Positioning method and device capable of meeting full-automatic mechanical sampling of special-shaped carriage

Abstract

The invention discloses a positioning method and device capable of meeting full-automatic mechanical sampling of a special-shaped carriage, a first pull rope encoder is adopted for distance measurement during walking of a sampling trolley, a second pull rope encoder is adopted for distance measurement during lifting of a sampling head of a sampler, and a frequency converter is mounted on a sampling head lifting motor; acquiring carriage information, and automatically identifying a safety area and a danger area of carriage sampling; a sampling trolley is controlled to walk, a sampling head lifting motor drives a sampling head to work, and sampling operation is completed in a safe area by avoiding a dangerous area; the load feedback value of the frequency converter is monitored in real time, if the load feedback value is within a normal range, the sampling head continues to descend, and otherwise, the descending speed of the sampling head is limited; a plurality of speed section sampling strokes are divided from top to bottom in the height direction of the carriage, real-time sampling depth coordinates are obtained, and the output frequency of the frequency converter is controlled to adjust the speed of the sampling head so as to accord with the speed range set by the speed section sampling strokes. The problem that full-automatic mechanical sampling of the special-shaped carriage is limited is solved, and the sampling efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of automobile automatic sampling, in particular to a positioning method and device for fully automatic mechanical sampling of special-shaped carriages. Background Art

[0002] After the company's clean transportation project was officially put into operation, the vehicles used to transport raw materials and auxiliary materials entering the factory have undergone significant changes. The emission standards have been uniformly upgraded from National V to National VI (new energy), and the vehicle structure has also changed from a flatbed compartment to a special-shaped compartment. The special-shaped compartment has the structural characteristics of being wide at the top and narrow at the bottom, and a discharge belt is provided at the bottom of the compartment. According to the existing vehicle model data measurement method, the system cannot automatically avoid the sampling danger zone. The sampling danger zone mainly includes the inclined plates on both sides of the narrow lower part of the compartment and the bottom discharge belt. There is a safety hazard of the sampling head drilling into the compartment, which makes it impossible for the existing automobile automatic sampler to achieve fully automatic sampling. Sampling can only be done manually or semi-automatically, and the inclined plate area needs to be avoided, resulting in low efficiency in the quality inspection of raw materials and auxiliary materials entering the factory.

[0003] In addition, the sampling points of special-shaped vehicles are manually operated, and there are large operability factors in the placement of sampling points. During the quality inspection process, there may be collusion between internal and external parties, layered and zoned loading, and conscious sampling. Sampling points avoid the inclined plate area of the car body, and there are large sampling blind spots in the sampling process. Some suppliers may use the sampling blind spots to carry out zoned loading and make illegal profits. The sampling is not representative, which does not meet the standard requirements for the quality inspection of raw and fuel auxiliary materials entering the factory. The inspection results are distorted, which may mislead production and cause losses to the company. Summary of the Invention

[0004] In order to overcome the above-mentioned shortcomings of the prior art, the purpose of the present invention is to provide a positioning method and device that can meet the requirements of fully automatic mechanical sampling of special-shaped carriages. Through system upgrades and hardware upgrades, the problem that existing special-shaped carriages cannot achieve fully automatic mechanical sampling is solved, the sampling efficiency is improved, the representativeness of the samples is enhanced, the job integrity risk is reduced, and production safety and enterprise economic benefits are guaranteed.

[0005] The technical solution adopted by the present invention to solve the technical problem is: a positioning method that meets the requirements of fully automatic mechanical sampling of special-shaped carriages, wherein the sampling trolley uses a first pull-rope encoder to measure distance when traveling, and the sampling head of the sampler uses a second pull-rope encoder to measure distance when lifting. The sampling head lifting motor is equipped with a frequency converter; the method comprises the following steps:

[0006] Get carriage information;

[0007] Determine the length, width, and height of the exterior and interior of the carriage based on the carriage information, and automatically identify the safe and dangerous areas for carriage sampling. The dangerous areas include the covers on both sides of the carriage bottom, the unloading belt, and the tie rod positions;

[0008] Control the movement of the sampling trolley and the sampling head lifting motor to drive the sampling head to work, avoiding the dangerous area and completing the sampling operation in the safe area;

[0009] Monitor the load feedback value of the inverter in real time. If the load feedback value is within the normal range, the sampling head will continue to descend. Otherwise, the descent speed of the sampling head will be limited.

[0010] The height direction of the carriage is divided into multiple speed segment sampling strokes from top to bottom, the real-time sampling depth coordinates are obtained, and the output frequency of the inverter is controlled to adjust the speed of the sampling head to meet the speed range set by the speed segment sampling stroke.

[0011] As a further improvement of the present invention: the sampling machine system pre-stores vehicle type-carriage information, specifically including:

[0012] General carriage information: carriage width C, carriage inner panel width, carriage length F, carriage inner panel length, carriage height E, height from ground to carriage floor, position of the first tie bar from the front of the carriage tailboard, and position of the second tie bar from the front of the carriage tailboard;

[0013] Special-shaped carriage information: Compared with regular carriage information, new information is added: height A of the highest vertex of the covering parts on both sides of the bottom of the carriage from the ground, height B of the lower upper vertex of the covering parts on both sides of the bottom of the carriage from the ground, spacing C between the covering parts on both sides of the bottom of the carriage, and bottom width D of the covering parts on both sides of the bottom of the carriage.

[0014] As a further improvement of the present invention, the automatic identification of safe and dangerous areas for carriage sampling includes:

[0015] When the vehicle compartment is determined to be a special-shaped compartment according to the compartment information,

[0016] Automatically identify the first safety zone location based on A, C, and F;

[0017] Determine the width of the danger zone on both sides according to (CD) / 2, obtain the upper height of the danger zone on both sides through AB, automatically calculate the area of the danger zone on both sides through trigonometric functions, and identify the upper position of the danger zone on both sides through the area;

[0018] Determine the location of the second safety zone based on C, D, and AB;

[0019] Automatically identify the location of the third safety zone based on B, D, and E.

[0020] As a further improvement of the present invention: further comprising:

[0021] Set safe sampling limit point and set depth;

[0022] The safety sampling limit point is located at a set distance above the highest point of the unloading belt. The distance between the safety sampling limit point and the set depth is the low-speed sampling stroke.

[0023] After the sampling head enters the set depth according to the real-time sampling depth coordinates, the frequency converter is controlled to reduce the output frequency, so that the descent speed of the sampling head is slowed down.

[0024] As a further improvement of the present invention: during the descent of the sampling head,

[0025] If the data of the second rope encoder does not change, or the current data change at the set time does not match the set data change corresponding to the current speed of the sampling head;

[0026] Determine whether the sampling head has sampled the car floor or hard objects, and execute the action of automatically rising or stopping the sampling head.

[0027] As a further improvement of the present invention: further comprising:

[0028] Set up ground sensing coils and vehicle recognition cameras;

[0029] Detecting that a vehicle enters the magnetic field range of the ground sensor coil triggers the vehicle recognition camera to collect images;

[0030] Automatically identify the vehicle number to determine the vehicle model information, and obtain the vehicle compartment information based on the vehicle model information.

[0031] The present invention discloses a positioning device that satisfies the requirements of fully automatic mechanical sampling of special-shaped carriages, comprising:

[0032] The sampling trolley uses the first draw-rope encoder to measure distance when it moves, and the sampling head of the sampler uses the second draw-rope encoder to measure distance when it rises and falls. The sampling head lifting motor is equipped with a frequency converter.

[0033] A first acquisition module is used to acquire carriage information;

[0034] The recognition module is used to determine the length, width, and height of the exterior and interior of the carriage based on the carriage information, and automatically identify the safe and dangerous areas for carriage sampling. The dangerous areas include the covers on both sides of the carriage bottom, the unloading belt, and the tie rod positions;

[0035] The control module is used to control the movement of the sampling trolley and the sampling head lifting motor to drive the sampling head to work, avoiding the dangerous area and completing the sampling operation in the safe area;

[0036] It is also used to monitor the load feedback value of the inverter in real time. If the load feedback value is within the normal range, the sampling head will continue to descend. Otherwise, the descent speed of the sampling head will be limited.

[0037] It is also used to control the output frequency of the frequency converter to adjust the speed of the sampling head according to the real-time sampling depth coordinates to meet the speed range set by the speed segment sampling stroke.

[0038] As a further improvement of the present invention: it also includes a storage module for storing the car width C, the car inner panel width car length F, the car inner panel length car height E, the height from the ground to the car floor, the position of the first tie rod from the front of the car tail plate, the position of the second tie rod from the front of the car tail plate, the height A of the highest vertex of the covering parts on both sides of the car bottom from the ground, the height B of the lower upper vertex of the covering parts on both sides of the car bottom from the ground, the spacing C between the covering parts on both sides of the car bottom and the bottom width D of the covering parts on both sides of the car bottom.

[0039] As a further improvement of the present invention: the determination of the safe zone and the dangerous zone includes:

[0040] When the vehicle compartment is determined to be a special-shaped compartment according to the compartment information, the first safety zone position is automatically identified according to A, C, and F;

[0041] Determine the width of the danger zone on both sides according to (CD) / 2, obtain the upper height of the danger zone on both sides through AB, automatically calculate the area of the danger zone on both sides through trigonometric functions, and identify the upper position of the danger zone on both sides through the area;

[0042] Determine the location of the second safety zone based on C, D, and AB;

[0043] Automatically identify the location of the third safety zone based on B, D, and E.

[0044] Compared with the prior art, the present invention has the following beneficial effects:

[0045] The present invention adds a first pull-wire encoder, a second pull-wire encoder and a frequency converter to automatically identify the safe zone and the dangerous zone for carriage sampling, sets the speed segment stroke and cooperates with the frequency converter to control the descending speed of the sampling head to complete automatic sampling, and solves the problem that existing special-shaped carriages cannot achieve fully automatic mechanical sampling, resulting in low sampling efficiency. It effectively improves the efficiency of quality inspection of raw, fuel and auxiliary materials entering the factory, improves equipment utilization and work efficiency, improves the accuracy of quality inspection of raw, fuel and auxiliary materials entering the factory, and enhances the representativeness of sampling. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 Schematic diagram of measurement of the special-shaped carriage of the present invention.

[0047] Figure 2 This is a schematic diagram of the measurement of the length, width and reinforcement of the carriage of the present invention.

[0048] Figure 3 This is a schematic diagram of measuring the height of the carriage unloading belt of the present invention.

[0049] Figure 4 This is a schematic diagram of the safety zone setting of the special-shaped carriage of the present invention.

[0050] Figure 5This is a schematic diagram of the setting of dangerous areas on both sides of the special-shaped carriage of the present invention.

[0051] Figure 6 This is a schematic diagram of the carriage speed segment travel setting of the present invention. DETAILED DESCRIPTION

[0052] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with specific embodiments of the present invention and corresponding drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0053] In order to solve the technical problems in the prior art, the present invention is further described with reference to the accompanying drawings and embodiments:

[0054] like Figures 1 to 6 As shown, the embodiment of the present invention discloses a positioning method that meets the requirements of fully automatic mechanical sampling of special-shaped carriages. The sampling trolley uses a first pull-rope encoder to measure distance when traveling, and the sampling head of the sampler uses a second pull-rope encoder to measure distance when lifting. The sampling head lifting motor is equipped with a frequency converter; the method comprises the following steps:

[0055] Obtain car information; determine the length, width, and height of the exterior and interior of the car based on the car information, and automatically identify the safe and dangerous areas for car sampling. The dangerous areas include the covers on both sides of the car bottom, the unloading belt, and the tie rod positions;

[0056] Control the movement of the sampling trolley and the sampling head lifting motor to drive the sampling head to work, avoiding the dangerous area and completing the sampling operation in the safe area;

[0057] Monitor the load feedback value of the inverter in real time. If the load feedback value is within the normal range, the sampling head will continue to descend. Otherwise, the descent speed of the sampling head will be limited.

[0058] The height direction of the carriage is divided into multiple speed segment sampling strokes from top to bottom, the real-time sampling depth coordinates are obtained, and the output frequency of the inverter is controlled to adjust the speed of the sampling head to meet the speed range set by the speed segment sampling stroke.

[0059] This method is an upgrade and transformation based on the existing automobile automatic sampling machine, which includes two parts: system upgrade and hardware upgrade. Through the high-precision walking transformation of the sampling trolley and the transformation of the sampler lifting device, the addition of a frequency converter control cabinet and a vehicle number recognition system, and the change of the original vehicle model data measurement method, the existing automobile sampling machine is systematically upgraded and transformed to solve the problems of the existing special-shaped carriages being unable to achieve fully automatic mechanical sampling, resulting in low sampling efficiency, weak sample representativeness, and high job integrity risks.

[0060] The existing automobile sampling machines will be systematically upgraded and renovated as follows:

[0061] 1) High-precision travel modification of the sampling trolley: The sampling trolley uses a drawstring encoder for distance measurement. The encoder is a high-precision distance measurement method that can provide real-time feedback on the absolute position of the trolley. This allows adaptive multi-depth sampling based on the shape and structure of the vehicle floor, minimizing the sampling blind area.

[0062] 2) Modification of the sampler lifting device: The sampling head is raised and lowered using a drawstring encoder, which can accurately measure the real-time distance between the sampling head and the vehicle floor, effectively eliminating the sampling blind area within the red frame, and reducing the overall sampling blind area. The drawstring encoder also provides feedback on the movement status of the sampling head. If the sampling head samples the vehicle floor or a hard object while descending to the sampling point, and the encoder data does not change or the data change is seriously inconsistent with the current speed, the system will assume that the sampling head has sampled the vehicle floor or a hard object, and the sampling head will automatically rise or stop.

[0063] 3) Add a new inverter cabinet: Considering that there is a unloading crawler above the vehicle floor, in order to avoid damage to the crawler, it is possible to consider adding an inverter to the sampling head lifting motor. By monitoring the inverter's load feedback value in real time, the system intervenes in time and limits the descent of the sampling head to prevent the sampling head from exerting excessive force downward. The high-speed sampling stroke and low-speed sampling stroke can be set according to the real-time sampling depth coordinate count. After entering the coal seam at a certain depth, low-speed sampling is adopted to avoid damage to the vehicle and sampling head due to too fast a reaction time caused by excessive speed near the bottom of the vehicle.

[0064] 4) Changes in vehicle model data measurement method:

[0065] like Figure 2 and Figure 3 As shown, the original flatbed truck model data measurement method:

[0066] Car length is measured from the outside of the car's tailgate to the inside of the car's front plate; Car width is measured from the inside of the left side plate to the inside of the right side plate; Chassis height is measured from the ground to a fixed point on the floor of the car; Tie bar position is measured from the tailgate to the center of the first tie bar, taking tie bar J1 as an example, and so on; See the figure below for details.

[0067] like Figure 1 As shown, the measurement method for special-shaped car body models is as follows: In addition to the original sampling machine's input of length, width, chassis height, and number of tie bars, the following information needs to be entered:

[0068] A: Height from the ground to the highest point of the covers on both sides of the bottom of the carriage

[0069] B: Height from the ground to the lower top of the covers on both sides of the car bottom

[0070] C: The distance between the covers on both sides of the car bottom (usable width of the belt)

[0071] D: Bottom width of the covers on both sides of the car bottom (if the covers on both sides are the same size and the belt is centered in the car, this dimension can be omitted)

[0072] Note: The original vehicle height data should be changed from the height from the bottom of the carriage to the height from the ground. The details are as follows:

[0073] Inclined plate top height A: height from the ground to the top of the inclined plate; Inclined plate bottom height B: height from the ground to the lowest point of the inclined plate; Carriage floor height E: height from the ground to the highest point of the unloading belt; Carriage width C: width of the high-position car lining board; Carriage width D: width of the low-position car lining board; Carriage length F: length of the car lining board; Tie bar J1: the first one from the front of the car tail plate; Tie bar J2: the second one from the front of the car tail plate; Note: Tie bar positions are measured starting from the car tail plate as the zero point. Vehicles without tie bars do not need to record

[0074] In some embodiments, the sampling head is also lowered.

[0075] If the data of the second rope encoder does not change, or the current data change at the set time does not match the set data change corresponding to the current speed of the sampling head;

[0076] Determine whether the sampling head has sampled the car floor or hard objects, and execute the action of automatically rising or stopping the sampling head.

[0077] Setting a threshold: In actual sampling, a certain deviation between data changes and theoretical values is allowed, taking into account factors such as equipment accuracy and environmental interference. Through multiple experiments and data analysis, a reasonable deviation threshold range is determined. For example, if the sampling head's normal descent speed is 5 cm / s, and within a certain period of time t = 2 seconds, the theoretical data change of the rope encoder should be 10 cm, the allowable deviation is set to ±2 cm. In other words, an actual data change within the range of 8-12 cm is considered normal. If the actual data change exceeds this range, it is determined that the data change is seriously inconsistent with the current speed.

[0078] Real-time Monitoring and Decision-Making: The control system acquires data from the wire-draw encoder and sampling head speed information in real time. Speed information can be obtained by measuring motor speed and changes in the wire-draw encoder pulse frequency. This real-time data is substituted into the model calculation and compared with a threshold. For example, if the sampling head speed is 6 cm / s at a given moment, after 1 second, the wire-draw encoder data changes by only 2 cm, far less than the theoretical change of 6 cm and exceeding the allowable deviation range.

[0079] In some embodiments, the present invention further comprises:

[0080] Set up ground sensing coils and vehicle recognition cameras;

[0081] Detecting that a vehicle enters the magnetic field range of the ground sensor coil triggers the vehicle recognition camera to collect images;

[0082] Automatically identify the vehicle number to determine the vehicle model information, and obtain the vehicle compartment information based on the vehicle model information.

[0083] In some embodiments, Figure 4 and Figure 5 As shown, the safe and dangerous areas for automatic identification of carriage sampling include:

[0084] When the vehicle compartment is determined to be a special-shaped compartment according to the compartment information,

[0085] Automatically identify the first safety zone location based on A, C, and F;

[0086] Determine the width of the danger zone on both sides according to (CD) / 2, obtain the upper height of the danger zone on both sides through AB, automatically calculate the area of the danger zone on both sides through trigonometric functions, and identify the upper position of the danger zone on both sides through the area;

[0087] Determine the location of the second safety zone based on C, D, and AB;

[0088] Automatically identify the location of the third safety zone based on B, D, and E.

[0089] Method for the special-shaped carriage system to identify the safe area (sampling area): Through the A, B, C, D, and E parameters, the system will automatically identify the sampling safe area and the sampling dangerous area (the green frame in the left picture is the safe area, and the red frame in the right picture is the dangerous area).

[0090] Safety Zone 1: The system automatically identifies the Safety Zone 1 location through A, C, and F (carriage length);

[0091] Safety Zone 2: The system obtains the width of the triangle between Danger Zones 1 and 2 by CD / 2, then obtains the height of the triangle by AB, and finally automatically calculates the areas of Danger Zones 1 and 2 through trigonometric functions. Finally, the locations of Danger Zones 1 and 2 are identified by the areas.

[0092] Safety Zone 3: The system automatically identifies the location of Safety Zone 3 through B, D, and E.

[0093] In some embodiments, the present invention further comprises:

[0094] Set the safety sampling limit point N and set depth;

[0095] The safety sampling limit point P is located at a set distance above the highest point of the unloading belt. The distance between the safety sampling limit point and the set depth is the low-speed sampling stroke S1;

[0096] After the sampling head enters the set depth according to the real-time sampling depth coordinates, the frequency converter is controlled to reduce the output frequency, so that the descent speed of the sampling head is slowed down.

[0097] You can also set the high and low speed sampling stroke S2 and the height section sampling stroke S3. Figure 6 In the figure, M represents the upper dead point of the sampling head, N represents the lower dead point, which is also the safety sampling limit point, P represents the normal sampling point, and Q represents the abnormal sampling point.

[0098] Method for identifying the safe zone at the sampling depth: Considering that the unloading crawler tracks are located above the vehicle floor, to prevent damage to the tracks, a frequency converter is added to the sampling head lifting motor. By monitoring the load feedback value of the frequency converter in real time, the system intervenes and limits the descent of the sampling head in a timely manner to prevent the sampling head from exerting excessive force downward. The high-speed and low-speed sampling strokes can also be set based on the real-time sampling depth coordinates. After entering the coal seam at a certain depth, low-speed sampling is adopted to avoid damage to the vehicle and sampling head due to excessive speed near the bottom of the vehicle resulting in a short reaction time.

[0099] A draw-wire encoder mounted on the sampling head's lifting mechanism accurately measures the real-time distance between the sampling head and the vehicle floor, thereby obtaining the sampling depth coordinates. The draw-wire encoder converts the sampling head's position information into an electrical signal, which is then transmitted to the control system. The control system filters and amplifies the received signal to remove noise interference and improve data accuracy and stability. The processed data is analyzed and calculated to determine the real-time sampling depth coordinates of the sampling head.

[0100] The present invention discloses a positioning device that satisfies the requirements of fully automatic mechanical sampling of special-shaped carriages, comprising:

[0101] The sampling trolley uses the first draw-rope encoder to measure distance when it moves, and the sampling head of the sampler uses the second draw-rope encoder to measure distance when it rises and falls. The sampling head lifting motor is equipped with a frequency converter.

[0102] A first acquisition module is used to acquire carriage information;

[0103] The recognition module is used to determine the length, width, and height of the exterior and interior of the carriage based on the carriage information, and automatically identify the safe and dangerous areas for carriage sampling. The dangerous areas include the covers on both sides of the carriage bottom, the unloading belt, and the tie rod positions;

[0104] The control module is used to control the movement of the sampling trolley and the sampling head lifting motor to drive the sampling head to work, avoiding the dangerous area and completing the sampling operation in the safe area;

[0105] It is also used to monitor the load feedback value of the inverter in real time. If the load feedback value is within the normal range, the sampling head will continue to descend. Otherwise, the descent speed of the sampling head will be limited.

[0106] It is also used to control the output frequency of the frequency converter to adjust the speed of the sampling head according to the real-time sampling depth coordinates to meet the speed range set by the speed segment sampling stroke.

[0107] The control system continuously receives the load feedback value from the frequency converter and analyzes the data in real time. When the sampling head descends, if the load feedback value is within the normal range, the system allows the sampling head to continue to descend; once the load feedback value rises abnormally, approaches or reaches the preset overload protection threshold, the system responds quickly and sends a command to the frequency converter to reduce the output frequency of the motor, thereby limiting the descent speed of the sampling head. If the load feedback value exceeds the threshold, the system directly controls the frequency converter to stop the motor operation, so that the sampling head stops descending. In addition, combined with the sampling head motion status data fed back by the rope encoder, if the encoder data changes are inconsistent with the current speed, such as the sampling head descent speed suddenly slows down but the encoder data changes are not obvious, it is also considered an abnormal situation and the system will also handle it accordingly.

[0108] Adding a frequency converter to the sampling head lift motor is key to achieving speed control. During the high-speed sampling range, the frequency converter outputs a higher-frequency power signal according to the control system's instructions, causing the motor to run at a higher speed and driving the sampling head down rapidly. During the low-speed sampling range, the frequency converter reduces its output frequency, which in turn reduces the motor speed and slows the sampling head's descent. By adjusting the frequency converter's output frequency, the sampling head's descent speed can be precisely controlled to meet the needs of different sampling stages.

[0109] The parameters of the high-speed sampling stroke and the low-speed sampling stroke are pre-set in the control system. The high-speed sampling stroke can be set to the interval from the start of sampling to a certain depth close to the coal seam, and the low-speed sampling stroke starts from this depth until the sampling is completed. The control system compares the real-time sampling depth coordinate with the preset switching depth. When the sampling depth does not reach the preset depth for entering the coal seam for low-speed sampling, the control system controls the sampling head to descend at a higher speed within the high-speed sampling stroke to improve sampling efficiency. Once the sampling depth reaches or exceeds the preset depth, the control system immediately issues a command to switch the operating speed of the sampling head, causing it to enter the low-speed sampling stroke and perform sampling at a lower speed.

[0110] In some embodiments, a storage module is also included for storing the car width C, the car inner panel width and car length F, the car inner panel length and car height E, the height from the ground to the car floor, the position of the first tie rod from the front of the car tail plate, the position of the second tie rod from the front of the car tail plate, the height A of the highest vertex of the covering parts on both sides of the car bottom from the ground, the height B of the lower upper vertex of the covering parts on both sides of the car bottom from the ground, the spacing C between the covering parts on both sides of the car bottom and the bottom width D of the covering parts on both sides of the car bottom.

[0111] In some implementations, determining the safe zone and the dangerous zone includes:

[0112] When the vehicle compartment is determined to be a special-shaped compartment according to the compartment information, the first safety zone position is automatically identified according to A, C, and F;

[0113] Determine the width of the danger zone on both sides according to (CD) / 2, obtain the upper height of the danger zone on both sides through AB, automatically calculate the area of the danger zone on both sides through trigonometric functions, and identify the upper position of the danger zone on both sides through the area;

[0114] Determine the location of the second safety zone based on C, D, and AB;

[0115] Automatically identify the location of the third safety zone based on B, D, and E.

[0116] In summary, after reading the present invention document, ordinary technicians in this field can make various other corresponding transformation schemes based on the technical solutions and technical concepts of the present invention without creative mental work, and all of them fall within the scope of protection of the present invention.

Claims

1. A positioning method that meets the requirements of fully automatic mechanical sampling of special-shaped carriages, characterized in that: The sampling trolley uses a first draw-rope encoder to measure distance when it moves, and the sampling head of the sampler uses a second draw-rope encoder to measure distance when it rises and falls. The sampling head lifting motor is equipped with a frequency converter; the process includes the following steps: Get carriage information; Determine the length, width, and height of the exterior and interior of the carriage based on the carriage information, and automatically identify the safe and dangerous areas for carriage sampling. The dangerous areas include the covers on both sides of the carriage bottom, the unloading belt, and the tie rod positions; Control the movement of the sampling trolley and the sampling head lifting motor to drive the sampling head to work, avoiding the dangerous area and completing the sampling operation in the safe area; Monitor the load feedback value of the inverter in real time. If the load feedback value is within the normal range, the sampling head will continue to descend. Otherwise, the descent speed of the sampling head will be limited. The height direction of the carriage is divided into multiple speed segment sampling strokes from top to bottom, the real-time sampling depth coordinates are obtained, and the output frequency of the inverter is controlled to adjust the speed of the sampling head to meet the speed range set by the speed segment sampling stroke.

2. A positioning method for fully automatic mechanical sampling of special-shaped carriages according to claim 1, characterized in that: The sampling system pre-stores vehicle type and vehicle compartment information, including: General carriage information: carriage width C, carriage inner panel width, carriage length F, carriage inner panel length, carriage height E, height from ground to carriage floor, position of the first tie bar from the front of the carriage tailboard, and position of the second tie bar from the front of the carriage tailboard; Special-shaped carriage information: Compared with regular carriage information, new information is added: height A of the highest vertex of the covering parts on both sides of the bottom of the carriage from the ground, height B of the lower upper vertex of the covering parts on both sides of the bottom of the carriage from the ground, spacing C between the covering parts on both sides of the bottom of the carriage, and bottom width D of the covering parts on both sides of the bottom of the carriage.

3. A positioning method for fully automatic mechanical sampling of special-shaped carriages according to claim 2, characterized in that: Automatic identification of safe and dangerous areas for carriage sampling includes: When the vehicle compartment is determined to be a special-shaped compartment according to the compartment information, Automatically identify the first safety zone location based on A, C, and F; Determine the width of the danger zone on both sides according to (CD) / 2, obtain the upper height of the danger zone on both sides through AB, automatically calculate the area of the danger zone on both sides through trigonometric functions, and identify the upper position of the danger zone on both sides through the area; Determine the location of the second safety zone based on C, D, and AB; Automatically identify the location of the third safety zone based on B, D, and E.

4. A positioning method for fully automatic mechanical sampling of special-shaped carriages according to claim 2 or 3, characterized in that: Also includes: Set safe sampling limit point and set depth; The safety sampling limit point is located at a set distance above the highest point of the unloading belt. The distance between the safety sampling limit point and the set depth is the low-speed sampling stroke. After the sampling head enters the set depth according to the real-time sampling depth coordinates, the frequency converter is controlled to reduce the output frequency, so that the descent speed of the sampling head is slowed down.

5. A positioning method for fully automatic mechanical sampling of special-shaped carriages according to claim 1, characterized in that: It also includes the process of the sampling head descending. If the data of the second rope encoder does not change, or the current data change at the set time does not match the set data change corresponding to the current speed of the sampling head; Determine whether the sampling head has sampled the car floor or hard objects, and execute the action of automatically rising or stopping the sampling head.

6. A positioning method for fully automatic mechanical sampling of special-shaped carriages according to claim 1, characterized in that: Also includes: Set up ground sensing coils and vehicle recognition cameras; Detecting that a vehicle enters the magnetic field range of the ground sensor coil triggers the vehicle recognition camera to collect images; Automatically identify the vehicle number to determine the vehicle model information, and obtain the vehicle compartment information based on the vehicle model information.

7. A positioning device that meets the requirements of fully automatic mechanical sampling of special-shaped carriages, characterized in that: include: The sampling trolley uses the first draw-rope encoder to measure distance when it moves, and the sampling head of the sampler uses the second draw-rope encoder to measure distance when it rises and falls. The sampling head lifting motor is equipped with a frequency converter. A first acquisition module is used to acquire carriage information; The recognition module is used to determine the length, width, and height of the exterior and interior of the carriage based on the carriage information, and automatically identify the safe and dangerous areas for carriage sampling. The dangerous areas include the covers on both sides of the carriage bottom, the unloading belt, and the tie rod positions; The control module is used to control the movement of the sampling trolley and the sampling head lifting motor to drive the sampling head to work, avoiding the dangerous area and completing the sampling operation in the safe area; It is also used to monitor the load feedback value of the inverter in real time. If the load feedback value is within the normal range, the sampling head will continue to descend. Otherwise, the descent speed of the sampling head will be limited. It is also used to control the output frequency of the frequency converter to adjust the speed of the sampling head according to the real-time sampling depth coordinates to meet the speed range set by the speed segment sampling stroke.

8. A positioning device for fully automatic mechanical sampling of special-shaped carriages according to claim 7, characterized in that: It also includes a storage module for storing the car width C, the car inner panel width and car length F, the car inner panel length and car height E, the height from the ground to the car floor, the position of the first tie rod from the front of the car tail plate, the position of the second tie rod from the front of the car tail plate, the height A of the highest vertex of the covering parts on both sides of the car bottom from the ground, the height B of the lowest vertex of the covering parts on both sides of the car bottom from the ground, the spacing C between the covering parts on both sides of the car bottom and the bottom width D of the covering parts on both sides of the car bottom.

9. The positioning device for fully automatic mechanical sampling of special-shaped carriages according to claim 7 is characterized in that: The determination of safe and dangerous areas includes: When the vehicle compartment is determined to be a special-shaped compartment according to the compartment information, the first safety zone position is automatically identified according to A, C, and F; Determine the width of the danger zone on both sides according to (CD) / 2, obtain the upper height of the danger zone on both sides through AB, automatically calculate the area of the danger zone on both sides through trigonometric functions, and identify the upper position of the danger zone on both sides through the area; Determine the location of the second safety zone based on C, D, and AB; Automatically identify the location of the third safety zone based on B, D, and E.

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