Positioning method of unloading trolley and related equipment

Abstract

The invention discloses a positioning method of a discharging trolley and related equipment, and relates to the technical field of trolley positioning, and the method comprises the steps: determining the moving direction of the discharging trolley based on a target stock bin number and a current stock bin number; determining a target deceleration position coordinate and a target stop position coordinate based on the moving direction and the target stock bin number; acquiring real-time position coordinates of the unloading trolley; based on the real-time position coordinates and the target deceleration position coordinates, the unloading trolley is controlled to conduct deceleration operation; based on the real-time position coordinates, when the unloading trolley enters a preset judgment interval with the target stop position coordinates as the center, an in-place signal of the unloading trolley is obtained; based on the real-time position coordinate, the target stop position coordinate and the in-place signal, whether the unloading trolley reaches the target stock bin position or not is determined; and when the unloading trolley reaches the position of the target stock bin, the unloading trolley is controlled to stop running, so that the materials are unloaded into the target stock bin.

Description

Technical Field

[0001] This application relates to the field of trolley positioning technology, and in particular to a positioning method and related equipment for an unloading trolley. Background Technology

[0002] In the process of conveying bulk materials in industries such as steel smelting, unloading trolleys are key equipment responsible for material transfer and fixed-point feeding. Their positioning accuracy directly affects the continuity and stability of the production process. Currently, the industry commonly uses proximity switches as the primary means of trolley position detection. Coarse positioning is achieved by placing switch points near the hopper and relying on mechanical stops to trigger signals. However, due to factors such as uneven tracks and trolley inertia, the proximity switch may still slip after triggering, causing the actual stopping position to deviate from the target hopper opening. This severely affects unloading accuracy and operational continuity, often requiring manual verification, increasing operational intensity and system uncertainty. Therefore, a positioning method for unloading trolleys is urgently needed to solve the aforementioned problems. Summary of the Invention

[0003] The summary section introduces a series of simplified concepts, which will be further explained in detail in the detailed description section. This summary section is not intended to limit the key and essential technical features of the claimed technical solutions, nor is it intended to determine the scope of protection of the claimed technical solutions.

[0004] Firstly, this application provides a method for positioning an unloading trolley, comprising: The direction of movement of the unloading trolley is determined based on the target hopper number and the current hopper number; Based on the direction of movement and the target hopper number, determine the target deceleration position coordinates and the target stopping position coordinates; Obtain the real-time position coordinates of the unloading trolley, wherein the real-time position coordinates are continuously generated based on the Gray busbar positioning system; Based on the real-time position coordinates and the target deceleration position coordinates, the unloading trolley is controlled to decelerate. Based on the real-time position coordinates, when the unloading trolley enters a preset judgment interval centered on the target stop position coordinates, the unloading trolley's arrival signal is obtained, wherein the arrival signal is triggered by the proximity switch positioning system when the unloading trolley reaches the preset proximity switch position; Based on the real-time position coordinates, the target stop position coordinates, and the arrival signal, it is determined whether the unloading trolley has reached the target hopper position; When the unloading trolley reaches the target silo, the unloading trolley is stopped so that the material is unloaded into the target silo.

[0005] In some implementations, determining the direction of movement of the unloading trolley based on the target hopper number and the current hopper number includes: Calculate the difference between the current bin number and the target bin number; If the difference is positive, then the direction of movement is determined to be the first direction; If the difference is negative, the direction of movement is determined to be the second direction, wherein the first direction is opposite to the second direction.

[0006] In some implementations, determining the target deceleration position coordinates based on the direction of movement and the target hopper number includes: Based on the direction of movement, the associated bin number of the target deceleration position is determined, wherein when the direction of movement is a first direction, the associated bin number is the target bin number minus a preset integer value; when the direction of movement is a second direction, the associated bin number is the target bin number. Based on a preset position mapping table, the deceleration position coordinates corresponding to the associated silo number are queried, and these coordinates are determined as the target deceleration position coordinates. The preset position mapping table includes the mapping relationship between each silo number and the deceleration position coordinates corresponding to the silo number.

[0007] In some embodiments, controlling the unloading trolley to decelerate based on the real-time position coordinates and the target deceleration position coordinates includes: Based on the real-time position coordinates and the target deceleration position coordinates, calculate the first distance difference; Based on the first distance difference and the preset deceleration trigger threshold, determine whether the deceleration condition is met; When the deceleration condition is met, the unloading trolley is controlled to switch to low-speed operation mode.

[0008] In some implementations, the step of acquiring the arrival signal of the unloading trolley when it enters a preset judgment interval centered on the target stop position coordinates, based on the real-time position coordinates, includes: Calculate the second distance difference based on the real-time position coordinates and the target stopping position coordinates; Based on the second distance difference and the preset interval threshold, it is determined whether the unloading trolley has entered the preset judgment interval; When the unloading trolley enters the preset judgment range, the arrival signal of the unloading trolley is obtained based on the switch signal output by the proximity switch positioning system.

[0009] In some implementations, determining whether the unloading trolley has reached the target hopper location based on the real-time position coordinates, the target stop position coordinates, and the arrival signal includes: Calculate the position deviation value based on the real-time position coordinates and the target stopping position coordinates; Based on the position deviation value and the preset position tolerance threshold, determine whether the first positioning condition is met; Based on the arrival signal and the target silo number, determine whether the second arrival condition is met; Based on the first arrival condition and the second arrival condition, it is determined whether the unloading trolley has reached the target silo location.

[0010] Secondly, this application proposes a positioning device for an unloading trolley, comprising: The direction determination unit is used to determine the moving direction of the unloading trolley based on the target hopper number and the current hopper number; The coordinate setting unit is used to determine the target deceleration position coordinates and the target stopping position coordinates based on the moving direction and the target hopper number; The coordinate acquisition unit is used to acquire the real-time position coordinates of the unloading trolley, wherein the real-time position coordinates are continuously generated based on the Gray bus positioning system; The deceleration control unit is used to control the unloading trolley to decelerate based on the real-time position coordinates and the target deceleration position coordinates; The signal acquisition unit is used to acquire the arrival signal of the unloading trolley when the unloading trolley enters a preset judgment interval centered on the target stop position coordinates, based on the real-time position coordinates. The arrival signal is triggered by the proximity switch positioning system when the unloading trolley reaches the preset proximity switch position. The arrival determination unit is used to determine whether the unloading trolley has reached the target hopper position based on the real-time position coordinates, the target stop position coordinates, and the arrival signal. The parking control unit is used to control the unloading trolley to stop running when it reaches the target silo position, so that the material is unloaded into the target silo.

[0011] Thirdly, an electronic device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program stored in the memory to implement the steps of the positioning method for the unloading trolley according to any of the first aspects.

[0012] Fourthly, this application also proposes a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, it implements the steps of the positioning method for the unloading trolley according to any one of the first aspects.

[0013] Fifthly, this application proposes a computer program product, including a computer program, which, when executed by a processor, implements the steps of the positioning method for the unloading trolley according to any one of the first aspects.

[0014] In summary, the positioning method for the unloading trolley proposed in this application improves the accuracy and reliability of the trolley's stopping position by integrating discrete proximity switch signals with continuous position data from the Gray bus system to construct a redundant positioning mechanism. It also utilizes the Gray bus system to acquire high-precision position coordinates in real time, enabling continuous closed-loop control of the trolley's movement and effectively suppressing slippage caused by inertia or track fluctuations. Furthermore, by introducing proximity switch signals for dual verification when approaching a preset stopping interval, the robustness of the positioning results is further enhanced, reducing reliance on a single sensor. Thus, without manual intervention, the method ensures that the unloading trolley completes positioning and unloading operations efficiently, stably, and accurately, improving the system's automation level and production efficiency. Attached Figure Description

[0015] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit this specification. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings: Figure 1 A schematic flowchart illustrating a positioning method for an unloading trolley provided in an embodiment of this application; Figure 2 A schematic diagram of a positioning system for an unloading trolley provided in an embodiment of this application; Figure 3 A schematic diagram of a positioning device for an unloading trolley provided in an embodiment of this application; Figure 4 This is a schematic diagram of a positioning electronic device for an unloading trolley provided in an embodiment of this application. Detailed Implementation

[0016] The terms "first," "second," "third," "fourth," etc. (if present) in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments described herein can be implemented in a sequence other than that illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus. The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them.

[0017] Please see Figure 1 This is a schematic flowchart illustrating a positioning method for an unloading trolley provided in an embodiment of this application, which specifically includes: S110. Determine the moving direction of the unloading trolley based on the target hopper number and the current hopper number; For example, the system obtains the numbering information of the target hopper and the current hopper, and determines the direction of the trolley's movement based on the relationship between the two. Specifically, the system first reads the number representing the hopper's sequence position, and then uses arithmetic operations to determine whether the trolley should move in the direction of increasing or decreasing numbers. This decision-making logic based on the difference in numbers replaces the traditional method that relies on manual judgment or complex sensor arrays.

[0018] S120. Based on the direction of movement and the target hopper number, determine the coordinates of the target deceleration position and the target stopping position; For example, after determining the direction of movement of the unloading trolley, the key position points during its operation are further determined, namely the target deceleration position coordinates at the start of deceleration and the target stopping position coordinates at the final stop. This step makes decisions based on preset logical rules by combining the direction of movement with the target hopper number. Specifically, firstly, based on whether the direction of movement is towards the side where the hopper number increases or decreases, a specific hopper number associated with it is selected. This number is used to index a pre-established and stored position mapping table. This mapping table records the absolute position coordinates corresponding to each hopper number, which are pre-calibrated by the high-precision Gray bus system. By querying this table, the deceleration point coordinates and stopping point coordinates matching the current direction of movement and the target hopper can be obtained.

[0019] S130. Obtain the real-time position coordinates of the unloading trolley, wherein the real-time position coordinates are continuously generated based on the Gray busbar positioning system; For example, a Gray line positioning system is used to achieve continuous, high-precision position tracking of the unloading trolley as it moves along the track. The system works by laying a Gray line scale along the entire trolley track, with its core wires arranged according to a specific binary encoding rule, forming an absolute position reference system. A decoder antenna mounted on the trolley moves with the trolley, inducing electromagnetic induction with the Gray line on the ground, thereby reading the Gray code signal representing the current absolute position in real time. This signal is decoded by a gateway device and converted into position coordinate data in standard binary format, which is then continuously transmitted to the control system via an industrial network. Thus, the system can continuously acquire the absolute position of the unloading trolley on the track.

[0020] S140. Based on the real-time position coordinates and the target deceleration position coordinates, control the unloading trolley to decelerate; For example, the continuous, high-precision absolute position information provided by the Gray bus system is used to control the deceleration point of the unloading trolley. The system continuously compares the relative position of the trolley's current real-time position with the coordinates of the preset target deceleration position, calculating the distance difference between the two. When this difference reaches the system's preset deceleration trigger threshold, it indicates that the trolley has traveled to the area where deceleration needs to begin. At this time, the control system issues a command to switch the unloading trolley to a low-speed operating mode. This deceleration control method based on absolute position and distance judgment replaces the traditional mode that relies on a single fixed-point sensor to trigger deceleration. It can more accurately start and stop the deceleration process according to the actual operating state of the trolley, effectively smoothing the vehicle speed, preparing for subsequent stopping at the target point, and suppressing the slippage phenomenon caused by inertia and other factors, thus improving the stability of the entire positioning process and the final stopping position accuracy.

[0021] S150. Based on real-time position coordinates, when the unloading trolley enters the preset judgment range centered on the target stop position coordinates, the unloading trolley's arrival signal is obtained. The arrival signal is triggered by the proximity switch positioning system when the unloading trolley reaches the preset proximity switch position. For example, by integrating the continuous position monitoring of the Gray bus system with the discrete point triggering characteristics of proximity switches, a collaborative judgment mechanism is constructed to provide a key signal input for the final confirmation of arrival. The principle is to utilize the continuous, high-precision absolute position data provided by the Gray bus system to monitor in real time whether the unloading trolley has entered a pre-set tolerance range around the target stop point, i.e., the preset judgment interval. Once the system determines through calculation that the trolley has entered this interval, it activates the monitoring of the proximity switch positioning system. The proximity switch system, as an independent and reliable redundant detection unit, works by triggering a switching signal when the mechanical stop installed on the trolley moves with the trolley to the preset physical position of the proximity switch near the hopper opening. This system does not rely on continuous position calculation but provides a discrete arrival status indication at a specific point. Therefore, when the trolley enters the preset interval of the Gray bus system, the arrival signal triggered by the proximity switch hardware is obtained.

[0022] S160. Based on real-time position coordinates, target stop position coordinates, and arrival signal, determine whether the unloading trolley has reached the target hopper position; For example, firstly, based on the continuous high-precision position data provided by the Gray bus system, the deviation between the trolley's current position and the theoretical target stopping point is calculated. The absolute coordinates are used to determine whether it falls within the allowable error range, constituting a positioning condition. Simultaneously, the system receives a positioning signal generated by the proximity switch hardware being triggered at a specific physical location. This signal serves as an independent, discrete confirmation, indicating that the trolley has reached the mechanical trigger point at the hopper opening. The final positioning determination does not rely on a single condition but requires both conditions to be met simultaneously. This design constitutes a redundant verification mechanism. Only when both the continuous position judgment from the Gray bus system and the discrete trigger signal from the proximity switch indicate positioning can the system confirm that the trolley has successfully reached the target hopper position, thereby improving the accuracy and reliability of positioning judgment and effectively avoiding misjudgments caused by a single system error or failure.

[0023] S170. When the unloading trolley reaches the target silo, control the unloading trolley to stop running so that the material is unloaded into the target silo.

[0024] For example, when the system determines, based on a redundant positioning mechanism, that the unloading trolley has accurately arrived at the target silo, it generates a stop control command to drive the unloading trolley to stop. This control action ensures the alignment between the unloading hopper and the silo opening, allowing materials to be accurately unloaded into the target silo along a preset path, thereby completing the automated unloading operation cycle.

[0025] In summary, this embodiment improves the execution accuracy of unloading operations by fusing discrete proximity switch signals with continuous position data from the Gray bus system. This embodiment utilizes the Gray bus system to achieve continuous, high-precision absolute position monitoring of the trolley's trajectory, providing a data foundation for closed-loop control at deceleration and stopping points. This effectively suppresses slippage caused by uneven tracks or inertia, ensuring accurate stopping positions. Simultaneously, a hardware arrival signal triggered by a proximity switch is introduced for dual verification when approaching the target point, forming redundant judgment logic. This enhances fault tolerance to single sensor failures and reduces the risk of misjudgment. This collaborative positioning method ensures the unloading trolley completes positioning and unloading operations without manual intervention, improving the production efficiency of the material handling process.

[0026] Please see Figure 2 This diagram illustrates a positioning system for an unloading trolley, as provided in an embodiment of this application. Its working principle involves constructing a redundant control system combining Gray bus absolute position detection with proximity switch redundancy verification. The system first uses an address encoding box as a data processing and forwarding unit, which integrates a Gray bus decoder and gateway function. The Gray bus decoder antenna, mounted on the unloading trolley, moves along the track and electromagnetically induces a Gray bus scale laid along the entire guide rail, continuously reading the Gray code representing the trolley's absolute position. This Gray code signal is transmitted to the address encoding box for decoding, converting it into standard, high-precision binary absolute position data (e.g., coordinate values ​​in millimeters). Subsequently, this position data is transmitted in real-time to the data block of an S7-1500 PLC via an access switch through an industrial Ethernet protocol (such as PROFINET).

[0027] Meanwhile, as another part of redundant positioning and key point trigger verification, the system uses a multi-stage system along the guide rail for each hopper (e.g., Figure 2 Proximity switches (corresponding to 1, 2, etc. below the unloading conveyor belt) are installed at specific locations in the alloy hoppers 1 to 10 shown. When the unloading trolley moves and the proximity switch stop on its body passes these preset proximity switches, a switching signal is triggered. These hardwired signals are directly connected to the DI (Digital Input) module of another S7-1500 PLC via cables, providing the PLC with discrete, point-to-point position status information.

[0028] The S7-1500 PLC, acting as the controller for the entire system, runs a pre-programmed control logic program. It continuously receives and processes the absolute position data stream from the address encoder to calculate the trolley's real-time position, speed, and distance to the target point. This enables closed-loop control of deceleration and stopping points, suppressing slippage. When the PLC determines, based on the Gray bus data, that the trolley has entered the preset tolerance range of the target hopper opening, it simultaneously listens for the corresponding proximity switch trigger signal from the DI module. Only when both the absolute position calculated by the Gray bus and the trigger signal from the target hopper proximity switch are simultaneously satisfied does the PLC ultimately determine that the trolley has accurately reached its position. It then issues a stop command, controlling the trolley to brake and stop, and controls the unloading flap on the unloading hopper to perform the unloading action. The entire system's operating status, trolley real-time position, hopper selection, fault alarms, and other information are centrally monitored and displayed through an HMI (Human-Machine Interface) connected to the same network. Operators can issue control commands (such as selecting the target hopper) and monitor the execution of the automated unloading process through the HMI.

[0029] In some instances, the direction of movement of the unloading trolley is determined based on the target hopper number and the current hopper number, including: Calculate the difference between the current bin number and the target bin number; If the difference is positive, then the direction of movement is determined to be the first direction; If the difference is negative, then the direction of movement is determined to be the second direction, which is the opposite of the first direction.

[0030] For example, the system obtains the target silo number specified by the upper-level management system or operator, and reads the silo number currently occupied by the unloading trolley as the current silo number. The difference is obtained by performing an arithmetic operation by subtracting the target silo number from the current silo number. The mathematical properties of this difference are used for logical judgment to determine the direction of movement. If the calculated difference is greater than zero (positive), the system determines that the unloading trolley must move in the first direction; if the calculated difference is less than zero (negative), the system determines that the unloading trolley must move in the second direction. The first and second directions defined here represent, in physical space, two completely opposite running trajectories on the unloading trolley track.

[0031] The logic for determining the direction of movement is related to the actual physical layout of silos in industrial production. Typically, silos are arranged linearly along tracks and assigned sequentially increasing or decreasing numbers. The first direction is usually predefined as the spatial orientation pointing towards silo numbers that gradually decrease, while the second direction is defined as the spatial orientation pointing towards silo numbers that gradually increase.

[0032] In summary, the embodiments of this application replace the reliance on complex sensor arrays or manual experience in traditional control with arithmetic operations and logical judgments, directly converting the management information of the silo number into control commands. This process, based on known digital information of the system, requires no additional hardware detection, reducing system complexity and cost. More importantly, it provides accurate directional constraints for all subsequent high-precision control based on absolute position, avoiding control logic confusion, inefficiency, and even equipment conflicts caused by directional misjudgments. This ensures the entire unloading process can be correctly and orderly started and executed, improving the system's intelligence and response reliability.

[0033] In some instances, the target deceleration position coordinates are determined based on the direction of movement and the target hopper number, including: Based on the direction of movement, the associated bin number of the target deceleration position is determined. When the direction of movement is the first direction, the associated bin number is the target bin number minus a preset integer value; when the direction of movement is the second direction, the associated bin number is the target bin number. Based on the preset position mapping table, the deceleration position coordinates corresponding to the associated silo number are queried, and these coordinates are determined as the target deceleration position coordinates. The preset position mapping table includes the mapping relationship between each silo number and the deceleration position coordinates corresponding to the silo number.

[0034] For example, based on the previously determined direction of movement of the unloading trolley, the specific bin number associated with the target deceleration position is determined. This logic lies in the spatial correspondence between the movement direction and the bin number sequence. Specifically, when the movement direction is determined to be the first direction, this direction typically corresponds to a spatial direction where bin numbers decrease sequentially. The system determines the associated bin number of the target deceleration position as the current target bin number minus a preset integer value. This preset integer value is typically 1, indicating that the trolley is expected to begin deceleration in the vicinity of a bin position before reaching the target bin. Conversely, when the movement direction is determined to be the second direction, this direction corresponds to a spatial direction where bin numbers increase sequentially. The system directly determines the target bin number itself as the associated bin number. This step transforms the abstract movement command into a concrete index identifier that can be queried with a pre-stored database. Figure 2 In the diagram, 1A and 2A represent the target deceleration position.

[0035] After successfully obtaining the associated hopper number, the system queries a pre-established position mapping table stored in the controller. This mapping table is constructed during system initialization or calibration by driving the unloading trolley to precisely stop at each hopper opening sequentially and recording the absolute coordinate values ​​fed back by the Gray busbar positioning system. It records the mapping relationship between each hopper number and one or more corresponding key position coordinates (e.g., stop position coordinates, deceleration position coordinates). The system uses the associated hopper number obtained in the previous step as the query key to retrieve its pre-calibrated corresponding deceleration position coordinates from this mapping table, and ultimately determines this coordinate value as the target deceleration position coordinates that the unloading trolley needs to reach within the current control cycle.

[0036] In summary, this embodiment combines the movement direction logic with pre-calibrated absolute position information to set the deceleration point, avoiding the need for fixed-position deceleration limit switches along the track in traditional methods. Utilizing high-precision absolute coordinates for control allows for more accurate deceleration point setting, enabling dynamic adjustment based on the specific target hopper and running direction. This not only enhances adaptability to different process layouts but, more importantly, by triggering deceleration at a precise location with a safe distance from the target stopping point, provides ample space and time for the trolley to smoothly decelerate and suppress inertial impulse, thereby reducing the risk of slippage at the final stopping point.

[0037] It should be noted that when determining the target stopping position coordinates, the system directly queries the preset position mapping table based on the target silo number to obtain the absolute coordinates that uniquely correspond to the target silo number, and determines these coordinates as the final target stopping position coordinates.

[0038] In some instances, the unloading trolley is controlled to decelerate based on real-time position coordinates and target deceleration position coordinates, including: Calculate the first distance difference based on the real-time position coordinates and the target deceleration position coordinates; Based on the first distance difference and the preset deceleration trigger threshold, determine whether the deceleration condition is met; When the deceleration conditions are met, the unloading trolley is switched to low-speed operation mode.

[0039] For example, the process of controlling the deceleration operation of the unloading trolley based on real-time position coordinates and target deceleration position coordinates constitutes the control link for achieving precise stopping and preventing slippage. The system continuously acquires real-time position coordinates, representing the absolute position of the unloading trolley on the track, provided by the Gray busbar positioning system, and simultaneously reads the target deceleration position coordinates, pre-determined based on the direction of movement and the target hopper number. The core of the control lies in the real-time calculation of the difference between the two coordinate values, which is defined as the first distance difference, physically representing the distance between the current position of the unloading trolley and the ideal deceleration starting point.

[0040] The system compares the calculated first distance difference with a pre-set parameter (preset deceleration trigger threshold) stored in the controller. This preset deceleration trigger threshold is an empirical or theoretical value determined through engineering calculations or experimental calibration based on the unloading trolley's operating characteristics (such as rated speed, mass, and braking performance) and actual track conditions (such as gradient and friction coefficient). Its physical meaning is the minimum safe distance necessary to trigger deceleration. The comparison logic aims to determine whether the first distance difference is less than or equal to the preset deceleration trigger threshold. If this condition is met, the system generates a logical judgment result indicating that the deceleration condition is met; if not, the control system continues to monitor changes in the first distance difference.

[0041] Once the system determines that the deceleration conditions are met, it generates a corresponding control command and outputs it to the drive actuator of the unloading trolley. The core of this control command is to instruct the unloading trolley to switch from its current operating speed to a predefined low-speed operating mode. The set speed in low-speed operating mode is lower than the normal operating speed, designed to ensure the trolley can still approach the target point at a controllable speed. Simultaneously, due to its significantly reduced kinetic energy, it provides sufficient conditions for precise stopping at the target point, effectively suppressing the phenomenon of the trolley slipping past the target point due to excessive inertia. The triggering of the deceleration command relies entirely on the absolute position information provided by the Gray busbar and the judgment of preset coordinates, replacing the traditional passive triggering method that relies on fixed-position deceleration limit switches.

[0042] In summary, this embodiment achieves precise control of the deceleration point through high-precision continuous position monitoring and real-time calculation. The triggering of the deceleration action no longer relies on discrete signals from mechanical limit switches at fixed points, but rather on dynamic decisions based on the real-time running status and position of the trolley. This makes the deceleration process smoother and reduces the impact on the mechanical structure. Simultaneously, since the deceleration point can be dynamically adjusted according to the target hopper, it enhances adaptability to different process requirements. Most importantly, by smoothly decelerating in advance at a precisely calculated position with sufficient braking distance, the trolley's kinetic energy is reduced, laying the foundation for precise stopping at the target point. This effectively suppresses slippage and improves the stability of the entire positioning process and the final stopping accuracy.

[0043] In some instances, based on real-time position coordinates, when the unloading trolley enters a preset judgment interval centered on the target stop position coordinates, the unloading trolley's arrival signal is obtained, including: Calculate the second distance difference based on the real-time position coordinates and the target's stopping position coordinates; Based on the second distance difference and the preset interval threshold, it is determined whether the unloading trolley has entered the preset judgment interval; When the unloading trolley enters the preset judgment range, the positioning signal of the unloading trolley is obtained based on the switch signal output by the proximity switch positioning system.

[0044] For example, the system continuously receives the real-time position coordinates of the unloading trolley from the Gray busbar positioning system and simultaneously acquires the pre-set target stop position coordinates. The core of the control lies in the real-time calculation of the difference between the two coordinate values, which is defined as the second distance difference. Its physical meaning represents the absolute distance between the current position of the unloading trolley and the ideal final stop point. The system continuously compares the calculated second distance difference with a pre-set parameter (preset interval threshold) stored in the controller. This preset interval threshold is an empirical or calculated value calibrated through engineering practice based on the actual working conditions, equipment characteristics, and control accuracy requirements. Its physical meaning defines a spatial radius of a symmetrical tolerance range around the target stop point. The comparison logic aims to determine whether the second distance difference is less than or equal to the preset interval threshold. If this condition is met, the system generates a logic state that "the unloading trolley has entered the preset judgment interval"; if not, the control system continues to monitor the change of the second distance difference and maintains a listening and waiting state for the proximity switch signal.

[0045] Once the system logic determines that the unloading trolley has entered the preset judgment range, it immediately begins to acquire and monitor the hardware output signal of the proximity switch positioning system. The proximity switch positioning system, as an independently operating detection unit, works by triggering a physical state change within a pre-installed proximity switch near the target hopper opening when the mechanical stop mounted on the unloading trolley moves with it. This generates a switching electrical signal. This signal is transmitted in real-time to the controller's digital input module via a hard-wired cable. Therefore, only when the unloading trolley enters the preset judgment range defined by the Gray bus system is this switching signal, generated by the physical triggering of the specific proximity switch and representing hardware position confirmation, adopted by the system and defined as a valid arrival signal.

[0046] The design of the above-mentioned collaborative mechanism ensures that the acquisition of the arrival signal is not unconditional, but is restricted to a reasonable spatial range where the vehicle is very close to the target point. This effectively avoids the erroneous acquisition of interference signals caused by accidental triggering of the proximity switch or triggering in unrelated areas, thus improving the effectiveness and reliability of the arrival signal.

[0047] In summary, this embodiment of the application uses the continuous and absolute position information provided by the Gray bus system as an activation condition to control the timing of acquiring discrete signals from the proximity switch, thus achieving a temporal and logical synergy between two positioning technologies based on different principles. This method not only fully leverages the high accuracy of continuous positioning provided by the Gray bus system to activate the signal acquisition window, but also preserves the independence and reliability of the proximity switch as a hardware point trigger to provide final timing confirmation. This synergistic mechanism improves the accuracy of identifying valid positioning signals and avoids false alarms or missed alarms that may occur with a single system.

[0048] In some instances, the determination of whether the unloading trolley has reached the target hopper location is based on real-time position coordinates, target stop position coordinates, and arrival signals, including: Calculate the position deviation value based on the real-time position coordinates and the target's stopping position coordinates; Based on the position deviation value and the preset position tolerance threshold, determine whether the first positioning condition is met; Based on the arrival signal and the target silo number, determine whether the second arrival condition is met; Based on the first and second arrival conditions, determine whether the unloading trolley has reached the target silo location.

[0049] For example, the system continuously acquires real-time position coordinates provided by the Gray busbar positioning system and reads the pre-set target stop position coordinates. It performs real-time coordinate subtraction to calculate the difference between the two coordinates, which is defined as the position deviation value. Its physical meaning represents the absolute distance deviation between the current actual position of the unloading trolley and the theoretical target stop point.

[0050] The system compares the calculated position deviation value with a pre-set parameter stored in the controller, namely the preset position tolerance threshold, in real time. This preset position tolerance threshold is an empirical or theoretically calculated value obtained through engineering practice calibration based on the mechanical structural precision of the unloading trolley, the allowable alignment error range of the unloading port, and process requirements. It defines the maximum positive distance deviation allowed between the trolley's stopping position and the ideal target point. The comparison logic aims to determine whether the absolute value of the position deviation is less than or equal to the preset position tolerance threshold. If this condition is met, the system generates a logic state indicating that the first positioning condition is met; otherwise, it generates a state indicating that the first positioning condition is not met.

[0051] The system synchronously listens for and acquires the arrival signal generated by the proximity switch positioning system. This signal is a switching quantity, physically generated when the stop on the trolley triggers a specific proximity switch installed at a preset position at the target hopper opening. The sensor of this proximity switch generates the signal and transmits it via hardwiring to the controller's digital input module. The system verifies whether the arrival signal generated by this hardware trigger logically matches the target hopper number to be reached by the current command. The system's built-in logic compares the currently active target hopper number with the hopper number pre-bound to the proximity switch that triggered the signal. If they match, it indicates that the triggered proximity signal comes from the correct position of the target hopper, and the system immediately generates a logical state indicating that the second arrival condition is met; if they do not match or no signal is received, a state indicating that the second arrival condition is not met is generated.

[0052] Based on the first and second arrival conditions, the system determines whether the unloading trolley has reached the target hopper location. The system's arrival determination follows a logical process. That is, the system only determines that the unloading trolley has accurately reached the target hopper location and generates a final arrival confirmation command when both of the above two independent conditions are simultaneously met: the first arrival condition (based on the position tolerance judgment of the absolute coordinates of the Gray busbar) and the second arrival condition (based on the point-to-point and logic matching judgment triggered by the proximity switch hardware). The absence or failure to meet any single condition will result in the system determining that the trolley has not accurately reached its destination.

[0053] In summary, this embodiment of the application improves the accuracy of positioning determination and system robustness by introducing independent data from different sensors (continuous absolute position measurement and discrete point triggering) for redundancy verification. The judgment of the Gray bus system ensures that the trolley has entered the allowable error range in absolute coordinates, while the proximity switch signal triggered at the hardware level provides additional, physical confirmation information bound to a specific hopper. The two complement and verify each other. This design effectively avoids misjudgments caused by data drift, calculation errors, temporary interference, or single point failures that may occur in a single system (such as misjudging a nearby hopper as the target hopper or judging inaccurate alignment as positioning), thereby providing a highly reliable decision-making basis for subsequent stopping and unloading actions and ensuring the accuracy of unloading operations.

[0054] In some instances, when the unloading trolley reaches the target hopper location, the unloading trolley is controlled to stop, allowing the material to be unloaded into the target hopper, including: For example, when the system confirms, based on the redundant judgment logic, that the unloading trolley has reached the target silo position, i.e., the first and second arrival conditions are met simultaneously, a stop control command is generated. This command is sent to the drive actuator of the unloading trolley through the output module of the control system. The drive actuator cuts off the power supply to the walking motor and applies the brakes according to the command, so that the unloading trolley smoothly transitions from a low-speed running state to a completely stopped state. This stop control process aims to ensure that the outlet of the unloading hopper installed on the trolley and the inlet of the target silo are precisely aligned in space, thereby creating the necessary physical conditions for the smooth transfer of materials. Subsequently, the system triggers the unloading actuator (such as controlling the opening of the unloading flap or the operation of the unloading belt) so that the material carried is accurately unloaded into the target silo under the action of gravity or mechanical conveying, thus completing the unloading operation.

[0055] Please see Figure 3 The diagram below illustrates the structure of a positioning device for an unloading trolley, as provided in an embodiment of this application, comprising: The direction determination unit 21 is used to determine the moving direction of the unloading trolley based on the target hopper number and the current hopper number; The coordinate setting unit 22 is used to determine the target deceleration position coordinates and the target stopping position coordinates based on the direction of movement and the target hopper number; The coordinate acquisition unit 23 is used to acquire the real-time position coordinates of the unloading trolley, wherein the real-time position coordinates are continuously generated based on the Gray bus positioning system; The deceleration control unit 24 is used to control the unloading trolley to decelerate based on the real-time position coordinates and the target deceleration position coordinates; The signal acquisition unit 25 is used to acquire the position signal of the unloading trolley when the unloading trolley enters the preset judgment range centered on the target stop position coordinates based on the real-time position coordinates. The position signal is triggered by the proximity switch positioning system when the unloading trolley reaches the preset proximity switch position. The positioning judgment unit 26 is used to determine whether the unloading trolley has reached the target hopper position based on the real-time position coordinates, the target stop position coordinates and the positioning signal; The parking control unit 27 is used to control the unloading trolley to stop running when it reaches the target hopper position, so that the material is unloaded into the target hopper.

[0056] Please see Figure 4 This application also provides an electronic device 300, including a memory 310, a processor 320, and a computer program 311 stored in the memory 310 and executable on the processor. When the processor 320 executes the computer program 311, it implements the steps of the positioning method for the unloading trolley.

[0057] Since the electronic device described in this embodiment is the device used to implement the positioning device of the unloading trolley in the embodiment of this application, those skilled in the art can understand the specific implementation method and various variations of the electronic device in this embodiment based on the method described in the embodiment of this application. Therefore, how the electronic device implements the method in the embodiment of this application will not be described in detail here. Any device used by those skilled in the art to implement the method in the embodiment of this application is within the scope of protection of this application.

[0058] In practice, when the computer program 311 is executed by the processor, it can implement any of the embodiments corresponding to the first aspect.

[0059] It should be noted that the descriptions of each embodiment in the above embodiments have different focuses. For parts that are not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0060] Those skilled in the art will understand that embodiments of this application can provide methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-readable storage media containing computer-readable program code.

[0061] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create a machine for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0062] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0063] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0064] This application also provides a computer program product, which includes computer software instructions that, when executed on a processing device, cause the processing device to perform... Figure 1 The flowchart of a positioning method for an unloading trolley in the corresponding embodiment.

[0065] A computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the flow or function according to the embodiments of this application is generated. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another. For example, computer instructions may be transferred from one website, computer, server, or data center to another website, computer, server, or data center via wired or wireless means. The computer-readable storage medium may be any usable medium that a computer can store or a data storage device such as a server or data center that integrates one or more usable media. The usable medium may be a magnetic medium, an optical medium, or a semiconductor medium, etc.

[0066] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0067] In the several embodiments provided in this application, it should be understood that the disclosed devices, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Furthermore, the mutual couplings or direct couplings or communication connections shown or discussed may be indirect couplings or communication connections through some interfaces, devices, or units, and may be electrical, mechanical, or other forms.

[0068] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0069] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated units described above can be implemented in the form of hardware and / or software functional units.

[0070] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device to execute all or part of the steps of the methods in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory, magnetic disks, or optical disks.

[0071] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

[0072] Although preferred embodiments have been described in this specification, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications that fall outside the scope of this specification.

[0073] Obviously, those skilled in the art can make various modifications to this specification without departing from its spirit and scope. Therefore, this specification also intends to include any modifications that fall within the scope of the claims and their equivalents.

Claims

1. A positioning method for an unloading trolley, characterized in that, include: The direction of movement of the unloading trolley is determined based on the target bin number and the current bin number; Based on the direction of movement and the target hopper number, determine the target deceleration position coordinates and the target stopping position coordinates; Obtain the real-time position coordinates of the unloading trolley, wherein the real-time position coordinates are continuously generated based on the Gray busbar positioning system; Based on the real-time position coordinates and the target deceleration position coordinates, the unloading trolley is controlled to decelerate. Based on the real-time position coordinates, when the unloading trolley enters a preset judgment interval centered on the target stop position coordinates, the unloading trolley's arrival signal is obtained, wherein the arrival signal is triggered by the proximity switch positioning system when the unloading trolley reaches the preset proximity switch position; Based on the real-time position coordinates, the target stop position coordinates, and the arrival signal, it is determined whether the unloading trolley has reached the target hopper position; When the unloading trolley reaches the target silo, the unloading trolley is stopped so that the material is unloaded into the target silo.

2. The method according to claim 1, characterized in that, The step of determining the movement direction of the unloading trolley based on the target hopper number and the current hopper number includes: Calculate the difference between the current bin number and the target bin number; If the difference is positive, then the direction of movement is determined to be the first direction; If the difference is negative, the direction of movement is determined to be the second direction, wherein the first direction is opposite to the second direction.

3. The method according to claim 2, characterized in that, Determining the target deceleration position coordinates based on the direction of movement and the target hopper number includes: Based on the direction of movement, the associated bin number of the target deceleration position is determined, wherein when the direction of movement is a first direction, the associated bin number is the target bin number minus a preset integer value; when the direction of movement is a second direction, the associated bin number is the target bin number. Based on a preset position mapping table, the deceleration position coordinates corresponding to the associated silo number are queried, and these coordinates are determined as the target deceleration position coordinates. The preset position mapping table includes the mapping relationship between each silo number and the deceleration position coordinates corresponding to the silo number.

4. The method according to claim 1, characterized in that, The step of controlling the unloading trolley to decelerate based on the real-time position coordinates and the target deceleration position coordinates includes: Based on the real-time position coordinates and the target deceleration position coordinates, calculate the first distance difference; Based on the first distance difference and the preset deceleration trigger threshold, determine whether the deceleration condition is met; When the deceleration condition is met, the unloading trolley is controlled to switch to low-speed operation mode.

5. The method according to claim 1, characterized in that, Based on the real-time position coordinates, when the unloading trolley enters a preset judgment interval centered on the target stop position coordinates, the arrival signal of the unloading trolley is obtained, including: Calculate the second distance difference based on the real-time position coordinates and the target stopping position coordinates; Based on the second distance difference and the preset interval threshold, it is determined whether the unloading trolley has entered the preset judgment interval; When the unloading trolley enters the preset judgment range, the arrival signal of the unloading trolley is obtained based on the switch signal output by the proximity switch positioning system.

6. The method according to claim 1, characterized in that, The step of determining whether the unloading trolley has reached the target hopper position based on the real-time position coordinates, the target stop position coordinates, and the arrival signal includes: Calculate the position deviation value based on the real-time position coordinates and the target stopping position coordinates; Based on the position deviation value and the preset position tolerance threshold, determine whether the first positioning condition is met; Based on the arrival signal and the target silo number, determine whether the second arrival condition is met; Based on the first arrival condition and the second arrival condition, it is determined whether the unloading trolley has reached the target silo location.

7. A positioning device for an unloading trolley, characterized in that, include: The direction determination unit is used to determine the moving direction of the unloading trolley based on the target hopper number and the current hopper number; The coordinate setting unit is used to determine the target deceleration position coordinates and the target stopping position coordinates based on the moving direction and the target hopper number; The coordinate acquisition unit is used to acquire the real-time position coordinates of the unloading trolley, wherein the real-time position coordinates are continuously generated based on the Gray bus positioning system; The deceleration control unit is used to control the unloading trolley to decelerate based on the real-time position coordinates and the target deceleration position coordinates; The signal acquisition unit is used to acquire the arrival signal of the unloading trolley when the unloading trolley enters a preset judgment interval centered on the target stop position coordinates, based on the real-time position coordinates. The arrival signal is triggered by the proximity switch positioning system when the unloading trolley reaches the preset proximity switch position. The arrival determination unit is used to determine whether the unloading trolley has reached the target hopper position based on the real-time position coordinates, the target stop position coordinates, and the arrival signal. The parking control unit is used to control the unloading trolley to stop running when it reaches the target silo position, so that the material is unloaded into the target silo.

8. An electronic device, comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that the processor executes the computer program stored in the memory to implement the steps of the positioning method for the unloading trolley as described in any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the positioning method for the unloading trolley as described in any one of claims 1 to 6.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the positioning method of the unloading trolley as described in any one of claims 1 to 6.

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