., the number of pulses generated per revolution), clearing the encoder counter to ensure counting starts from zero, and recording the initial position for subsequent calculations. Furthermore, as motor 170 rotates, the encoder generates pulse signals corresponding to the rotation angle. Controller 110 reads these pulse signals to calculate the rotation angle or displacement of motor 170. Based on the calculated displacement, controller 110 updates the current position of the track cart.

[0046] To achieve more precise positioning, the controller 110 typically employs 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.

[0047] In this 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.

[0048] 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.

[0049] In this embodiment, a drive unit 180 can be provided to drive the motor 170. The drive unit 180 can be a commercially available servo driver. One end of the drive unit 180 is connected to the controller 110, and the drive unit 180 can 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 can control the operation of the motor 170 according to the commands issued by the controller 110.

[0050] 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. 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. The drive unit 180 then controls the output power of the motor 170 based on the preset parking operation command to control the rail trolley to stop accurately according to the preset parking strategy.

[0051] The above is a detailed introduction to the structure of the rail trolley according to 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.

[0052] Figure 2 Flowchart of the control method of the rail trolley of the embodiment of the present application. The control method of the rail trolley can be executed by the controller 110 in the above embodiment, such as Figure 2 As shown, the control method of the rail trolley may include the following steps:

[0053] Step 210: Receive a first feedback signal sent by a near-point proximity switch.

[0054] 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.

[0055] Step 230: Receive a second feedback signal sent by the fixed-point proximity switch.

[0056] 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.

[0057] In this embodiment, after each proximity switch is installed on the rail trolley and the rail trolley meets 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.

[0058] 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 cause the rail trolley to start decelerating.

[0059] It is understood that the object or device at the target location is intended for detection by the proximity switch, and the object or device placed at the target location varies depending on the type of proximity switch. For example, if the proximity switch is an inductive proximity switch, a metal object can be placed at the target location; if the proximity switch is a photoelectric proximity switch, a light-reflecting object can be placed at the target location.

[0060] 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.

[0061] Specifically, after the fixed-point proximity switch 140 detects an object or device placed at the target position, it also sends a feedback signal to the controller 110. The controller 110 receives this second feedback signal and determines whether the fixed-point proximity switch 140 has reached the target position based on the second feedback signal. If the controller 110 determines that the fixed-point proximity switch 140 has reached the target position based on the second feedback signal, it indicates that the rail vehicle has reached the target position. At this time, the controller 110 can issue a preset stop operation command to the drive unit 180. The drive unit 180 controls the motor 170 according to the preset stop operation command to cause the rail vehicle to execute the stop operation.

[0062] 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, which controls the motor 170 to slowly move the railcar along the direction of motion. During this process, the controller 110 uses the fixed-point proximity switch 140 to detect whether the zero mark has been reached. The zero mark can be a mechanical limit switch, a magnetic strip at a specific position, a grating code, etc.

[0063] Furthermore, when the rail trolley approaches the preset zero position, it will enter "creep mode". In this mode, the rail trolley 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 trolley 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 trolley has been accurately aligned with the zero position. Finally, when the rail trolley successfully aligns to the zero point, the controller 110 will record this position as the new reference point and set it as the origin of the coordinate system. In this way, the rail trolley has a clear starting point for subsequent precise positioning operations.

[0064] 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 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.

[0065] 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 manually set by the staff according to actual needs, or set based on a large amount of experimental data. The preset threshold is not specifically defined here.

[0066] 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 based on 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.

[0067] 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 can send an encoder reset command to the drive unit 180, and the drive unit 180 then 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 equivalent 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.

[0068] The following is a program code example of the rail trolley 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.

[0069] First, you can use camelCase to define variables:

[0070] xWorkStationDecSensor:bool; / / Workstation deceleration sensor

[0071] xWorkStationSensor:bool; / / Workstation sensor

[0072] xZeroStationDecSensor:bool; / / Origin deceleration sensor

[0073] xZeroStationSensor:bool; / / Origin position sensor

[0074] ixGoWork:bool; / / Start running to the working position

[0075] ixGoHome:bool; Start running to the origin

[0076] AbsVelocity:real; car set running speed

[0077] OfPosiPV:real; the current position of the car

[0078] Furthermore, the positioning control of the rail trolley can be achieved through the following code:

[0079] / / ***********The track trolley is positioned at the origin***************

[0080] IF ixGoHome AND (AbsVelocity<>0) THEN

[0081] statGoHome:=TRUE;

[0082] END_IF

[0083] IF statGoHome THEN

[0084] CASE statHomeStep OF 0:

[0086] IF ofPosiPV>200.0

[0087] AND NOT xZeroStationDecSensor

[0088] AND NOT xZeroStationSensor

[0089] THEN

[0090] AbsVelocity:=100.0 / / The car runs at full speed

[0091] END_IF;

[0092] IFofPosiPV<200.0 OR xZeroStationDecSensor / / Determine whether the deceleration condition has been reached

[0093] THEN

[0094] AbsVelocity:=10.0

[0095] END_IF;

[0096] IF xZeroStationSensor / / Judge whether the positioning position has been reached

[0097] THEN

[0098] Call FB_Axis.GoHome / / Call back to zero positioning function

[0099] END_IF

[0100] TON_0(IN:=ZeroCheck,PT:=2S,Q=>,ET=>);

[0101] IF TON_0.Q THEN

[0102] StatHomeStep:=10 / / After returning to zero, jump to the next step

[0103] END_IF 10:

[0105] iXHome:=TURE;

[0106] IF ox_HomeDone THEN

[0107] iXHome:=FALSE;

[0108] StatHomeStep:= 0

[0109] StatGoHome:=FALSE; / / Reset operation, code count returns to zero

[0110] END_IF

[0111] END_CASE

[0112] END_IF

[0113] Therefore, by setting the near-point proximity switch 130 and the positioning proximity switch on the rail trolley, it is possible to detect whether the rail trolley has reached the deceleration position and the target position respectively, and to determine whether the rail trolley has reached the deceleration position in combination with the number of pulses of the motor 170 encoder, thereby improving the reliability and accuracy of the rail trolley positioning and achieving precise parking. In addition, it has a simple structure and low cost, and is very suitable for the precise positioning and automatic loading and unloading of rail trolleys in low-cost occasions. The positioning accuracy is related to the deadweight and load-bearing capacity of the rail trolley. The rail trolley of the embodiment of the present application is used for testing. If the rail trolley carries a maximum of 15 tons of material, its positioning accuracy can reach within 1 mm, which can meet the precise positioning requirements of most rail trolleys.

[0114] Figure 3 The following is an example of a physical structure diagram of a controller, such as 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 via the communication bus 340. The processor 310 may call the logic instructions in the memory 330 to execute a control method for 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.

[0115] Furthermore, the logic instructions in the aforementioned memory 330 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the portion that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product, stored in a storage medium, includes several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, a mobile hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0116] 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.

[0117] 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, it is implemented to execute the above-mentioned rail trolley control method, 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.

[0118] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they may be located in one location or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Persons of ordinary skill in the art will be able to understand and implement the present invention without inventive effort.

[0119] Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented using software plus a necessary general-purpose hardware platform, or of course, hardware. Based on this understanding, the essence of the above technical solution, or the portion that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, or an optical disk, and includes a number of instructions for causing a computer device (such as a personal computer, server, or network device) to execute the methods described in each embodiment or certain portions of the embodiments.

[0120] 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 various embodiments of the present invention.

Claims

1. A method for controlling a rail vehicle, characterized in that: The rail trolley includes 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 a direction of movement, wherein the fixed-point proximity switch is close to the vehicle body and the near-point proximity switch is located on a side of the fixed-point proximity switch away from the vehicle body; the method includes: 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; the preset parking operation includes a creep return to zero positioning operation.

2. The control method of the rail vehicle according to claim 1, characterized in that: The rail trolley 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 has reached 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 number of encoder pulses has reached a preset threshold, the rail trolley is controlled to decelerate.

3. 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 pulses of the encoder controlling the motor is reset to zero.

4. A controller comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the control method of the rail vehicle as described in any one of claims 1 to 3 is implemented.

5. 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 claimed in any one of claims 1 to 3 is implemented.

6. A rail trolley, characterized in that: The vehicle comprises the controller according to claim 4, a vehicle body, and a near-point proximity switch and a fixed-point proximity switch spaced apart 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 output a preset parking operation command according to the second feedback signal; the preset parking operation includes a creep return to zero positioning operation.

7. The rail trolley according to claim 6, 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 a 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.

8. The rail trolley according to claim 6, 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 further configured to output a deceleration operation command according to the encoder pulse number and the first feedback signal.

9. The rail trolley according to claim 8, characterized in that: The rail trolley further comprises 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 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.

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