Multi-orifice positioning control method and system of movable hoist

Abstract

The invention discloses a multi-orifice positioning control method and system for a mobile hoist. The method comprises the following steps: acquiring coordinate information and RFID (Radio Frequency Identification) of a target position; the driving mode of a variable frequency driving module of the movable hoist is set to be a first control mode so as to drive the movable hoist to move towards the target position; monitoring the walking distance of the current movable hoist in real time according to an encoder arranged on the variable frequency driving module, and determining the distance between the position of the current movable hoist and the target position in real time; when the distance between the current position of the mobile hoist and the target position is not larger than a preset threshold value, the variable frequency driving module control mode of the mobile hoist is switched into a second control mode, and the RFID card reader is started; and in response to the received identification signal of the RFID corresponding to the target position, stopping the operation of the variable frequency driving module, and completing positioning. By means of the mode of combining coarse positioning and fine positioning, high-precision positioning control is achieved, and the production cost is effectively controlled.

Description

Technical Field

[0001] The present invention relates to the technical field of water conservancy and hydropower engineering equipment, and particularly relates to a multi-orifice positioning control method and system for a mobile hoist. Background Art

[0002] With the continuous expansion of the construction scale of water conservancy and hydropower projects, the demand and use of lifting equipment are increasing. The lifting equipment installed on the dam top of a hydropower station is usually called a hoist, which is mainly used to open and close hydraulic steel gates, trash racks, etc. Among them, the gantry hoist has the characteristics of large lifting load and large spatial movement distance, and is mainly composed of a gantry crane, a traveling device, a lifting drum, a grab beam device, etc. It plays a crucial role in the normal drainage and flood control of steel gates, the regulation of domestic water, farmland irrigation, water conservancy transportation, hydropower generation, etc.

[0003] Compared with fixed lifting equipment, the hoist on the dam top of a hydropower station needs to move back and forth on the track to realize the entry and exit of the gate at different positions. At present, the positioning operation method of the gate of the gantry crane and the gate slot in a hydropower station mainly judges the traveling position of the gantry crane through the cooperation and communication between the gantry crane operator and the ground commander, and operates the gantry crane to complete deceleration and braking according to the signal sent by the ground commander, or locates through a single limit switch, resulting in low positioning accuracy of the moving position of the hoist (usually ±10 - 20 mm), which cannot meet the accurate alignment requirements of multiple orifices. In addition, there are also some methods in the prior art to perform precise movement positioning through a high-precision servo system, but this high-precision servo system is costly and difficult for small and medium-sized projects to bear. Summary of the Invention

[0004] The embodiments of the present invention provide a multi-orifice positioning control method and system for a mobile hoist to solve the problems of low moving positioning accuracy of the mobile hoist in the prior art and the high cost of the high-precision positioning system.

[0005] According to the first aspect of the present invention, a multi-orifice positioning control method for a mobile hoist is provided, including: Obtaining the coordinate information and RFID of the target position; Setting the driving mode of the variable frequency drive module of the mobile hoist to a first control mode to drive the mobile hoist to move towards the target position, where the first control mode is a full-speed operation mode; Real-time monitoring of the traveling distance of the current mobile hoist according to the encoder arranged on the variable frequency drive module, and real-time determination of the distance between the current position of the mobile hoist and the target position; When the distance between the current position of the mobile hoist and the target position is not greater than a preset threshold, switch the control mode of the variable-frequency drive module of the mobile hoist to the second control mode, where the second control mode is a slow running mode; In response to receiving the identification signal of the RFID corresponding to the target position, stop the operation of the variable-frequency drive module to complete the positioning.

[0006] The orifice positioning control method of the mobile hoist of the present invention first obtains the information of the target position, and then controls the mobile hoist to drive towards the target position in the first control mode, and monitors the distance between the current position of the mobile hoist and the target position in real time. When it is monitored that the distance between the current position of the mobile hoist and the target position is not greater than the preset threshold, it is switched to the second control mode, and the RFID reader reads the RFID signal of the target position. When the signal is read, the operation of the variable-frequency drive module is stopped to complete the position positioning of the mobile hoist. Since the mobile hoist is driven by a variable-frequency drive module, it can run at high speed as much as possible in the first control mode to reduce the moving time, and cooperate with the displacement calculation of the encoder to determine the approximate position of the current mobile hoist to achieve rough positioning. When it is close enough to the target position, the control mode is switched to reduce the running speed, and the RFID reader is used to identify and read the RFID signal of the target position, so that the position of the current mobile hoist can be accurately identified and stopped at the target position to achieve fine positioning. The present invention combines rough positioning and fine positioning to achieve both high-precision positioning of the mobile hoist and effective control of production costs.

[0007] In some embodiments, the first control mode is a full-speed running mode, the second control mode is a slow running mode, and the slow running mode is set such that the pulse frequency is not greater than 10 Hz and the walking distance corresponding to a single pulse is not greater than 1 mm.

[0008] Thus, by setting like this, it can be made that in the first control mode, the mobile hoist runs at full speed to reduce the overall moving time and quickly approach the target position. After approaching the target position, the second control mode is used for jogging to slowly approach the target position, so as to stop running immediately when the RFID corresponding to the target position is recognized, improving the positioning accuracy.

[0009] In some embodiments, it further includes: When the distance between the current position of the mobile hoist and the target position is not greater than the preset threshold, switch the control mode of the variable-frequency drive module of the mobile hoist to the second control mode, which is set as: When the distance between the current position of the mobile hoist and the target position is not greater than a preset threshold, and / or when the identification signal of the first RFID is received, the control mode of the variable-frequency drive module of the mobile hoist is switched to the second control mode, where the first RFID is an RFID set at a preset distance position on both sides of the target position.

[0010] Thus, by setting like this, it is also possible to combine the detection of the first RFID set at a preset distance on both sides of the target position with the calculation of the distance between the current position of the mobile hoist and the target position. Specifically, it can be set to trigger alternatively, or it can be set to trigger only when both conditions are met, further improving the accuracy of judging the position of the current mobile hoist.

[0011] In some embodiments, it further includes: Pre-stored with orifice number information, coordinate information, and RFID corresponding to each orifice; The obtaining of the coordinate information and RFID of the target position includes: In response to receiving the input orifice number information, determining the corresponding orifice as the target position according to the orifice number information; Determining the coordinate information and RFID of the target position according to the orifice corresponding to the target position.

[0012] Thus, by setting like this, it is possible to determine the coordinate information of the current target position according to the positions and RFID of each pre-set orifice.

[0013] In some embodiments, it further includes: After switching to the second control mode, when the identification signal of the RFID corresponding to the target position is not received within the first preset time, an alarm is triggered.

[0014] Thus, by setting like this, it is possible to issue an alarm warning when the RFID is not read to remind the user.

[0015] In some embodiments, it further includes: In response to receiving the trigger signal of the limit switch, disconnect the drive of the variable-frequency drive module, where the limit switch is arranged at both ends of the track on which the mobile hoist runs.

[0016] Thus, by setting like this, it is possible to automatically trigger the limit switch to disconnect and stop the drive of the variable-frequency drive module when the mobile hoist travels to the end of the track, avoiding the mobile hoist running out of the track.

[0017] In some embodiments, it further includes: Every second preset time interval, update and write the count value of the current encoder into the EEPROM; When starting the system, the encoder data in the EEPROM is read, and the frequency conversion drive module of the mobile hoist is driven to move the mobile hoist to the position corresponding to the corresponding encoder data.

[0018] Thus, by setting like this, it can automatically return to the position before power-off after power-off and restart, improving the stability of the overall system.

[0019] According to the second aspect of the present invention, a multi-orifice positioning control system for a mobile hoist is provided, including: An RFID module, pre-set at each orifice position; An RFID reader, arranged on the mobile hoist; A target position information determination module, used to obtain the coordinate information and RFID of the target position; A first control module, used to set the drive mode of the frequency conversion drive module of the mobile hoist to the first control mode; A distance monitoring module, used to continuously monitor the traveling distance of the current mobile hoist in real time according to the encoder arranged on the frequency conversion drive module, and determine the distance between the current position of the mobile hoist and the target position in real time; A second control module, used to switch the control mode of the frequency conversion drive module of the mobile hoist to the second control mode and enable the RFID reader when the distance between the current position of the mobile hoist and the target position is not greater than a preset threshold; A positioning module, used to stop the operation of the frequency conversion drive module in response to receiving the identification signal of the RFID corresponding to the target position and complete the positioning.

[0020] The multi-orifice positioning control system of the mobile hoist of the present invention arranges RFID at each orifice position, and an RFID reader is arranged on the mobile hoist. At the same time, the mobile hoist is driven by a frequency conversion drive module, so that the running speed of the mobile hoist can be better adjusted. After determining the target position, first use the first control mode of high-speed movement to approach the target position, and use the encoder to monitor the traveling distance to achieve rough positioning. After approaching the target position, then use the second control mode of low-speed movement to identify and read the RFID of the target position with the RFID reader to achieve fine positioning. The present invention realizes both high-precision positioning of the mobile hoist and effective control of production costs through the combination of rough positioning and fine positioning.

[0021] In some embodiments, the first control mode is a full-speed operation mode, the second control mode is a slow operation mode, and the slow operation mode is set so that the pulse frequency is not greater than 10 Hz, and the traveling distance corresponding to a single pulse is not greater than 1 mm.

[0022] Thus, by such settings, in the first control mode, the mobile hoist can run at full speed, reducing the overall movement time and quickly approaching the target position. After approaching the target position, the jogging operation is carried out using the second control mode to slowly approach the target position, so as to immediately stop running when the RFID corresponding to the target position is recognized, improving the positioning accuracy.

[0023] In some embodiments, it further includes: An alarm module, which is used to trigger an alarm when no recognition signal of the RFID corresponding to the target position is received within the first preset time after starting the RFID reader.

[0024] Thus, by such settings, an alarm warning can be issued when the RFID is not read, to remind the user.

[0025] In some embodiments, it further includes: A power-off memory module, which is used to update and write the count value of the current encoder into the EEPROM every second preset time, and read the encoder data in the EEPROM when starting the system, and drive the variable-frequency drive module of the mobile hoist to move the mobile hoist to the position corresponding to the corresponding encoder data.

[0026] Thus, by such settings, it can automatically return to the position before power-off after power-off and restart, improving the stability of the overall system.

[0027] According to the third aspect of the present invention, another multi-orifice positioning control system for a mobile hoist is provided, including: An RFID module, which is arranged at each orifice, and each orifice is provided with a corresponding RFID; An RFID reader, which is arranged on the mobile hoist and is used to read and identify the RFID arranged at the orifice; A variable-frequency drive module, including an inverter and a variable-frequency motor connected to the inverter, which is used to drive the mobile hoist to move on the track, and an incremental encoder is arranged on the rotating shaft of the variable-frequency motor; A PLC, which is connected to the RFID reader, the incremental encoder, and the inverter to obtain the data read and identified by the RFID reader and the data of the incremental encoder, and is used to determine the current walking distance of the mobile hoist according to the data of the incremental encoder through a high-speed counter, and output a signal to the inverter to control the operation of the variable-frequency motor, so that the variable-frequency drive module has a first control mode and a second control mode. Among them, the first control mode is set as a full-speed operation mode, and the second control mode is set as a slow operation mode. The slow operation mode is set so that the pulse frequency is not greater than 10 Hz, and the walking distance corresponding to a single pulse is not greater than 1 mm. Description of the Drawings

[0028] To more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0029] Figure 1 Flowchart of the multi-orifice positioning control method for a mobile hoist according to an embodiment of the present invention; Figure 2 Flowchart of step S11 of the multi-orifice positioning control method for a mobile hoist according to an embodiment of the present invention; Figure 3 Flowchart of the multi-orifice positioning control method for a mobile hoist according to another embodiment of the present invention; Figure 4 Flowchart of the multi-orifice positioning control method for a mobile hoist according to yet another embodiment of the present invention; Figure 5 Flowchart of the power-off restart recovery function of the multi-orifice positioning control method for a mobile hoist according to an embodiment of the present invention; Figure 6 Principle block diagram of the multi-orifice positioning control system for a mobile hoist according to an embodiment of the present invention; Figure 7 Principle block diagram of the multi-orifice positioning control system for a mobile hoist according to another embodiment of the present invention; Figure 8 Schematic connection diagram of the structural composition of the multi-orifice positioning control system for a mobile hoist according to an embodiment of the present invention; Figure 9 Schematic structural diagram of an embodiment of the electronic device of the present invention. Detailed implementation manners

[0030] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0031] It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments may be combined with each other.

[0032] Finally, it should also be noted that in this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprising" and "including" not only include those elements, but also other elements not explicitly listed, or elements inherent to such a process, method, article or device. Without more limitations, elements defined by the statement "including..." do not exclude the existence of additional identical elements in the process, method, article or device including the said elements.

[0033] The present invention will be further described in detail below with reference to the accompanying drawings.

[0034] Figure 1 Schematically shows the overall process of the multi-orifice positioning control method of the mobile hoist according to an embodiment of the present invention. Specifically, the device for implementing the multi-orifice positioning control method of the mobile hoist of the present invention can be a control device such as a PLC. Refer to Figure 1 As shown, the multi-orifice positioning control method of the mobile hoist of the present invention specifically includes the following steps: Step S11: Obtain the coordinate information and RFID of the target position; Step S12: Set the driving mode of the variable frequency drive module of the mobile hoist to the first control mode to drive the mobile hoist to move towards the target position, where the first control mode is the full-speed operation mode; Step S13: Real-time monitor the traveling distance of the current mobile hoist according to the encoder provided on the variable frequency drive module, and determine in real time the distance between the current position of the mobile hoist and the target position; Step S14: When the distance between the current position of the mobile hoist and the target position is not greater than a preset threshold, switch the control mode of the variable frequency drive module of the mobile hoist to the second control mode, where the second control mode is the slow-speed operation mode; Step S15: In response to receiving the identification signal of the RFID corresponding to the target position, stop the operation of the variable frequency drive module to complete the positioning.

[0035] Step S11 is a step of obtaining the coordinate information of the target position and the RFID. Among them, the target position is the orifice position corresponding to the gate that needs to be opened on the dam top of the hydropower station. Specifically, for the orifice positions corresponding to each gate on the dam top of the hydropower station, corresponding RFIDs are set. At the same time, the RFIDs, coordinate information, and orifice numbers corresponding to the orifice positions of each gate on the dam top of the hydropower station can be pre-stored, and the RFID, coordinate information, and orifice number corresponding to the orifice are associated as orifice information to distinguish each orifice and facilitate query. At this time, when it is necessary to control the mobile hoist to any orifice position, by inputting the orifice number of the corresponding orifice, the coordinate information and RFID corresponding to the orifice can be determined from the orifice information corresponding to each orifice. Among them, the coordinate information can be set as the coordinate information formed by the coordinate system constructed with the position of the hydropower station control center as the origin, or the coordinate information formed by the coordinate system constructed with other positions as the origin, as long as the coordinate information corresponding to each orifice is configured based on the same coordinate system.

[0036] Figure 2 Schematically shows the step flow of step S11 of the multi-orifice positioning control method of the mobile hoist according to an embodiment of the present invention. In this embodiment, the overall system pre-stores the orifice number information, coordinate information, and RFID corresponding to each orifice. Refer to Figure 2 As shown, this step can be specifically implemented as including the following steps: Step S21: In response to receiving the input orifice number information, determine the corresponding orifice as the target position according to the orifice number information; Step S22: Determine the coordinate information and RFID of the target position according to the orifice corresponding to the target position.

[0037] In step S21, the input orifice number information can be the information input by the user through voice input, controller input, etc. Since the orifice number information, coordinate information, and RFID corresponding to each orifice have been pre-stored, the orifice of the target position can be determined through the input orifice number information, and the corresponding orifice can be used as the target position.

[0038] In step S22, since the corresponding orifice of the target position has been determined, the coordinate information and RFID of the target position can be determined only according to the pre-stored orifice number information, coordinate information, and RFID corresponding to each orifice.

[0039] Exemplarily, after the user inputs the hole number of the orifice corresponding to the target position to which the mobile hoist needs to be moved into the PLC through the controller, in response to receiving the hole number information, the orifice information corresponding to each orifice pre-stored in the storage unit of the PLC can be called, and the corresponding orifice can be queried as the target position. At the same time, the coordinate information and RFID of the target position can be determined according to the orifice information corresponding to the target position.

[0040] Continue to execute step S12. In step S12, since the coordinate information of the target position has been determined, the driving module of the mobile hoist can be started to drive the mobile hoist to move towards the target position. Among them, the driving module of the mobile hoist is set as a variable-frequency driving module, which includes an inverter and a variable-frequency motor. The inverter can be provided with overload protection, and its current threshold is set to 150% of the motor rated value. The control signal is input to the inverter to control the operation of the variable-frequency motor by using the inverter, so as to realize the control of the running speed of the mobile hoist. Specifically, in step S12, the driving mode of the variable-frequency driving module of the mobile hoist is set to the first control mode. The first control mode is specifically set as the full-speed operation mode, so as to be able to control the mobile hoist to quickly approach the vicinity of the target position to achieve rough positioning. Exemplarily, the inverter of the variable-frequency driving module of the mobile hoist can be controlled by the PLC to further control the rotation of the variable-frequency motor, so as to realize the driving of the mobile hoist to move and drive the mobile hoist towards the target position.

[0041] In step S13, it is necessary to monitor the position of the current mobile hoist in real time to determine whether the current mobile hoist has reached the vicinity of the target position. Specifically, the position monitoring of the mobile hoist can be achieved by a high-speed counter counting the encoder installed on the variable-frequency drive module. The encoder installed on the variable-frequency drive module can specifically adopt an incremental encoder, and the incremental encoder is installed on the rotating shaft of the variable-frequency motor to monitor the number of rotations of the variable-frequency motor. The high-speed counter can count the data collected by the incremental encoder, thereby calculating the displacement of the current mobile hoist in real time. The combination of the two realizes the real-time monitoring of the traveling distance of the current mobile hoist. After determining the traveling distance of the current mobile hoist, the distance between the current position of the mobile hoist and the target position can be further determined according to the coordinate information of the starting position and the target position of the mobile hoist, so as to judge whether the current mobile hoist is close enough to the target position. Exemplarily, the PLC is connected to the incremental encoder installed on the variable-frequency motor, and the data of the incremental encoder is counted by the high-speed counter set on the PLC to calculate the traveling distance of the current mobile hoist. At the same time, the total moving distance is determined according to the coordinate information of the starting position and the target position of the mobile hoist, so as to determine the distance between the current position of the mobile hoist and the target position according to the total moving distance and the traveling distance of the current mobile hoist. In addition, the encoder can be set to adopt differential transmission to effectively improve the resistance to external interference.

[0042] Step S14 is a step executed when it is determined that the mobile hoist is close enough to the target position. Specifically, in step S14, to determine whether the mobile hoist is close enough to the target position, it is determined based on the comparison result between the distance between the current position of the mobile hoist and the target position and a preset threshold set in advance. If the distance between the current position of the mobile hoist and the target position is not greater than the preset threshold, it is considered that the current mobile hoist is close enough to the target position. If the distance between the current position of the mobile hoist and the target position is greater than the preset threshold, it is considered that the current mobile hoist is not close enough to the target position. Among them, the preset threshold can be freely set according to the actual situation. Specifically, in this embodiment, the preset threshold can be set to 100 mm. When the current mobile hoist is close enough to the target position, the driving mode of the variable-frequency drive module of the mobile hoist is set to the second control mode, and the RFID reader is enabled to identify and read the RFID at the target position. The second control mode is specifically set to the slow running mode to prevent the mobile hoist from moving too fast to stop in time and affecting the positioning accuracy. Specifically, the second control mode can be set so that the pulse frequency is not greater than 10 Hz and the walking distance corresponding to a single pulse is not greater than 1 mm, so as to effectively reduce the moving speed of the mobile hoist and reduce the distance that the mobile hoist moves forward under the action of inertia when the operation of the variable-frequency drive module of the mobile hoist is stopped. Specifically, in this embodiment, the second control mode is specifically set to trigger 5 pulses per second. The enabling of the RFID reader can identify and read the RFID at the target position to trigger other actions when the RFID corresponding to the target position is read. It can be understood that when determining the relationship between the distance between the current position of the mobile hoist and the target position and the preset threshold, if the distance between the current position of the mobile hoist and the target position is greater than the preset threshold, it remains unchanged, and the mobile hoist continues to move at full speed towards the target position in the first control mode.

[0043] Exemplarily, since the distance between the current position of the mobile hoist and the target position has been determined in step S13, it can be compared and judged in real time based on the distance between the current position of the mobile hoist and the target position and the preset threshold. When it is judged that the distance between the current position of the mobile hoist and the target position is greater than the preset threshold, it remains unchanged. When it is judged that the distance between the current position of the mobile hoist and the target position is less than or equal to the preset threshold, the PLC controls the frequency converter to control the control mode of the variable-frequency drive module of the mobile hoist to be switched to the second control mode (i.e., the jogging mode), and continues to move towards the target position at a rate of 5 Hz per second and the walking distance corresponding to a single pulse not greater than 1 mm.

[0044] Figure 3Schematically shows the step flow of the multi-orifice positioning control method of the mobile hoist according to another embodiment of the present invention. In this embodiment, step S14 is set as the following step flow: Step S24: When the distance between the current position and the target position of the mobile hoist is not greater than a preset threshold, and / or when the identification signal of the first RFID is received, switch the control mode of the variable frequency drive module of the mobile hoist to the second control mode, where the first RFID is an RFID set at a preset distance on both sides of the target position.

[0045] Specifically, different from step S14 of the embodiment shown in Figure 1 In this step 24, the condition for triggering the switching of the control mode of the variable frequency drive module of the mobile hoist to the second control mode has changed. The first RFID is specifically an RFID set at a preset distance on both sides of the target position, where the preset distance can be designed according to the actual situation. Exemplarily, it can be set to 100 mm to correspond to the value of the preset threshold in the foregoing embodiment. It can be understood that an RFID can be set on both sides of the target position to cope with the situation where the mobile hoist drives towards the target area from different directions. The first RFID and the RFID corresponding to the target position are different RFIDs. Correspondingly, when obtaining the coordinate information and RFID of the target position in step S11, the first RFID corresponding to the target position can also be obtained simultaneously for performing corresponding actions when the first RFID is read and recognized in step S24. In this step S24, the two different triggering conditions can be set in a way that either one of the conditions triggers the execution of the corresponding action, or both conditions need to be satisfied simultaneously to trigger the execution of the corresponding action.

[0046] Step S15 is a step executed when the identification signal of the RFID corresponding to the target position is read. It can be understood that when the identification signal of the RFID corresponding to the target position is received, the frequency conversion drive module of the mobile hoist can be controlled to stop running, so that the mobile hoist stops near the target position under the action of inertia to complete positioning. Since in Step S14, the control mode of the frequency conversion drive module of the mobile hoist is switched to the second control mode, when the identification signal of the RFID corresponding to the target position is received, the current speed of the mobile hoist is relatively slow. Therefore, when the frequency conversion drive module stops running, the mobile hoist moves a relatively small distance under the action of inertia, without the need to additionally set a structure to block the movement of the mobile hoist, and can effectively ensure the positioning accuracy of the mobile hoist. Exemplarily, since the RFID reader is connected to the PLC and the read identification signal is transmitted to the PLC, when the PLC receives the identification signal of the RFID corresponding to the target position, it means that the current position of the mobile hoist has moved to the target position, realizing precise positioning. Then, the operation of the frequency conversion drive module can be stopped to complete the positioning.

[0047] Figure 4 Schematically shows the step flow of the multi-orifice positioning control method of the mobile hoist according to another embodiment of the present invention. In this embodiment, further corresponding step flows are added for the case where the identification signal of the RFID corresponding to the target position is not received. Specifically, referring to Figure 4 As shown, in this embodiment, the overall process can be specifically implemented as including the following steps: Step S11: Obtain the coordinate information and RFID of the target position; Step S12: Set the drive mode of the frequency conversion drive module of the mobile hoist to the first control mode to drive the mobile hoist to move towards the target position; Step S13: Real-time monitor the traveling distance of the current mobile hoist according to the encoder provided on the frequency conversion drive module, and determine the distance between the current position of the mobile hoist and the target position in real time; Step S14: When the distance between the current position of the mobile hoist and the target position is not greater than the preset threshold, switch the control mode of the frequency conversion drive module of the mobile hoist to the second control mode, and enable the RFID reader; Step S15: In response to receiving the identification signal of the RFID corresponding to the target position, stop the operation of the frequency conversion drive module to complete positioning; Step S16: Trigger an alarm when the identification signal of the RFID corresponding to the target position is not received within the first preset time.

[0048] And Figure 1Compared with the embodiment shown, this embodiment mainly adds step S16. In step S16, since the RFID reader has been activated, if the identification signal of the RFID corresponding to the target position is not received within a certain time, it can be considered that the current position of the mobile hoist has passed the target position or is too far from the target position, thereby triggering an alarm prompt to notify the user of an abnormality. This situation may be caused by a large distance and the error of the encoder. Specifically, this certain time is the first preset time set in advance, which can be set according to the actual situation. Exemplarily, in this embodiment, the first preset time can be set to 25 seconds, corresponding to the value of the preset threshold set in advance. After 25 seconds, the mobile hoist has traveled 100 mm. After the user learns of the alarm prompt, the positioning control can be executed again to reposition. Since the current position of the mobile hoist is relatively close to the target position, if the positioning control is executed again, the situation where the encoder has an error due to a large distance can be effectively avoided.

[0049] In some possible embodiments, limit switches can be provided at both ends of the track, and the trigger signals of the limit switches will be transmitted to the PLC. When the PLC receives the trigger signals, it will respond to the received trigger signals of these limit switches and execute corresponding actions to stop the movement of the mobile hoist and prevent the mobile hoist from running out of the track. Specifically, this action can be realized as disconnecting the drive of the variable frequency drive module. In addition, for the limit switch, it can also be set as a normally closed contact, and this normally closed contact is connected in series in the control circuit of the variable frequency drive module of the mobile hoist. Thus, when the mobile hoist contacts the limit switch, the normally closed contact can be triggered to open, thereby disconnecting the control circuit and realizing the automatic disconnection of the drive of the variable frequency drive module to stop the continuous movement of the mobile hoist.

[0050] In addition, an EEPROM (Electrically Erasable Programmable Read Only Memory) can be built into the PLC. At this time, the power-off restart recovery function can be realized through the EEPROM built into the PLC. Specifically, Figure 5 Schematically shows the step flow of the power-off restart recovery function in the multi-orifice positioning control method of the mobile hoist according to an embodiment of the present invention. Refer to Figure 5 As shown, the steps of this power-off restart recovery function can be specifically realized as including the following steps: Step S31: Update and write the current count value of the encoder into the EEPROM every second preset time; Step S32: When starting the system, read the encoder data in the EEPROM, and drive the frequency conversion drive module of the mobile hoist to move the mobile hoist to the position corresponding to the corresponding encoder data.

[0051] In step S31, it is necessary to store the current position information in the EEPROM every second preset time interval. Since the current position information is calculated and confirmed by the data of the encoder, the data of the encoder can be updated and written into the EEPROM to avoid data loss due to power failure.

[0052] In step S32, when starting the system, the encoder data in the EEPROM can be read. After reading the encoder data, the frequency conversion drive module of the mobile hoist can be driven according to the encoder data to move the mobile hoist to the position corresponding to the encoder data, so as to restore the position before the breakpoint.

[0053] The orifice positioning control method of the mobile hoist of the present invention first obtains the information of the target position, and then controls the mobile hoist to drive towards the target position in the first control mode, and real-time monitors the distance between the current position of the mobile hoist and the target position. When it is monitored that the distance between the current position of the mobile hoist and the target position is not greater than the preset threshold, it switches to the second control mode and enables the RFID reader to read the RFID signal of the target position. After reading, the operation of the frequency conversion drive module is stopped to complete the position positioning of the mobile hoist. Since the mobile hoist is driven by a frequency conversion drive module, it can run at a high speed as much as possible in the first control mode, reduce the moving time, and cooperate with the displacement calculation of the encoder to determine the approximate position of the current mobile hoist to achieve rough positioning. When it is close enough to the target position, the control mode is switched to reduce the running speed, and the RFID reader is used to identify and read the RFID signal of the target position, so that the position of the current mobile hoist can be accurately identified and stopped at the target position to achieve fine positioning. The present invention combines rough positioning and fine positioning to achieve high-precision positioning of the mobile hoist, and thus can effectively control the production cost without additional settings at the target position.

[0054] Figure 6 Schematically shows the module composition of the multi-orifice positioning control system of the mobile hoist according to an embodiment of the present invention. Refer to Figure 6 As shown, the multi-orifice positioning control system of the mobile hoist specifically includes the following parts: The target position information determination module 1 is used to obtain the coordinate information and RFID of the target position; The first control module 2 is used to set the drive mode of the frequency conversion drive module of the mobile hoist to the first control mode; The distance monitoring module 3 is used to continuously monitor the traveling distance of the current mobile hoist according to the encoder installed on the variable frequency drive module, and continuously determine the distance between the current position of the mobile hoist and the target position; The second control module 4 is used to switch the control mode of the variable frequency drive module of the mobile hoist to the second control mode and enable the RFID reader when the distance between the current position of the mobile hoist and the target position is not greater than a preset threshold; The positioning module 5 is used to stop the operation of the variable frequency drive module in response to receiving the identification signal of the RFID corresponding to the target position and complete the positioning.

[0055] Among them, the first control mode set by the first control module 2 can be set to the full-speed operation mode, and the second control mode set by the second control module 4 can be set to the slow-speed operation mode. The slow-speed operation mode is set so that the pulse frequency is not greater than 10 Hz, and the traveling distance corresponding to a single pulse is not greater than 1 mm. The encoder data obtained by the distance monitoring module 3 is obtained by connecting to the encoder installed on the variable frequency drive module. In addition, the second control module 4 can also be set to switch the control mode of the variable frequency drive module of the mobile hoist to the second control mode when the distance between the current position of the mobile hoist and the target position is not greater than a preset threshold and / or when receiving the identification signal of the first RFID, where the first RFID is the RFID set at the preset distance positions on both sides of the target position. Therefore, it is possible to combine the detection of the first RFID set at the preset distance on both sides of the target position with the calculation of the distance between the current position of the mobile hoist and the target position. Specifically, it can be set to trigger alternatively or to trigger only when both conditions are met, further improving the accuracy of judging the position of the current mobile hoist.

[0056] Figure 7 Schematically shows the module composition of the multi-orifice positioning control system of the mobile hoist according to another embodiment of the present invention. Refer to Figure 7 As shown, compared with the multi-orifice positioning control system of the mobile hoist shown in Figure 6 the multi-orifice positioning control system of the mobile hoist in this embodiment further includes the following parts: The alarm module 6 is used to trigger an alarm when no identification signal of the RFID corresponding to the target position is received within the first preset time after starting the RFID reader.

[0057] The power-off memory module 7 is used to update and write the current encoder count value into the EEPROM every second preset time, and read the encoder data in the EEPROM when starting the system, and drive the variable frequency drive module of the mobile hoist to move the mobile hoist to the position corresponding to the corresponding encoder data.

[0058] It should be noted that for the implementation process and principle of the multi-orifice positioning control system of the mobile hoist according to the embodiments of the present invention, reference may be specifically made to the corresponding descriptions in the above method embodiments. For example, the corresponding descriptions in the method embodiment part regarding the control of the variable-frequency drive module, the determination of the distance between the current position and the target position of the mobile hoist, etc. will not be elaborated herein. Exemplarily, the multi-orifice positioning control system of the mobile hoist according to the embodiments of the present invention can be any intelligent device with a processor, including but not limited to computers, smartphones, personal computers, robots, cloud servers, etc.

[0059] Figure 8 Schematically shows the composition of the multi-orifice positioning control system of the mobile hoist according to another embodiment of the present invention. Referring to Figure 8 As shown, the multi-orifice positioning control system of the mobile hoist of the present invention includes: An RFID module 81, which is arranged at each orifice, and each orifice is provided with a corresponding RFID; An RFID reader 82, which is arranged on the mobile hoist and is used to read and identify the RFID arranged at the orifice; A variable-frequency drive module 83, which includes an inverter 831 and a variable-frequency motor 832 connected to the inverter, and is used to drive the mobile hoist to move on the track. An incremental encoder 833 is arranged on the rotating shaft of the variable-frequency motor; A PLC module 84, which is connected to the RFID reader 82, the incremental encoder 833, and the inverter 831, so as to obtain the data read and identified by the RFID reader 82 and the data of the incremental encoder 833, and is used to determine the current traveling distance of the mobile hoist according to the data of the incremental encoder 833 through a high-speed counter, and output a signal to the inverter to control the operation of the variable-frequency motor 832, so that the variable-frequency drive module has a first control mode and a second control mode. Among them, the first control mode is set as the full-speed operation mode, and the second control mode is set as the slow operation mode. The slow operation mode is set so that the pulse frequency is not greater than 10 Hz, and the traveling distance corresponding to a single pulse is not greater than 1 mm.

[0060] Among them, in some possible implementation manners, the RFID module 81 may further include a first RFID arranged at a preset distance position from the RFID of each orifice, and the PLC module 84 is further used to output a signal to the inverter according to whether the exclusive right identification signal of the first RFID is received, so as to control the operation of the variable-frequency motor 832.

[0061] It should be noted that for the implementation process and principle of the multi-orifice positioning control system of the mobile hoist according to the embodiments of the present invention, reference may be specifically made to the corresponding descriptions in the above method embodiments. For example, the corresponding descriptions in the method embodiment part regarding the control of the frequency conversion drive module, the determination of the distance between the current position and the target position of the mobile hoist, etc. Therefore, they will not be elaborated herein. Exemplarily, the multi-orifice positioning control system of the mobile hoist according to the embodiments of the present invention may be any intelligent device having a processor, including but not limited to a computer, a smart phone, a personal computer, a robot, a cloud server, etc.

[0062] In some embodiments, the present invention provides a non-volatile computer-readable storage medium storing one or more programs including execution instructions, which can be read and executed by an electronic device (including but not limited to a computer, a server, or a network device, etc.) for executing the multi-orifice positioning control method of the mobile hoist according to any one of the above embodiments of the present invention.

[0063] In some embodiments, the present invention further provides a computer program product, which includes a computer program stored on a non-volatile computer-readable storage medium. The computer program includes program instructions that, when executed by a computer, cause the computer to execute the multi-orifice positioning control method of the mobile hoist according to any one of the above embodiments.

[0064] In some embodiments, the present invention further provides an electronic device, which includes: at least one processor, and a memory communicatively connected to the at least one processor, wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the multi-orifice positioning control method of the mobile hoist according to any one of the above embodiments.

[0065] In some embodiments, the present invention further provides a storage medium having a computer program stored thereon, characterized in that the program, when executed by a processor, implements the multi-orifice positioning control method of the mobile hoist according to any one of the above embodiments.

[0066] Figure 9 is a schematic hardware structure diagram of an electronic device for executing the multi-orifice positioning control method of the mobile hoist provided in another embodiment of the present application. As Figure 9 shown, the device includes: one or more processors 910 and a memory 920, Figure 9 Taking one processor 910 as an example.

[0067] The device for implementing the multi-orifice positioning control method of the mobile hoist may further include: an input device 930 and an output device 940.

[0068] The processor 910, the memory 920, the input device 930, and the output device 940 may be connected through a bus or other means. Figure 9 Taking the connection through the bus as an example.

[0069] As a non-volatile computer-readable storage medium, the memory 920 can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as the program instructions / modules corresponding to the multi-orifice positioning control method of the mobile hoist in the embodiments of the present application. By running the non-volatile software programs, instructions, and modules stored in the memory 920, the processor 910 executes various functional applications and data processing of the server, that is, implements the multi-orifice positioning control method of the mobile hoist in the above method embodiments.

[0070] The memory 920 may include a program storage area and a data storage area. Among them, the program storage area can store an operating system and application programs required for at least one function; the data storage area can store data created according to the use of the multi-orifice positioning control method of the mobile hoist, etc. In addition, the memory 920 may include a high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state storage devices. In some embodiments, the memory 920 may optionally include a memory remotely set relative to the processor 910, and these remote memories can be connected to the electronic device through a network. Examples of the above network include but are not limited to the Internet, an enterprise intranet, a local area network, a mobile communication network, and combinations thereof.

[0071] The input device 930 can receive input digital or character information, and generate signals related to the user settings and function control of the image processing device. The output device 940 may include a display device such as a display screen.

[0072] The one or more modules are stored in the memory 920 and, when executed by the one or more processors 910, execute the multi-orifice positioning control method of the mobile hoist in any of the above method embodiments.

[0073] The above product can execute the method provided in the embodiments of the present application, and has the corresponding functional modules and beneficial effects of the executed method. For technical details not described in detail in this embodiment, reference can be made to the method provided in the embodiments of the present application.

[0074] The electronic device in the embodiments of the present application exists in various forms, including but not limited to: (1) Mobile communication devices: These devices are characterized by having mobile communication functions and mainly aim to provide voice and data communication. Such terminals include: smart phones (such as iPhone), multimedia phones, functional phones, and low-end phones, etc.

[0075] (2) Ultra-mobile personal computer devices: These devices belong to the category of personal computers, have computing and processing functions, and generally also have the characteristic of mobile Internet access. Such terminals include: PDA, MID, and UMPC devices, etc., such as iPad.

[0076] (3) Portable entertainment devices: These devices can display and play multimedia content. Such devices include: audio and video players (such as iPod), handheld game consoles, e-books, and intelligent toys and portable in-vehicle navigation devices.

[0077] (4) Servers: Devices that provide computing services. The composition of a server includes a processor, hard disk, memory, system bus, etc. Servers are similar to general computer architectures, but due to the need to provide highly reliable services, they have higher requirements in terms of processing power, stability, reliability, security, scalability, and manageability.

[0078] (5) Other electronic devices with data interaction functions.

[0079] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0080] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a general hardware platform, and of course, it can also be implemented by hardware. Based on such an understanding, the essence of the above technical solution or the part that contributes to the related technology 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, magnetic disk, optical disk, etc., and includes several instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0081] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the various embodiments of the present application.

Claims

1. A multi-hole positioning control method for a mobile gate hoist, characterized in that: include: Obtain the coordinate information and RFID of the target location; Setting the driving mode of the variable frequency driving module of the mobile gate hoist to a first control mode to drive the mobile gate hoist to move toward a target position, wherein the first control mode is a full speed operation mode; The encoder set on the variable frequency drive module monitors the travel distance of the current mobile gate hoist in real time, and determines the distance between the current position of the mobile gate hoist and the target position in real time; When the distance between the current position of the mobile gate hoist and the target position is not greater than a preset threshold, the variable frequency drive module control mode of the mobile gate hoist is switched to a second control mode, wherein the second control mode is a slow operation mode; In response to receiving the identification signal of the RFID corresponding to the target position, the operation of the variable frequency drive module is stopped to complete the positioning.

2. The multi-hole positioning control method of a mobile gate hoist according to claim 1 is characterized in that: When the distance between the current position of the mobile gate hoist and the target position is not greater than the preset threshold, the variable frequency drive module control mode of the mobile gate hoist is switched to the second control mode, which is set as: When the distance between the current position of the mobile gate hoist and the target position is not greater than a preset threshold, and / or when an identification signal of a first RFID is received, the variable frequency drive module control mode of the mobile gate hoist is switched to a second control mode, wherein the first RFID is an RFID set at a preset distance position on both sides of the target position.

3. The multi-hole positioning control method of a mobile gate hoist according to claim 1 is characterized in that: Also includes: The hole number information, coordinate information and RFID corresponding to each hole opening are pre-stored; The step of obtaining the coordinate information and RFID of the target location includes: In response to receiving the input hole number information, determining a corresponding hole opening as a target position according to the hole number information; The coordinate information and RFID of the target position are determined according to the orifice corresponding to the target position.

4. The multi-hole positioning control method of a mobile gate hoist according to claim 1, characterized in that: Also includes: After switching to the second control mode, if no identification signal of the RFID corresponding to the target position is received within the first preset time, an alarm is triggered.

5. The multi-hole positioning control method of a mobile gate hoist according to claim 1, characterized in that: Also includes: In response to receiving a trigger signal from a limit switch, the drive of the variable frequency drive module is disconnected, wherein the limit switch is arranged at both ends of the track on which the mobile gate hoist runs.

6. The multi-hole positioning control method of a mobile gate hoist according to claim 1, characterized in that: Also includes: At every second preset time interval, the count value of the current encoder is updated and written into the EEPROM; When the system is started, the encoder data in the EEPROM is read, and the variable frequency drive module of the mobile gate hoist is driven to move the mobile gate hoist to the position corresponding to the encoder data.

7. A multi-hole positioning control system for a mobile gate hoist, characterized in that: include: A target location information determination module is used to obtain the coordinate information and RFID of the target location; A first control module, used to set the driving mode of the variable frequency driving module of the mobile gate hoist to a first control mode, wherein the first control mode is a full speed operation mode; The distance monitoring module is used to monitor the travel distance of the current mobile gate hoist in real time according to the encoder set on the variable frequency drive module, and determine the distance between the current position of the mobile gate hoist and the target position in real time; A second control module is used to switch the variable frequency drive module control mode of the mobile gate hoist to a second control mode when the distance between the current position of the mobile gate hoist and the target position is not greater than a preset threshold, wherein the second control mode is a slow operation mode; The positioning module is used to stop the operation of the variable frequency drive module in response to receiving the identification signal of the RFID corresponding to the target position, so as to complete the positioning.

8. The multi-hole positioning control system of the mobile gate hoist according to claim 7, characterized in that: Also includes: The alarm module is used to trigger an alarm when the RFID card reader does not receive an identification signal of the RFID corresponding to the target position within a first preset time after the RFID card reader is started.

9. The multi-hole positioning control system of the mobile gate hoist according to claim 7, characterized in that: Also includes: The power-off memory module is used to update the count value of the current encoder and write it into the EEPROM every second preset time, and read the encoder data in the EEPROM when starting the system, and drive the variable frequency drive module of the mobile gate hoist to move the mobile gate hoist to the corresponding position of the corresponding encoder data.

10. A multi-hole positioning control system for a mobile gate hoist, characterized in that: include: An RFID module is arranged at each orifice, and each orifice is provided with an RFID corresponding thereto; An RFID card reader is provided on the mobile gate hoist and is used to read and identify the RFID card provided at the opening; A variable frequency drive module, including a frequency converter and a variable frequency motor connected to the frequency converter, for driving the mobile gate hoist to move on the track, wherein an incremental encoder is arranged on the rotating shaft of the variable frequency motor; The PLC is connected with the RFID card reader, the incremental encoder and the frequency converter to obtain the data read and identified by the RFID card reader and the data of the incremental encoder, and is used to determine the current travel distance of the mobile gate opener according to the data of the incremental encoder through the high-speed counter, and output a signal to the frequency converter to control the operation of the variable frequency motor, so that the variable frequency drive module has a first control mode and a second control mode, wherein the first control mode is set to a full-speed operation mode, and the second control mode is set to a slow operation mode, and the slow operation mode is set to a pulse frequency of no more than 10 Hz, and a single pulse corresponds to a travel distance of no more than 1 mm.

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