A mobile house mobile control method, system and terminal

Abstract

The application relates to a mobile house mobile control method, a system and a terminal, relates to the technical field of equipment mobile control, and comprises the following steps: collecting a mobile trigger signal; driving a driving device to drive a mobile house to move according to a reference mobile parameter in response to the mobile trigger signal; controlling a stretching displacement sensor to detect the mobile house to generate a double-side detection displacement amount; preprocessing and calculating the double-side detection displacement amount and a target mobile position to generate a synchronous displacement deviation and a single-side displacement deviation; judging whether the synchronous displacement deviation is not less than a synchronous displacement threshold value; if not, controlling the driving device to stop when the single-side displacement deviation is less than a target position threshold value; if yes, analyzing the double-side detection displacement amount to determine a mobile adjustment parameter; and adjusting the driving device according to the mobile adjustment parameter until the synchronous displacement deviation is less than the synchronous displacement threshold value, and controlling the driving device to stop when the single-side displacement deviation is less than the target position threshold value. The application has the effect of improving the mobile accuracy of a mobile telescopic house.

Description

Technical Field

[0001] This application relates to the technical field of equipment movement control, and in particular to a mobile house movement control method, system and terminal. Background Technology

[0002] Mobile retractable houses are used for the closed collection and treatment of dust, fumes and harmful gases generated during grinding, welding and cutting operations of large workpieces (such as car body frames, chassis parts, bumpers and die-casting molds).

[0003] In related technologies, when large workpieces enter a mobile telescopic house, it is usually necessary to remove the roof of the mobile telescopic house, hoist the large workpiece into the mobile telescopic house from the top, and then reset the roof of the mobile telescopic house. The movement of the roof is usually controlled by a servo motor driving a planetary reducer and an encoder for positioning. That is, the servo motor provides the driving force, while the planetary reducer is used to reduce the speed and increase the output torque to drive the heavier roof. The encoder is installed on the motor shaft of the servo motor to monitor the movement position of the roof on both sides. When the positions on both sides are not synchronized, the controller coordinates the servo motors on both sides to run synchronously to ensure that the roof moves synchronously.

[0004] Regarding the aforementioned technologies, servo motors rely on high-rigidity, low-backlash mechanical transmission chains to achieve precise position control. However, if the linear guide rail experiences installation errors, insufficient machining accuracy, or wear from long-term operation, the encoder will still provide feedback on the synchronization of positioning on both sides. But the actual structure has already deformed, causing positional deviations on both sides of the roof, resulting in low movement accuracy of the mobile telescopic house. There is still room for improvement. Summary of the Invention

[0005] To improve the accuracy of mobile retractable houses, this application provides a mobile house movement control method, system, and terminal.

[0006] Firstly, this application provides a mobile house movement control method, which adopts the following technical solution:

[0007] A method for controlling the movement of a mobile home, comprising:

[0008] Collect the movement trigger signal of the mobile house;

[0009] The preset drive device responds to the movement trigger signal and drives the mobile room to move with preset reference movement parameters;

[0010] The preset tensile displacement sensor is controlled to detect the mobile house, so as to generate the bilateral detection displacement of the mobile house.

[0011] The bilaterally detected displacement and the preset target movement position are preprocessed and calculated to generate synchronous displacement deviation and unilateral displacement deviation;

[0012] Determine whether the synchronous displacement deviation is not less than the preset synchronous displacement threshold;

[0013] If not, the drive device will stop when the displacement deviation on one side is less than the preset target position threshold.

[0014] If so, the displacement detected on both sides will be analyzed to determine the movement adjustment parameters;

[0015] The drive unit is adjusted according to the movement adjustment parameters until the synchronous displacement deviation is less than the synchronous displacement threshold, and the drive unit is stopped when the displacement deviation on one side is less than the preset target position threshold.

[0016] Optionally, the step of controlling a preset tensile displacement sensor to detect the mobile house to generate the bilateral detection displacement of the mobile house includes:

[0017] The preset cleaning and noise reduction device is controlled to pre-process the pull rope of the tensile displacement sensor.

[0018] The tensile displacement sensor is controlled to detect the displacement of the mobile house in order to generate the basic detection displacement.

[0019] Collect the displacement correction value from the tensile displacement sensor;

[0020] The basic detection displacement is corrected based on the displacement correction amount to generate the bilateral detection displacement of the mobile house.

[0021] Optionally, the cleaning and noise reduction device includes a cleaning component and a temperature control component. The step of controlling the preset cleaning and noise reduction device to pre-treat the tension displacement sensor's rope includes:

[0022] The initial detection temperature and detection diameter of the pull rope were collected;

[0023] Determine whether the initial detection temperature meets the preset threshold for the affected temperature.

[0024] If so, the cleaning component is controlled to blow air onto the pull rope to remove dust adhering to the pull rope, based on the diameter of the pull rope detection.

[0025] If not, the initial detection temperature and the influencing temperature threshold are analyzed to determine the auxiliary temperature control parameters;

[0026] The temperature control component adjusts the cleaning component based on the auxiliary temperature control parameters, and the cleaning component blows air onto the pull rope to remove dust adhering to the pull rope based on the pull rope detection diameter.

[0027] Optionally, the step of controlling the cleaning assembly to blow air onto the pull rope to remove dust adhering to the pull rope, based on the pull rope detection diameter, includes:

[0028] Total number of times the rope was used for collection;

[0029] Calculate the difference between the preset standard diameter of the pull rope and the product of the total number of uses and the preset pull rope wear coefficient to generate the pull rope wear diameter;

[0030] Calculate the difference between the pull rope detection diameter and the pull rope wear diameter to generate the dust adhesion thickness;

[0031] Determine whether the dust adhesion thickness is not less than the preset dust adhesion threshold;

[0032] If not, continue to collect the pull rope detection diameter and total number of uses for cyclical judgment;

[0033] If so, the dust adhesion thickness is analyzed to determine the air blowing removal parameters;

[0034] The cleaning unit is controlled to blow air onto the pull rope to remove dust adhering to it, based on the air blowing parameters.

[0035] Optionally, the steps of analyzing the initial detection temperature and the influencing temperature threshold to determine the auxiliary temperature control parameters include:

[0036] Calculate the difference between the initial detection temperature and the influencing temperature threshold to generate the draw-wire-influencing temperature;

[0037] Calculate the product of the temperature affected by the pull rope and the preset heat transfer coefficient of the pull rope to generate the temperature adjustment amount;

[0038] Calculate the difference between the temperature threshold and the temperature adjustment amount to generate auxiliary temperature control parameters.

[0039] Optionally, the steps for acquiring the displacement correction value from the tensile displacement sensor include:

[0040] Collect the current diameter and temperature of the tension displacement sensor's cable;

[0041] The current diameter of the pull rope and the preset standard diameter of the pull rope are analyzed to determine the correction amount for diameter changes;

[0042] The current temperature of the pull rope and the preset ideal temperature of the pull rope are analyzed to determine the correction amount for the temperature effect;

[0043] The sum of the diameter change correction and the temperature effect correction is calculated to generate the displacement correction.

[0044] Optionally, the step of analyzing the current diameter of the pull rope and the preset standard diameter of the pull rope to determine the diameter change correction includes:

[0045] Calculate the difference between the current diameter of the pull rope and the standard diameter of the pull rope to generate the change in pull rope diameter;

[0046] Calculate the quotient of the change in rope diameter and the preset effective displacement diameter to generate the diameter influence coefficient;

[0047] Calculate the product of the diameter influence coefficient and the foundation detection displacement to generate the diameter change correction.

[0048] Optionally, the step of analyzing the current temperature of the pull rope and the preset ideal temperature of the pull rope to determine the temperature effect correction includes:

[0049] Calculate the difference between the current temperature of the pull rope and the ideal temperature of the pull rope to generate the displacement-affected temperature;

[0050] Collect the expansion coefficient of the pull rope;

[0051] Calculate the product of displacement-affected temperature, expansion coefficient, and foundation displacement to generate a temperature-affected correction.

[0052] Secondly, this application provides a mobile house mobile control system, which adopts the following technical solution:

[0053] A mobile housing control system, comprising:

[0054] The acquisition module is used to acquire movement trigger signals;

[0055] A memory for storing a program for a mobile house movement control method as described in any of the preceding claims;

[0056] The processor and the program in the memory can be loaded and executed by the processor to implement a mobile house movement control method as described in any of the above.

[0057] Thirdly, this application provides a smart terminal, which adopts the following technical solution:

[0058] A smart terminal includes a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executed as described in any of the preceding claims for a mobile house mobility control method.

[0059] In summary, this application includes at least one of the following beneficial technical effects:

[0060] 1. The objective displacement of the mobile house is detected by a tensile displacement sensor to obtain the displacement on both sides. The synchronous displacement deviation and the single-sided displacement deviation are obtained by analyzing the synchronous displacement and the target movement position. When the synchronous displacement deviation is not less than the synchronous displacement threshold, the drive device is adjusted according to the movement adjustment parameters until the synchronous displacement deviation is less than the synchronous displacement threshold. This ensures that the displacement on both sides of the mobile house is synchronized, and avoids the situation where the displacement on both sides is not synchronized but the detection result is synchronized, thereby improving the movement accuracy of the mobile house.

[0061] 2. By blowing air through the cleaning component, dust on the pull rope is removed, preventing dust from causing changes in the pull rope diameter and affecting the measurement accuracy of the tensile displacement sensor, thereby improving the accuracy of the tensile displacement sensor.

[0062] 3. The cleaning component is adjusted by the temperature control component, so that the temperature of the pull rope is controlled when the cleaning component blows air on the pull rope, so as to minimize the thermal expansion and contraction of the pull rope, thereby reducing the impact of temperature on the tensile displacement sensor and improving the measurement accuracy of the tensile displacement sensor. Attached Figure Description

[0063] Figure 1 This is a flowchart of a mobile house movement control method according to an embodiment of this application.

[0064] Figure 2 This is a flowchart of the steps in this application embodiment to control a preset tensile displacement sensor to detect the mobile house in order to generate the bilateral detection displacement of the mobile house.

[0065] Figure 3 This is a flowchart of the steps in which the preset cleaning and noise reduction device preprocesses the tension displacement sensor's pull rope in the embodiments of this application.

[0066] Figure 4 This is a flowchart of the steps in this application embodiment where the cleaning component controls the cleaning assembly to blow air onto the pull rope to remove dust adhering to the pull rope based on the pull rope detection diameter.

[0067] Figure 5 This is a flowchart of the steps in this application embodiment to analyze the initial detection temperature and the influencing temperature threshold to determine the auxiliary temperature control parameters.

[0068] Figure 6 This is a flowchart of the steps for acquiring the displacement correction amount of the tensile displacement sensor in the embodiments of this application.

[0069] Figure 7 This is a flowchart illustrating the steps in this application embodiment to analyze the current diameter of the pull rope and the preset standard diameter of the pull rope to determine the correction amount for diameter change.

[0070] Figure 8 This is a flowchart of the steps in this application embodiment to analyze the current temperature of the pull rope and the preset ideal temperature of the pull rope in order to determine the correction amount for the temperature influence. Detailed Implementation

[0071] To make the purpose, technical solution, and advantages of this application clearer, the following description is provided in conjunction with the appendix. Figures 1 to 8The present application will be further described in detail below with reference to embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the application.

[0072] Reference Figure 1 This application discloses a mobile house movement control method, including the following steps:

[0073] Step S100: Collect the movement trigger signal of the mobile house.

[0074] The movement trigger signal is a signal that indicates the need to move the roof of the mobile house so that large workpieces can be moved into the mobile house for processing. It is input by the operator in the processing terminal. By detecting the movement trigger signal, a timing signal is provided for the movement of the mobile house.

[0075] Step S101: The preset drive device responds to the movement trigger signal and drives the mobile room to move with preset reference movement parameters.

[0076] When a movement trigger signal is detected, the drive device responds to the movement trigger signal and drives the roof of the mobile house to move at the speed and direction corresponding to the reference movement parameters, opening the mobile house from the top and waiting for the large workpiece to be hoisted into the mobile house.

[0077] The driving device refers to the device used to drive the mobile house roof to move. In this embodiment, a three-phase asynchronous geared motor is used. This type of motor has the characteristics of simple structure, sturdiness and durability, convenient maintenance, low component content and strong overload capacity. Two three-phase asynchronous geared motors are installed on the drive ends on both sides of the mobile house roof and connected to the walking wheel axle through a coupling. The three-phase asynchronous geared motor drives the walking wheel axle to rotate, thereby moving the roof along the tracks on both sides.

[0078] The reference movement parameters refer to the speed and direction of rotation parameters of the drive device. By controlling the rotation direction and speed of the drive device, the roof can be opened or closed. The rotation direction includes forward and reverse rotation. The specific value of the speed is determined by the operator according to the actual needs. Specifically, it follows a pattern of first increasing at a constant speed, then maintaining a constant speed, and then decreasing at a constant speed.

[0079] Step S102: Control the preset tensile displacement sensor to detect the mobile house, so as to generate the double-sided detection displacement of the mobile house.

[0080] In the process of the drive device moving the roof of the mobile house, the tensile displacement sensor is controlled to detect the mobile house, thereby obtaining the displacement on both sides of the mobile house, which provides data support for subsequent control of the synchronous movement of both sides of the mobile house and the precise movement of the mobile house to the target position.

[0081] A tensile displacement sensor is a device used to detect the displacement of the roof of a mobile house. In this embodiment, a pull-wire encoder is used to fix the body of the tensile displacement sensor to a reference point at one end of the mobile house track, and the pull wire head is firmly connected to the roof of the mobile house to ensure that it can measure the absolute displacement of the roof of the mobile house in real time.

[0082] The bilateral displacement measurement refers to the displacement on both sides of the mobile house roof, which is obtained by detecting the mobile house using tensile displacement sensors. For specific methods, please refer to [link / reference needed]. Figure 2 The steps.

[0083] Step S103: Preprocess and calculate the bilateral detected displacement and the preset target movement position to generate synchronous displacement deviation and unilateral displacement deviation.

[0084] The target moving position refers to the target position of the mobile house roof. In this embodiment, the target moving position is expressed as a displacement, which is determined by the operator based on the maximum size of the large workpiece and input into the processing terminal.

[0085] Synchronous displacement deviation refers to the deviation in displacement between the two sides of the roof of the mobile house. The processing terminal performs preprocessing on the detected displacement on both sides by filtering and noise reduction, and then calculates the absolute value of the difference between the detected displacement on both sides to obtain the synchronous displacement deviation. By determining the synchronous displacement deviation, data support is provided for subsequent analysis of whether the movement of the two sides of the mobile house is synchronized.

[0086] Unilateral displacement deviation refers to the deviation of the displacement of one side of the mobile house roof from the total displacement. It is obtained by the processing terminal calculating the difference between the target moving position and the detected displacement on both sides. By determining the unilateral displacement deviation, data support is provided for subsequent analysis of whether the mobile house roof has moved to the target position.

[0087] Step S104: Determine whether the synchronous displacement deviation is not less than the preset synchronous displacement threshold.

[0088] Among them, the synchronous displacement threshold refers to the maximum displacement deviation on both sides of the mobile house roof that moves synchronously. In this embodiment, 1 mm is used as an example.

[0089] The processing terminal determines whether the synchronous displacement deviation is not less than the synchronous displacement threshold, thereby determining whether the two sides of the mobile house roof move synchronously.

[0090] Step S1041: If not, control the drive device to stop when the displacement deviation on one side is less than the preset target position threshold.

[0091] If the processing terminal determines that the synchronous displacement deviation is less than the synchronous displacement threshold, it indicates that the two sides of the mobile house roof are moving synchronously and there is no need to adjust the drive device. Therefore, it is only necessary to control the drive device to stop and lock when the displacement deviation on one side is less than the target position threshold, that is, when the mobile house roof moves to the target position.

[0092] The target position threshold refers to the maximum displacement deviation when the roof of the mobile house moves to the target position. In this embodiment, 0.5 mm is used as an example.

[0093] Step S1042: If so, analyze the displacement detected on both sides to determine the movement adjustment parameters.

[0094] If the processing terminal determines that the synchronous displacement deviation is not less than the synchronous displacement threshold, it indicates that the two sides of the mobile house roof are not moving synchronously. Therefore, after analyzing the displacement detected on both sides, the movement adjustment parameters are determined to provide data support for the subsequent control drive device to adjust the synchronous movement of the mobile house roof.

[0095] The movement adjustment parameter refers to the parameter used to adjust the rotational speed of the drive devices on both sides to move the mobile house synchronously. The processing terminal compares the displacements on both sides. If the displacement on one side is greater than that on the other, a preset speed reduction parameter is determined as the movement adjustment parameter for the side with the larger displacement, and a preset speed increase parameter is determined as the movement adjustment parameter for the side with the smaller displacement. The speed reduction and speed increase parameters represent the speed change rate, and their specific values ​​are determined by the operator based on the actual situation, aiming to maintain a small change step size to ensure smooth speed changes. In another embodiment, a PID speed adjustment algorithm can also be used to calculate the difference between the detected displacements on both sides. The difference between the displacement deviation and the displacement threshold is then substituted into the PID algorithm to obtain the speed adjustment amount, which is the movement adjustment parameter.

[0096] Step S105: Adjust the drive device according to the movement adjustment parameters until the synchronous displacement deviation is less than the synchronous displacement threshold, and control the drive device to stop when the displacement deviation on one side is less than the preset target position threshold.

[0097] In this process, after determining the movement adjustment parameters, the drive unit on the side with the larger displacement gradually reduces its speed according to the speed decrease parameter corresponding to the movement adjustment parameters, while the drive unit on the side with the smaller displacement gradually increases its speed according to the speed increase parameter corresponding to the movement adjustment parameters. This drives the displacement deviation on both sides of the mobile house roof to gradually decrease until the synchronous displacement deviation is less than the synchronous displacement threshold. At this point, the speed of the drive unit is kept constant, and when the displacement deviation on one side is less than the target position threshold, i.e., when the mobile house roof moves to the target position, the drive unit is stopped and locked.

[0098] Reference Figure 2The steps for controlling a preset tensile displacement sensor to detect the mobile house and generate the bilateral detection displacement of the mobile house include:

[0099] Step S200: Control the preset cleaning and noise reduction device to pre-process the tension rope of the tensile displacement sensor.

[0100] Specifically, when the tensile displacement sensor is tested in the mobile housing, the cleaning and noise reduction device is used to pre-treat the pull rope of the tensile displacement sensor. This removes dust adhering to the pull rope and controls its movement to ensure that dust does not affect the diameter of the pull rope, thus affecting the accuracy of the tensile displacement sensor. Furthermore, it ensures that the pull rope's accuracy is not affected by thermal expansion and contraction. The specific method is described in [reference needed]. Figure 3 The steps.

[0101] The cleaning and noise reduction device refers to a device used for dust removal and temperature control of the pull rope of the tensile displacement sensor. It includes a cleaning component and a temperature control component. The cleaning component can be composed of a compressed air source and a nozzle array. The compressed air source provides stable air pressure and air speed, so that the nozzle array blows air onto the pull rope to remove dust from the pull rope. The temperature control component can be formed by heating elements and semiconductor cooling elements, which control the temperature of the pull rope.

[0102] Step S201: Control the tensile displacement sensor to detect the displacement of the mobile house to generate the basic detection displacement.

[0103] Among them, the basic detection displacement refers to the displacement directly detected by the tensile displacement sensor. It is obtained by directly detecting the displacement of the mobile house by the tensile displacement sensor. The basic detection displacement is the direct reading of the tensile displacement sensor. The tensile displacement sensor is affected by dust and temperature, which causes the direct reading of the tensile displacement sensor to deviate from the actual displacement. Therefore, by determining the basic detection displacement, data support is provided for the subsequent accurate determination of the actual displacement.

[0104] Step S202: Collect the displacement correction value of the tensile displacement sensor.

[0105] The displacement correction amount refers to the value used to correct the displacement detected by the tensile displacement sensor. The specific data acquisition method is described in [reference needed]. Figure 6 The steps.

[0106] Step S203: Correct the basic detection displacement based on the displacement correction amount to generate the bilateral detection displacement of the mobile house.

[0107] In this step, the bilateral detection displacement is the same as that in step S102, and is obtained by the processing terminal by calculating the difference between the basic detection displacement and the displacement correction.

[0108] Reference Figure 3 The steps for controlling the preset cleaning and noise reduction device to pre-treat the tension displacement sensor's pull rope include:

[0109] Step S300: Collect the initial detection temperature and detection diameter of the pull rope.

[0110] The initial detection temperature refers to the temperature of the tension rope when the tension displacement sensor starts detecting displacement. It is obtained by the temperature sensor detecting and sending the temperature to the processing terminal. By detecting the initial detection temperature, data support is provided for subsequent analysis of whether the tension rope will affect the accuracy of the tension displacement sensor due to thermal expansion and contraction.

[0111] The pull rope detection diameter refers to the diameter of the pull rope when the tensile displacement sensor starts detecting displacement. It is obtained by the laser diameter measuring sensor detecting the diameter of the pull rope. By detecting the pull rope detection diameter, data support is provided for subsequent analysis to determine whether dust removal of the pull rope is necessary.

[0112] Step S301: Determine whether the initial detection temperature meets the preset influence temperature threshold requirements.

[0113] Among them, the temperature threshold that affects the pull rope refers to the temperature threshold that will cause the pull rope to expand and contract with temperature. It includes the maximum and minimum values. The specific values ​​are determined by the operator based on the material of the pull rope. The requirement for the temperature threshold is that the temperature is within the range of the temperature threshold.

[0114] The processing terminal determines whether the initial detection temperature is within the temperature threshold range that affects the temperature, thereby determining whether the temperature will cause the tension rope to expand and contract, thus affecting the measurement accuracy of the tension displacement sensor.

[0115] Step S3011: If so, the cleaning assembly is controlled to blow air onto the pull rope to remove dust adhering to the pull rope, based on the pull rope detection diameter.

[0116] If the processing terminal determines that the initial detection temperature is within the temperature threshold range, it indicates that the temperature will not cause thermal expansion and contraction of the pull rope. Therefore, it is not necessary to control the temperature of the pull rope. Based on the pull rope detection, the cleaning component can be directly controlled to blow air onto the pull rope to remove dust adhering to it. The specific method is described in [reference needed]. Figure 4 The steps.

[0117] Step S3012: If not, analyze the initial detection temperature and the influencing temperature threshold to determine the auxiliary temperature control parameters.

[0118] If the processing terminal determines that the initial detection temperature is not within the temperature threshold range, it indicates that the temperature will cause the pull rope to expand and contract, thus affecting the measurement accuracy of the tensile displacement sensor. Therefore, after analyzing the initial detection temperature and the temperature threshold range, auxiliary temperature control parameters are determined to provide data support for the subsequent temperature control components to adjust the temperature of the pull rope.

[0119] The auxiliary temperature control parameter refers to the control temperature of the air blown by the temperature control component to the cleaning component. It is obtained by the processing terminal after analyzing the initial detection temperature and the influencing temperature threshold. For specific methods, please refer to [link / reference]. Figure 5 The steps.

[0120] Step S302: Adjust the cleaning component according to the auxiliary temperature control parameters, and blow air onto the pull rope according to the pull rope detection diameter to remove the dust adhering to the pull rope.

[0121] In this process, after determining the auxiliary temperature control parameters, the temperature control component adjusts the air temperature in the compressed air source of the cleaning component according to the temperature corresponding to the auxiliary temperature control parameters. Then, based on the pull rope detection diameter, the cleaning component blows air onto the pull rope to remove the dust adhering to the pull rope. While removing the dust, the temperature of the pull rope is regulated to minimize the thermal expansion and contraction of the pull rope.

[0122] Reference Figure 4 The steps of controlling the cleaning assembly to blow air onto the pull rope to remove dust adhering to the pull rope, based on the pull rope detection diameter, include:

[0123] Step S400: Collect the total number of times the rope has been used.

[0124] The total number of uses refers to the number of times the tensile displacement sensor is used. The number of uses is accumulated using a counter each time the mobile house is moved. By determining the total number of uses, data support is provided for subsequent analysis of the wear diameter of the pull rope.

[0125] Step S401: Calculate the difference between the product of the preset standard diameter of the pull rope and the total number of uses and the preset pull rope wear coefficient to generate the pull rope wear diameter.

[0126] The standard diameter of the pull rope refers to the standard diameter of the pull rope in the tensile displacement sensor, which is obtained by the operator by referring to the instruction manual of the tensile displacement sensor.

[0127] The draw rope wear coefficient refers to the rate at which the diameter of the draw rope wears down. It is calibrated through experiments by selecting draw ropes of the same specifications and conducting multiple tensile tests, recording the wear diameter after each tensile test, and then fitting the results to obtain the draw rope wear coefficient.

[0128] The pull rope wear diameter refers to the diameter of the pull rope after wear. It is obtained by multiplying the total number of uses and the pull rope wear coefficient by the processing terminal, and then calculating the difference between the standard diameter of the pull rope and the wear diameter to obtain the pull rope wear diameter.

[0129] Step S402: Calculate the difference between the pull rope detection diameter and the pull rope wear diameter to generate the dust adhesion thickness.

[0130] Among them, the dust adhesion thickness refers to the increase in the diameter of the dust adhesion on the pull rope. It is obtained by the processing terminal calculating the difference between the detection diameter of the pull rope and the wear diameter of the pull rope. By determining the dust adhesion increment, data support is provided for subsequent determination of whether dust removal is necessary.

[0131] Step S403: Determine whether the dust adhesion thickness is not less than the preset dust adhesion threshold.

[0132] The dust adhesion threshold refers to the minimum dust adhesion diameter increment that needs to be removed, and the specific value is determined by the operator based on the actual situation.

[0133] By processing the terminal to determine whether the dust adhesion thickness is not less than the dust adhesion threshold, it can be determined whether the dust will affect the diameter of the pull rope, thus causing the tensile displacement sensor to measure inaccurately.

[0134] Step S4031: If not, continue to collect the pull rope detection diameter and total number of uses for cyclic judgment.

[0135] If the processing terminal determines that the dust adhesion thickness is less than the dust adhesion threshold, it indicates that there is little dust adhesion on the pull rope and it will not have a significant impact on the accuracy of the tensile displacement sensor. Therefore, the pull rope detection diameter and total number of uses are collected to continuously monitor the diameter of the pull rope and the dust adhesion situation.

[0136] Step S4032: If so, analyze the dust adhesion thickness to determine the air blowing removal parameters.

[0137] If the processing terminal determines that the dust adhesion thickness is not less than the dust adhesion threshold, it indicates that there is a lot of dust on the pull rope, which will have a significant impact on the accuracy of the tensile displacement sensor. Therefore, the air blowing removal parameters are obtained after analyzing the dust adhesion thickness, which provides data support for the subsequent control of the cleaning component to blow air onto the pull rope.

[0138] The air blowing removal parameters refer to the air blowing parameters used for dust removal from the pull rope, including air pressure and wind speed. The processing terminal substitutes the dust adhesion thickness into a logarithmic function to calculate the wind pressure adjustment coefficient, thereby simulating the pattern that when the dust amount is small, the wind pressure adjustment is small, and when the dust amount is large, the wind pressure adjustment is large, but the excessive wind pressure adjustment is avoided. Then, the product of the wind pressure adjustment coefficient and the wind pressure step size is calculated to obtain the wind pressure adjustment amount. Finally, the sum of the wind pressure adjustment amount and the base wind pressure is calculated to obtain the final wind pressure. The wind pressure and wind speed have a square root relationship. After determining the wind pressure, the square root of the quotient of the wind pressure and the base wind pressure is used to obtain the wind speed adjustment coefficient. Then, the product of the wind speed adjustment coefficient and the base wind speed is calculated to obtain the final wind speed.

[0139] Step S404: Control the cleaning component to blow air onto the pull rope according to the air blowing parameters to remove dust adhering to the pull rope.

[0140] In this process, after determining the air blowing parameters, the processing terminal controls the compressed air source in the cleaning component to adjust the air pressure according to the air pressure corresponding to the air blowing parameters, and then adjusts the air speed according to the air speed corresponding to the air blowing parameters, so as to ensure that the sticky dust on the pull rope can be removed.

[0141] Reference Figure 5 The steps for analyzing the initial detection temperature and the influencing temperature threshold to determine the auxiliary temperature control parameters include:

[0142] Step S500: Calculate the difference between the initial detection temperature and the influence temperature threshold to generate the drawstring influence temperature.

[0143] Among them, the pull rope influence temperature refers to the temperature value that affects the thermal expansion and contraction of the pull rope. It is obtained by the processing terminal by calculating the difference between the initial detection temperature and the influence temperature threshold closest to the threshold. By determining the pull rope influence temperature, data support is provided for subsequent analysis to eliminate the influence of the pull rope influence temperature.

[0144] Step S501: Calculate the product of the temperature affected by the pull rope and the preset pull rope heat transfer coefficient to generate the temperature adjustment amount.

[0145] The draw rope heat transfer coefficient is a quantitative value of the heat exchange capacity between the draw rope and the air, reflecting the heat exchange efficiency between the draw rope and the air, and is obtained through experimental fitting.

[0146] The temperature adjustment amount refers to the adjustment of the blowing temperature. It is obtained by calculating the product of the temperature affected by the pull rope and the heat transfer coefficient of the pull rope at the processing terminal. This takes into account the difference in heat exchange between the pull rope and the air, and avoids the temperature being too high or too low during the heat exchange of the pull rope.

[0147] Step S502: Calculate the difference between the temperature threshold and the temperature adjustment amount to generate auxiliary temperature control parameters.

[0148] In this step, the auxiliary temperature control parameters are the same as those in step S3012. They are obtained by the processing terminal by calculating the difference between the temperature threshold and the temperature adjustment amount. This allows the air blowing temperature to be reduced when the pull rope temperature is high and increased when the pull rope temperature is low, thus compensating for the pull rope temperature and ensuring that the pull rope temperature does not cause thermal expansion and contraction.

[0149] Reference Figure 6 The steps for acquiring the displacement correction value from the tensile displacement sensor include:

[0150] Step S600: Collect the current diameter and current temperature of the tension cable from the tension displacement sensor.

[0151] The current diameter of the pull rope refers to the diameter of the pull rope after preprocessing. It is obtained by detecting the diameter of the pull rope using a laser diameter measuring sensor. By detecting the current diameter of the pull rope, data support is provided for the subsequent calculation of the correction value of the pull rope diameter to the displacement.

[0152] The current temperature of the pull rope refers to the temperature of the pull rope after pretreatment. It is obtained by detecting the temperature of the pull rope using a temperature sensor. By detecting the current temperature of the pull rope, data support is provided for subsequent calculation of the correction value of the pull rope temperature to the displacement.

[0153] Step S601: Analyze the current diameter of the pull rope and the preset standard diameter of the pull rope to determine the correction amount for diameter change.

[0154] The standard diameter of the pull rope in this step is the same as that in step S401, and will not be elaborated here.

[0155] The diameter change correction refers to the influence of the rope diameter on the displacement. It is obtained by analyzing the current rope diameter and the standard rope diameter at the processing terminal. For specific methods, please refer to [reference needed]. Figure 7 The steps.

[0156] Step S602: Analyze the current temperature of the pull rope and the preset ideal temperature of the pull rope to determine the correction amount for temperature influence.

[0157] The ideal temperature for pulling the rope refers to the ideal temperature for rope operation, which is 25 degrees Celsius.

[0158] The temperature effect correction refers to the influence of temperature on the displacement, which is obtained by analyzing the current temperature and ideal temperature of the guy rope at the processing terminal. For specific methods, please refer to [reference needed]. Figure 8 The steps.

[0159] Step S603: Calculate the sum of the diameter change correction and the temperature effect correction to generate the displacement correction.

[0160] In this step, the displacement correction amount is consistent with the displacement correction amount in step S202. It is obtained by the processing terminal by calculating the sum of the diameter change correction amount and the temperature effect correction amount, thereby quantifying the influence of diameter change and temperature change on the measurement accuracy of the tensile displacement sensor. After correcting the direct reading of the tensile displacement sensor, the accuracy of the measured displacement amount is ensured.

[0161] Reference Figure 7 The steps for analyzing the current diameter of the pull rope and the preset standard diameter of the pull rope to determine the correction amount for diameter change include:

[0162] Step S700: Calculate the difference between the current diameter of the pull rope and the standard diameter of the pull rope to generate the change in the diameter of the pull rope.

[0163] Among them, the change in rope diameter refers to the change in the rope diameter, which is obtained by the processing terminal by calculating the difference between the current diameter of the rope and the standard diameter of the rope. By determining the change in rope diameter, data support is provided for subsequent analysis of the impact of the change in rope diameter on the displacement.

[0164] Step S701: Calculate the quotient of the change in the diameter of the pull rope and the preset effective displacement diameter to generate the diameter influence coefficient.

[0165] The effective displacement diameter refers to the effective diameter in a tensile displacement sensor when measuring displacement. The tensile displacement sensor obtains the displacement by calculating the product of the circumference of the effective diameter and the number of rotations. Therefore, determining the effective displacement diameter provides data support for calculating the impact of diameter changes on displacement.

[0166] The diameter influence coefficient refers to the influence coefficient of the diameter change on the displacement, which is obtained by calculating the quotient of the change in the rope diameter and the effective displacement diameter from the processing terminal.

[0167] Step S702: Calculate the product of the diameter influence coefficient and the foundation detection displacement to generate the diameter change correction amount.

[0168] The diameter change correction amount in this step is the same as the diameter change correction amount in step S601, and is obtained by the processing terminal calculating the product of the diameter influence coefficient and the basic detection displacement.

[0169] Reference Figure 8 The steps for analyzing the current temperature of the pull rope and the preset ideal temperature of the pull rope to determine the temperature influence correction amount include:

[0170] Step S800: Calculate the difference between the current temperature of the pull rope and the ideal temperature of the pull rope to generate the displacement-affected temperature.

[0171] Among them, the displacement-affected temperature refers to the temperature that affects the displacement detected by the tensile displacement sensor. It is obtained by the processing terminal by calculating the difference between the current temperature of the rope and the ideal temperature of the rope. By determining the displacement-affected temperature, data support is provided for subsequent quantification of the influence of temperature on the displacement.

[0172] Step S801: Collect the expansion coefficient of the rope.

[0173] The coefficient of expansion refers to the ratio of the change in the rope with temperature, which is determined by the operator based on the material of the rope and input into the processing terminal.

[0174] Step S802: Calculate the product of displacement-affected temperature, expansion coefficient, and foundation displacement to generate temperature-affected correction.

[0175] In this step, the temperature influence correction amount is the same as that in step S602. The product of the displacement influence temperature and the expansion coefficient is calculated by the processing terminal to obtain the change ratio of the rope. Then, the product of the change ratio and the foundation detection displacement is calculated to obtain the temperature influence correction amount.

[0176] Based on the same inventive concept, embodiments of this application provide a mobile house mobility control system, including:

[0177] The data acquisition module is used to acquire movement trigger signals, displacement correction amounts, initial detection temperatures, pull rope detection diameters, total number of uses, current pull rope diameters, current pull rope temperatures, and expansion coefficients.

[0178] A memory for storing a program for a mobile housing movement control method;

[0179] The processor can load and execute programs in memory to implement a mobile house movement control method.

[0180] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device, and unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0181] This application provides a computer-readable storage medium storing a computer program that can be loaded by a processor and executed as a mobile house movement control method.

[0182] Computer storage media include, for example, USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, optical disks, and other media that can store program code.

[0183] Based on the same inventive concept, embodiments of this application provide a smart terminal, including a memory and a processor, wherein the memory stores a computer program that can be loaded and executed by the processor to provide a mobile house movement control method.

[0184] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device, and unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0185] The above are all preferred embodiments of this application and are not intended to limit the scope of protection of this application. Any feature disclosed in this specification (including the abstract and drawings) may be replaced by other equivalent or similar features unless specifically stated otherwise. That is, unless specifically stated otherwise, each feature is only one example of a series of equivalent or similar features.

Claims

1. A method for controlling the movement of a mobile home, characterized in that, include: Collect the movement trigger signal of the mobile house; The preset drive device responds to the movement trigger signal and drives the mobile room to move with preset reference movement parameters; The preset tensile displacement sensor is controlled to detect the mobile house, so as to generate the bilateral detection displacement of the mobile house. The bilaterally detected displacement and the preset target movement position are preprocessed and calculated to generate synchronous displacement deviation and unilateral displacement deviation; Determine whether the synchronous displacement deviation is not less than the preset synchronous displacement threshold; If not, the drive device will stop when the displacement deviation on one side is less than the preset target position threshold. If so, the displacement detected on both sides will be analyzed to determine the movement adjustment parameters; The drive device is adjusted according to the movement adjustment parameters until the synchronous displacement deviation is less than the synchronous displacement threshold, and the drive device is stopped when the displacement deviation on one side is less than the preset target position threshold. The steps for controlling a preset tensile displacement sensor to detect the mobile house and generate bilateral displacement values ​​of the mobile house include: The preset cleaning and noise reduction device is controlled to pre-process the pull rope of the tensile displacement sensor. The tensile displacement sensor is controlled to detect the displacement of the mobile house in order to generate the basic detection displacement. Collect the displacement correction value from the tensile displacement sensor; The basic detection displacement is corrected based on the displacement correction amount to generate the bilateral detection displacement of the mobile house. The cleaning and noise reduction device includes a cleaning component and a temperature control component. The steps of controlling the preset cleaning and noise reduction device to pre-treat the tension displacement sensor's pull rope include: The initial detection temperature and detection diameter of the pull rope were collected; Determine whether the initial detection temperature meets the preset threshold for the affected temperature. If so, the cleaning component is controlled to blow air onto the pull rope to remove the dust adhering to the pull rope, based on the diameter of the pull rope detection. If not, the initial detection temperature and the influencing temperature threshold are analyzed to determine the auxiliary temperature control parameters; The temperature control component adjusts the cleaning component based on the auxiliary temperature control parameters, and the cleaning component blows air onto the pull rope to remove dust adhering to the pull rope based on the pull rope detection diameter.

2. The mobile house movement control method according to claim 1, characterized in that, The steps of using a cleaning assembly to blow air onto the pull rope to remove dust adhering to it, based on the pull rope detection diameter control, include: Total number of times the rope was used for collection; Calculate the difference between the preset standard diameter of the pull rope and the product of the total number of uses and the preset pull rope wear coefficient to generate the pull rope wear diameter; Calculate the difference between the pull rope detection diameter and the pull rope wear diameter to generate the dust adhesion thickness; Determine whether the dust adhesion thickness is not less than the preset dust adhesion threshold; If not, continue to collect the pull rope detection diameter and total number of uses for cyclical judgment; If so, the dust adhesion thickness is analyzed to determine the air blowing removal parameters; The cleaning unit is controlled to blow air onto the pull rope to remove dust adhering to it, based on the air blowing parameters.

3. The mobile house movement control method according to claim 1, characterized in that, The steps for analyzing the initial detection temperature and the influencing temperature threshold to determine the auxiliary temperature control parameters include: Calculate the difference between the initial detection temperature and the influencing temperature threshold to generate the draw-wire-influencing temperature; Calculate the product of the temperature affected by the pull rope and the preset heat transfer coefficient of the pull rope to generate the temperature adjustment amount; Calculate the difference between the temperature threshold and the temperature adjustment amount to generate auxiliary temperature control parameters.

4. The mobile house movement control method according to claim 1, characterized in that, The steps for acquiring the displacement correction value from the tensile displacement sensor include: Collect the current diameter and temperature of the tension displacement sensor's cable; The current diameter of the pull rope and the preset standard diameter of the pull rope are analyzed to determine the correction amount for diameter changes; The current temperature of the pull rope and the preset ideal temperature of the pull rope are analyzed to determine the correction amount for the temperature effect; The sum of the diameter change correction and the temperature effect correction is calculated to generate the displacement correction.

5. The mobile house movement control method according to claim 4, characterized in that, The steps for analyzing the current diameter of the pull rope and the preset standard diameter of the pull rope to determine the correction amount for diameter change include: Calculate the difference between the current diameter of the pull rope and the standard diameter of the pull rope to generate the change in pull rope diameter; Calculate the quotient of the change in rope diameter and the preset effective displacement diameter to generate the diameter influence coefficient; Calculate the product of the diameter influence coefficient and the foundation detection displacement to generate the diameter change correction.

6. The mobile house movement control method according to claim 5, characterized in that, The steps for analyzing the current temperature of the pull rope and the preset ideal temperature of the pull rope to determine the temperature effect correction amount include: Calculate the difference between the current temperature of the pull rope and the ideal temperature of the pull rope to generate the displacement-affected temperature; Collect the expansion coefficient of the pull rope; Calculate the product of displacement-affected temperature, expansion coefficient, and foundation displacement to generate a temperature-affected correction.

7. A mobile house mobility control system, characterized in that, include: The acquisition module is used to acquire movement trigger signals; A memory for storing a program for a mobile house movement control method as described in any one of claims 1 to 6; The processor and the program in the memory can be loaded and executed by the processor to implement the mobile house movement control method as described in any one of claims 1 to 6.

8. A smart terminal, characterized in that, It includes a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executed as described in any one of claims 1 to 6.

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