CN115715597B - Control method and system for transverse distributing vehicle - Google Patents
Control method and system for transverse distributing vehicle Download PDFInfo
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Abstract
The invention discloses a control method and a control system for a transverse distributing vehicle, wherein the control method comprises the following steps: acquiring a material distribution signal of a material distribution vehicle; acquiring the advancing step number of the material distribution vehicle from a first sensing unit to a second sensing unit in real time, wherein the first sensing unit and the second sensing unit are fixedly arranged on a finished product wire cabinet, the distance between the first sensing unit and the second sensing unit is a first length, the first sensing unit and the second sensing unit output sensing signals based on the position of a sensing object, and the sensing object is fixedly arranged on the material distribution vehicle; when the travelling step number is smaller than a preset step number threshold value, the material distribution vehicle reversely travels based on the sensing signal of the second sensing unit, when the travelling step number is equal to the step number threshold value, fault information of the material distribution vehicle is output, meanwhile, the material distribution vehicle is controlled to reversely travel for a preset adjustment step number, and the product of the adjustment step number and the material distribution vehicle step length is added with the first length to be equal to the product of the step number threshold value and the material distribution vehicle step length.
Description
Technical Field
The invention relates to the technical field of cabinet feeding and material distribution control in a tobacco mixing and flavoring stage, in particular to a control method and a control system of a transverse material distribution vehicle.
Background
The mixed silk perfuming process is used as the last process of a five-ton silk making line, is also the last process of the whole production flow of a silk making workshop, and is used for connecting the silk making workshop with the production of a wrapping workshop, and whether the process is stable or not determines whether the silk making workshop can stably produce raw materials required by the wrapping workshop or not.
At present, the cabinet feeding and distributing logic of the finished product silk cabinet in the silk mixing and perfuming process is as follows: after the combination of the silk mixing and perfuming sections is started, cabinet selection and positioning are performed firstly, namely a transverse distribution vehicle SW of the finished silk cabinet starts to search for the selected finished silk cabinet; when the locating proximity switch of the selected finished product wire cabinet MB senses the metal sensing sheet of the transverse distributing vehicle, the cabinet searching is finished, the selected finished product wire cabinet MB is found, and the wire mixing and flavoring section starts to normally start feeding; the transverse material distributing trolley SW starts to step, and the longitudinal material distributing trolley of the finished product wire cabinet MB starts to run; the finished product wire cabinet MB is harrowed to limit or wall to limit the proximity switch to sense the metal induction sheet of the longitudinal material distributing vehicle, namely when the longitudinal material distributing vehicle runs to the harrow limit or wall limit, the transverse material distributing vehicle SW step is further carried out; when the left limit or right limit proximity switch of the finished product wire cabinet MB senses the metal sensing sheet of the transverse distribution vehicle SW, the transverse distribution vehicle runs to the left limit or right limit of the finished product wire cabinet MB and then runs in a reverse stepping mode.
When the transverse distribution trolley SW of the finished product wire cabinet steps by a certain step number and the limit proximity switch of the left and right of the finished product wire cabinet does not sense the metal sensing piece of the transverse distribution trolley, the WINCC operation interface displays a step failure of the transverse distribution trolley, and then the wire mixing and perfuming working procedure section is stopped. The existing fault treatment modes are two, namely, after the working procedure is stopped, the working procedure section is adjusted to be in a single machine mode, and the transverse distribution vehicle is pulled back to a normal operation section by manual operation; secondly, the limit proximity switch which is not sensed at the time is shielded manually in the operation process, so that the transverse distribution vehicle can obtain signals to reversely operate, and the transverse distribution vehicle is pulled back to a normal operation interval. Both treatment modes can cause material breakage of the yarn mixing and perfuming process, and the second mode also has potential safety hazards for personnel, which is not an optimal solution.
Disclosure of Invention
In order to solve at least one aspect of the above problems, the present invention provides a control method of a lateral distributing vehicle, including: acquiring a material distribution signal of a material distribution vehicle; the method comprises the steps that the travelling steps of the material distribution vehicle from a first sensing unit to a second sensing unit are acquired in real time, the first sensing unit and the second sensing unit are fixedly arranged on a finished product wire cabinet, the distance between the first sensing unit and the second sensing unit is a first length, the first sensing unit and the second sensing unit are based on the position of a sensing object and output sensing signals, and the sensing object is fixedly arranged on the material distribution vehicle; when the advancing step number is smaller than a preset step number threshold value, the material distribution vehicle advances reversely based on the sensing signal of the second sensing unit, when the advancing step number is equal to the step number threshold value, fault information of the material distribution vehicle is output, meanwhile, the material distribution vehicle is controlled to advance reversely by a preset adjusting step number, and the product of the adjusting step number and the material distribution vehicle step length is added with the first length to be equal to the product of the step number threshold value and the material distribution vehicle step length.
Preferably, the method further comprises the steps of generating a time threshold when the number of steps is equal to the step number threshold, starting timing when the number of steps is equal to the step number threshold, stopping timing when a reset signal of the distribution vehicle is received, and controlling the distribution vehicle to stop when the timing time is equal to the time threshold.
Preferably, the reset signal includes an input instruction of a user, wherein the cloth vehicle continues to distribute materials in response to the input instruction, or the reset signal includes an induction signal output by the second induction unit, and the cloth vehicle continues to distribute materials in response to the induction signal output by the second induction unit.
Preferably, the first sensing unit and the second sensing unit adopt proximity switches, the sensing object adopts a metal sensing piece, and the sensing signal is a signal which is output by the sensing object sensed by the first sensing unit and the second sensing unit within a preset distance.
Preferably, the finished yarn cabinet comprises a first end and a second end, the length between the first end and the second end of the finished yarn cabinet is equal to the second length, the first sensing unit is arranged between the first end and the midpoint of the finished yarn cabinet, the second sensing unit is arranged between the midpoint of the finished yarn cabinet and the second end, the first sensing unit and the second sensing unit are symmetrically arranged about the midpoint of the finished yarn cabinet, and the number of adjustment steps is equal to the difference of the second length and the first length divided by twice the step length of the cloth trolley.
In another aspect, a control system for a transverse distribution vehicle is provided, comprising: the induction object is fixedly arranged on the material distribution vehicle; the induction module comprises a first induction unit and a second induction unit, the first induction unit and the second induction unit are arranged on the finished wire cabinet, the distance between the first induction unit and the second induction unit is a first length, and the first induction unit and the second induction unit output induction signals based on the position of the induction object; the control module is connected with the sensing module to receive the sensing signal, the control module is connected with the distribution vehicle to receive the distribution signal, the control module responds to the distribution signal to obtain the number of traveling steps of the distribution vehicle from a first sensing unit to a second sensing unit, when the number of traveling steps is smaller than a preset step threshold value, the control module controls the distribution vehicle to reversely travel based on the sensing signal output by the second sensing unit, when the number of traveling steps is equal to the step threshold value, the control module outputs fault information of the distribution vehicle and simultaneously controls the distribution vehicle to reversely travel a preset adjustment step number, and the product of the adjustment step number and the distribution vehicle step length is equal to the product of the step threshold value and the distribution vehicle step length.
Preferably, the control module generates a time threshold when the number of traveling steps is equal to the step number threshold, starts timing when the number of traveling steps is equal to the step number threshold, stops timing when a reset signal of the distribution vehicle is received, and controls the distribution vehicle to stop when the timing time is equal to the time threshold.
Preferably, the reset signal comprises an input instruction of a user, wherein the cloth vehicle responds to the input instruction to continue the cloth; or, the reset signal comprises an induction signal output by the second induction unit, and the cloth vehicle responds to the induction signal output by the second induction unit to continue the cloth.
Preferably, the first sensing unit and the second sensing unit adopt proximity switches, the sensing object adopts a metal sensing piece, and the sensing signal is a signal which is output by the sensing object sensed by the first sensing unit and the second sensing unit within a preset distance.
Preferably, the finished yarn cabinet comprises a first end and a second end, the length between the first end and the second end of the finished yarn cabinet is equal to the second length, the first sensing unit is arranged between the first end and the midpoint of the finished yarn cabinet, the second sensing unit is arranged between the midpoint of the finished yarn cabinet and the second end, the first sensing unit and the second sensing unit are symmetrically arranged about the midpoint of the finished yarn cabinet, and the number of adjustment steps is equal to the difference of the second length and the first length divided by twice the step length of the cloth trolley.
The control method and the control system for the transverse distributing vehicle have the following beneficial effects: in order to solve the problems that a transverse material distribution vehicle SW of a finished product silk cabinet steps by a preset step number, and a metal induction sheet of the transverse material distribution vehicle is not sensed by a limit proximity switch on the left and right sides of the finished product silk cabinet MB, a WINCC operation interface displays stop and material breaking of a mixed silk perfuming working procedure section caused by step failure of the transverse material distribution vehicle, when the step number reaches a preset threshold value, the transverse material distribution vehicle is regulated to reversely advance and regulate the step number, so that the transverse material distribution vehicle cannot stop, errors are eliminated in a certain time, the transverse material distribution vehicle can automatically return to a normal operation interval, thereby improving the continuity of silk manufacturing five-leaf silk main line production and improving the quality level of a mixed silk perfuming working procedure.
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For a better understanding of the above and other objects, features, advantages and functions of the present invention, reference should be made to the embodiments illustrated in the drawings. Like reference numerals refer to like parts throughout the drawings. It will be appreciated by persons skilled in the art that the drawings are intended to schematically illustrate preferred embodiments of the invention, and that the scope of the invention is not limited in any way by the drawings, and that the various components are not drawn to scale.
FIG. 1 shows a flow diagram of a lateral skip car control method in accordance with an embodiment of the present invention;
fig. 2 shows an application scenario schematic of a lateral skip car control system according to an embodiment of the present invention;
fig. 3 shows a schematic diagram of an application scenario of a sensing module and a sensing object of a lateral skip car control system according to an embodiment of the present invention;
Fig. 4 shows another application scenario schematic of a lateral skip car control system according to an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present disclosure are described below in conjunction with the accompanying drawings, which include various details of the embodiments of the present disclosure to facilitate understanding, and should be considered as merely exemplary. Accordingly, one of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
The term "comprising" and variations thereof as used herein means open ended, i.e., "including but not limited to. The term "or" means "and/or" unless specifically stated otherwise. The term "based on" means "based at least in part on". The terms "one example embodiment" and "one embodiment" mean "at least one example embodiment. The term "another embodiment" means "at least one additional embodiment". The terms "first," "second," and the like, may refer to different or the same object. Other explicit and implicit definitions are also possible below.
To at least partially address one or more of the above-mentioned problems, as well as other potential problems, one embodiment of the present disclosure proposes a lateral skip control method comprising: acquiring a material distribution signal of a material distribution vehicle; acquiring the advancing step number of the material distribution vehicle from a first sensing unit to a second sensing unit in real time, wherein the first sensing unit and the second sensing unit are fixedly arranged on a finished product wire cabinet, the distance between the first sensing unit and the second sensing unit is a first length, the first sensing unit and the second sensing unit output sensing signals based on the position of a sensing object, and the sensing object is fixedly arranged on the material distribution vehicle; when the travelling step number is smaller than a preset step number threshold value, the material distribution vehicle reversely travels based on the sensing signal of the second sensing unit, when the travelling step number is equal to the step number threshold value, fault information of the material distribution vehicle is output, meanwhile, the material distribution vehicle is controlled to reversely travel for a preset adjustment step number, and the product of the adjustment step number and the material distribution vehicle step length is added with the first length to be equal to the product of the step number threshold value and the material distribution vehicle step length.
Specifically, after the cloth vehicle and the finished product wire cabinet finish cabinet finding matching and output cabinet finding success signals, the wire mixing and perfuming working procedure is started to normally produce the cloth process, the cloth vehicle starts to distribute materials, and the control unit of the cloth vehicle acquires the cloth signals of the cloth vehicle to determine that the cloth vehicle is in a cloth state.
The first sensing unit and the second sensing unit are arranged between the left limit position and the right limit position of the finished wire cabinet, the sensing signals are output based on the positions of the sensing objects arranged on the material distribution trolley, and when the sensing objects are at a preset distance from the first sensing unit and the second sensing unit, the first sensing unit and the second sensing unit output the sensing signals. The material distributing vehicle moves to a first position corresponding to the first sensing unit when the sensing object outputs the sensing signal, and the material distributing vehicle moves to a second position corresponding to the second sensing unit when the sensing object outputs the sensing signal, wherein a target material distributing interval of the material distributing vehicle is arranged between the first position and the second position. The position of the material distribution vehicle relative to the finished product wire cabinet is determined through the acquired sensing signals, for example, when the material distribution vehicle reaches the position where the finished product wire cabinet is provided with the first sensing unit, the first sensing unit output signal outputs the sensing signals based on the sensing objects, and when the material distribution vehicle reaches the position where the finished product wire cabinet is provided with the second sensing unit, the second sensing unit output signal outputs the sensing signals based on the sensing objects.
When the material distribution vehicle advances from the first sensing unit to the second sensing unit, starting to count steps of the material distribution vehicle when sensing signals are output from the first sensing unit so as to determine the real-time advancing number of the material distribution vehicle, when the material distribution vehicle advances to the position corresponding to the second sensing unit, the second sensing unit outputs sensing signals based on sensing objects, and controls the material distribution vehicle to advance reversely in response to the sensing signals output by the second sensing unit, namely, controls the material distribution vehicle to advance from the position corresponding to the second sensing unit to the position corresponding to the first sensing unit, takes the second sensing unit as an initial sensing unit, and takes the first sensing unit as an end sensing unit to count steps again; when the material distribution vehicle reaches the position of the finished product wire cabinet where the second sensing unit is arranged, the second sensing unit does not output a sensing signal, the advancing step number is continuously increased until the advancing step number reaches a preset step number threshold value, and the material distribution vehicle is controlled to reversely advance to adjust the step number, so that the material distribution vehicle returns to a position interval corresponding to the first sensing unit and the second sensing unit. The first sensing unit and the second sensing unit correspond to a first length L1, the step number threshold is N, the adjusting step number is M, the step length of the distribution vehicle is L, and the distribution vehicle has L x M+L1=l x N. The step number threshold value and the step number adjustment can enable the second induction unit not to stop the material distribution vehicle when the second induction unit does not sense the induction object, and meanwhile, excessive materials are prevented from falling out of the finished product wire cabinet; further, timely rush-repair is prompted by outputting fault information of the distributing vehicle, and the stopping and starting of the distributing vehicle are avoided, so that the production efficiency is reduced.
It will be appreciated by those skilled in the art that the cloth carriage step size may be determined by the stepper motor of the cloth carriage, for example, the running speed of the stepper motor multiplied by the unit time, or in other embodiments, the distance traveled by the cloth carriage in the unit time at the preset speed is the cloth carriage step size, and the number of steps taken by the cloth carriage in the travel time may be determined according to the travel time of the cloth carriage.
In some embodiments, the method further comprises generating a time threshold when the number of steps of travel is equal to the step number threshold, starting timing when the number of steps of travel is equal to the step number threshold, stopping timing when a reset signal of the material distribution vehicle is received, and controlling the material distribution vehicle to stop when the timing time is equal to the time threshold.
Specifically, the time threshold is larger than the time required for the material distribution vehicle to travel from the current position to the position corresponding to the second sensing unit according to the preset adjustment step number, the reset signal is the sensing signal output by the second sensing unit, and when the material distribution vehicle does not receive the sensing signal output by the second sensing unit after traveling the adjustment step number, the material distribution vehicle is judged to be in fault, and the material distribution vehicle is controlled to stop; and when the material distribution vehicle receives the sensing signal output by the second sensing unit within the threshold value, judging that the material distribution vehicle is normal, and controlling the material distribution vehicle to continue material distribution.
In a further embodiment, the time threshold is greater than the time required for the cart to travel from the current position to the position corresponding to the second sensing unit by a preset number of adjustment steps, the reset signal comprises an input instruction of a user, and the cart continues to travel when the sensing signal output by the second sensing unit is not received after the cart has traveled the number of adjustment steps, wherein the cart continues to dispense in response to the input instruction.
Specifically, when the material distribution vehicle and the sensing object pass through the second sensing unit but do not receive the sensing signal, but the material distribution vehicle is returned to between the first position and the second position, the failure of the second sensing unit or the sensing object can be judged, and the user can input an instruction to the controller, wherein the instruction is used for enabling the material distribution vehicle to continue to distribute materials and stop timing at the same time, so that the material distribution process is prevented from being influenced by unnecessary factors. When the time threshold is reached, the time reaches the time threshold, and the material distribution vehicle is controlled to stop, so that the loss of materials caused by unattended operation when the material distribution vehicle fails (such as a stepping motor fails) can be avoided.
Or in other embodiments, the time threshold is any preset reset adjustment time, for example, 2 minutes, 5 minutes, etc., so that the user can adjust or confirm the states of the material distribution vehicle and the finished product silk cabinet in time within the time threshold, when the material distribution vehicle is reset in time through the adjustment device, a timing stop instruction can be manually input, or an adjusted second sensing unit generates a sensing signal based on a sensing object to stop timing, and meanwhile, the material distribution vehicle is controlled to continue material distribution; and when the time threshold is exceeded, the material distribution vehicle is controlled to stop so as to reduce loss.
In some embodiments, the first sensing unit and the second sensing unit use proximity switches, the sensing object uses a metal sensing piece, and the sensing signal is a signal that the first sensing unit and the second sensing unit sense the output of the sensing object within a preset distance.
Specifically, the first sensing unit and the second sensing unit adopt proximity switches, and a preset distance is determined according to the effective sensing distance of the proximity switches and the metal sensing sheets which are actually adopted, so that the preset distance is smaller than the effective sensing distance, and the first sensing unit and the second sensing unit can output sensing signals when the sensing objects pass through the positions corresponding to the first sensing unit and the second sensing unit, so that the relative positions of the material distribution trolley and the finished product wire cabinet are determined. In other embodiments, the first sensing unit and the second sensing unit adopt scanners, the sensing object adopts encoders corresponding to the first sensing unit and the second sensing unit, and when the sensing object passes through the positions corresponding to the first sensing unit and the second sensing unit, the scanners identify the encoders in the corresponding scanning range and send out sensing signals.
In some embodiments, the finished wire cabinet includes a first end and a second end, the length between the first end and the second end of the finished wire cabinet is equal to the second length, the first sensing unit is disposed between the first end and a midpoint of the finished wire cabinet, the second sensing unit is disposed between the midpoint of the finished wire cabinet and the second end, the first sensing unit and the second sensing unit are symmetrically disposed about the midpoint of the finished wire cabinet, and the number of adjustment steps is equal to the difference between the second length and the first length divided by a doubled cloth cart step size.
Specifically, if the distance between the first end and the second end of the finished yarn cabinet is the second length L2, the corresponding relationship among the adjustment step number M, the first length L1, the second length L2 and the cloth vehicle step length L is (L2-L1)/2=m×l.
Example 1
As shown in fig. 1, the combined starting of the mix-silk perfuming batch is started, the transverse distributing vehicle finds a cabinet, after finding a finished product silk cabinet matched with the transverse distributing vehicle, the transverse distributing vehicle starts to reciprocate silk cloth between a first sensing unit and a second sensing unit, when a left limit switch and a right limit switch (namely the first sensing unit and the second sensing unit) are normally sensed, when the transverse distributing vehicle advances from the first sensing unit to the second sensing unit, the advancing step number of the transverse distributing vehicle between the output of a sensing signal from the first sensing unit to the output of the sensing signal from the second sensing unit is smaller than a step number threshold, the transverse distributing vehicle advances reversely after receiving the sensing signal from the second sensing unit, acquires the advancing step number between the second sensing unit and the first sensing unit, and when the advancing step number is smaller than the step number threshold, the sensing signal received by the first sensing unit advances reversely, so that the transverse distributing vehicle reciprocates. However, when the second sensing unit does not sense normally, the transverse distribution vehicle moves from the first sensing unit to the second sensing unit, the number of moving steps of the transverse distribution vehicle continuously increases to a step number threshold value between the output of the sensing signal from the first sensing unit and the output of the sensing signal from the second sensing unit, the system prompts a stepping fault of the transverse distribution vehicle through fault alarming, generates a time threshold value (for example, 2 minutes) for fault alarming reset, and simultaneously controls the transverse target vehicle to reversely step and adjust the step number so as to enable the transverse distribution vehicle to return to a position between positions corresponding to the left limit switch and the right limit switch, resets the fault alarming within the time threshold value, continues distribution after receiving the reset signal, and controls the transverse distribution vehicle to stop so as to reduce material loss if the reset signal is not received within the time threshold value.
In another aspect, a transverse distribution vehicle control system includes: the sensing object k, the sensing module and the control module are fixedly arranged on the material distribution vehicle SW; the sensing module K comprises a first sensing unit K1 and a second sensing unit K2, the first sensing unit K1 and the second sensing unit K2 are arranged on the finished product silk cabinet MB, the distance between the first sensing unit K1 and the second sensing unit K2 is a first length L1, and the first sensing unit K1 and the second sensing unit K2 output sensing signals based on the position of the sensing object K; the control module is connected with the sensing module to receive sensing signals, the control module is connected with the distribution trolley SW to receive the distribution signals, the control module responds to the distribution signals to obtain the advancing step number of the distribution trolley SW advancing from the first sensing unit K1 to the second sensing unit K2, when the advancing step number is smaller than a preset step number threshold value (N+M), the control module controls the distribution trolley SW to reversely advance based on the sensing signals output by the second sensing unit K2, when the advancing step number is equal to the step number threshold value, fault information of the distribution trolley is output, meanwhile, the distribution trolley SW is controlled to reversely advance by the preset adjusting step number M, and the product of the adjusting step number M and the distribution trolley step length L is added by the first length L1 to be equal to the product of the step number threshold value (N+M) and the distribution trolley step length L.
Specifically, as shown in fig. 2, the first sensing unit K1 of the finished product wire cabinet MB is set at the s1 point, the second sensing unit K2 is set at the s2 point, the sensing object K is set at the designated position of the transverse distribution vehicle SW, when the first sensing unit K1 generates the sensing signal based on the sensing object K, the position of the transverse distribution vehicle SW is the left limit position, when the second sensing unit K2 generates the sensing signal based on the sensing object K, the position of the transverse distribution vehicle SW is the right limit position, and when the transverse distribution vehicle SW is between the left limit position and the right limit position, the distribution section of the transverse distribution vehicle SW is the target distribution section. The transverse distribution vehicle SW is set to reciprocate in a left limit position thereof and a section corresponding to the limit position thereof to achieve effective distribution, and when the transverse distribution vehicle SW exceeds a target distribution section, it is necessary to adjust the reverse travel of the transverse distribution vehicle SW to return to the target distribution section.
The control module is arranged on a workshop production control platform, an independent CPU (central processing unit) and the like, receives induction signals through a first induction unit K1 and a second induction unit K2 which are connected with the induction module, controls the advancing direction of the transverse distributing vehicle SW through a control south unit which is connected with the transverse distributing vehicle SW, and receives the advancing step number of the transverse distributing vehicle SW. In some embodiments, the control module determines the number of travelling steps of the transverse distribution vehicle SW by the number of turns of the stepper motor, for example, the control module receives the number of turns of the stepper motor in real time, and takes the number of turns of the stepper motor acquired when the sensing signal output by the first sensing unit K1 is received as an initial number of travelling steps r0, so that the transverse distribution vehicle SW travels from the first sensing unit K1 to the second sensing unit K2 until the number of turns corresponding to the time t is rt, and the number of travelling steps of the transverse distribution vehicle SW is equal to rt minus r0; and when the induction signal of the second induction unit K2 is received, the number of turns of the stepping motor is the initial number of turns, and the steps are repeated to determine the advancing step length of the transverse material distribution vehicle SW in the corresponding direction from the second induction unit K2 to the first induction unit K1.
As shown in fig. 3, the control module includes a preset step threshold n+m, where the number of traveling steps of the transverse distribution vehicle SW corresponding to the point s1 of the first sensing unit K1 and the point s2 of the second sensing unit K2 is N, and the number of traveling steps corresponding to the point s2 of the second sensing unit K2 and the forbidden boundary of the transverse distribution vehicle SW is M steps. The control module determines that the transverse distribution vehicle SW advances and controls the transverse distribution vehicle SW to start to acquire the advancing step number of the transverse distribution vehicle SW in real time by receiving the distribution signal of the transverse distribution vehicle SW in the process of mixing and perfuming, counts the advancing step number of the transverse distribution vehicle SW in the current advancing direction from receiving the sensing signal of the first sensing unit K1, outputs fault early warning information when the advancing step number reaches a step number threshold value N+M, and simultaneously controls the reverse advancing adjustment step number M of the transverse distribution vehicle SW so as to return the transverse distribution vehicle SW to a target distribution interval.
In some embodiments, the control module generates the time threshold when the number of steps of travel is equal to the step number threshold, starts timing when the number of steps of travel is equal to the step number threshold, stops timing when a reset signal of the cloth carriage SW is received, and controls the cloth carriage SW to stop when the timing time is equal to the time threshold. Specifically, the control module comprises a timing unit, the timing unit starts timing when the number of traveling steps is equal to the step number threshold value, and stops timing when a reset signal of the material distribution vehicle SW is received.
In some embodiments, the finished wire cabinet MB includes a first end and a second end, the length between the first end and the second end of the finished wire cabinet MB is equal to the second length L2, the first sensing unit K1 is disposed between the first end and a midpoint of the finished wire cabinet MB, the second sensing unit K2 is disposed between the midpoint of the finished wire cabinet MB and the second end, the first sensing unit K1 and the second sensing unit K2 are symmetrically disposed about the midpoint of the finished wire cabinet MB, and the number of adjustment steps M is equal to the difference between the second length L2 and the first length L1 divided by a two-fold cloth cart step L.
In another embodiment, as shown in fig. 4, the first sensing unit K1 and the second sensing unit K2 are disposed at any position between the left and right limit positions corresponding to the first end and the second end of the finished wire cabinet MB, where the distance between the first end of the finished wire cabinet MB and the first sensing unit K1 is a third length L3, and the distance between the second end of the finished wire cabinet MB and the second sensing unit K2 is a fourth length L4. The control module comprises a step number threshold value N+M3 and an adjustment step number M3 corresponding to the third length L3, and a step number threshold value N+M4 and an adjustment step number M4 corresponding to the fourth length L4.
In some embodiments, the reset signal includes an input instruction by a user, wherein the cloth carriage SW continues the cloth in response to the input instruction.
Specifically, the control module further comprises an input unit, the user can input instructions through the input unit, the user can input instructions for controlling the travelling direction of the transverse distribution vehicle SW through the input unit, and the control module can further comprise instructions for controlling the stop or start of the transverse distribution vehicle SW.
In some embodiments, the reset signal includes a sensing signal output by the second sensing unit K2, and the cloth carriage SW continues the cloth in response to the sensing signal output by the second sensing unit K2.
Specifically, the reset signal is an induction signal output by the second induction unit K2, and when the transverse distribution vehicle SW does not receive the induction signal output by the second induction unit K2 after advancing by the adjustment step number M, the transverse distribution vehicle SW is judged to be in fault, and the transverse distribution vehicle SW is controlled to stop; when the transverse distributing trolley SW receives the sensing signal output by the second sensing unit K2 within the threshold value, the transverse distributing trolley SW is judged to be normal, and the transverse distributing trolley SW is controlled to continue distributing.
In some embodiments, the first sensing unit K1 and the second sensing unit K2 use proximity switches, the sensing object K uses a metal sensing piece, and the sensing signal is a signal that the first sensing unit K1 and the second sensing unit K2 sense the output of the sensing object within a preset distance.
Specifically, the first sensing unit K1 and the second sensing unit K2 adopt proximity switches, a preset distance is determined according to an effective sensing distance of the proximity switches and the metal sensing pieces which are actually adopted, and a distance between a track of the transverse distribution trolley SW and a finished product wire cabinet MB is set according to the effective sensing distance, so that the preset distance is smaller than the effective sensing distance, and the first sensing unit K1 and the second sensing unit K2 can output sensing signals when a sensing object passes through a position corresponding to the first sensing unit K1 and the second sensing unit K2, so that a relative position of the transverse distribution trolley SW and the finished product wire cabinet MB is obtained. In another embodiment, the first sensing unit K1 and the second sensing unit K2 employ scanners, the sensing object K employs encoders corresponding thereto, and when the sensing object K passes through the positions corresponding to the first sensing unit K1 and the second sensing unit K2, the scanners identify the encoders and emit sensing signals within their corresponding scanning ranges.
The foregoing description of the embodiments of the present disclosure has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the various embodiments described. The terminology used herein was chosen in order to best explain the principles of the embodiments, the practical application, or the technical improvement in the marketplace, or to enable others of ordinary skill in the art to understand the disclosure.
Claims (10)
1. A method for controlling a transverse distribution vehicle, comprising:
acquiring a material distribution signal of a material distribution vehicle;
The method comprises the steps that the travelling steps of the material distribution vehicle from a first sensing unit to a second sensing unit are acquired in real time, the first sensing unit and the second sensing unit are fixedly arranged on a finished product wire cabinet, the distance between the first sensing unit and the second sensing unit is a first length, the first sensing unit and the second sensing unit are based on the position of a sensing object and output sensing signals, and the sensing object is fixedly arranged on the material distribution vehicle;
When the advancing step number is smaller than a preset step number threshold value, the material distribution vehicle advances reversely based on the sensing signal of the second sensing unit, when the advancing step number is equal to the step number threshold value, fault information of the material distribution vehicle is output, meanwhile, the material distribution vehicle is controlled to advance reversely by a preset adjusting step number, and the product of the adjusting step number and the material distribution vehicle step length is added with the first length to be equal to the product of the step number threshold value and the material distribution vehicle step length.
2. The method of claim 1, further comprising generating a time threshold when the number of steps is equal to the step number threshold, and starting timing from when the number of steps is equal to the step number threshold, stopping timing when a reset signal of the cart is received, and controlling the cart to stop when a timing time is equal to the time threshold.
3. The method of claim 2, wherein the reset signal comprises an input instruction from a user, wherein the cloth carriage continues to cloth in response to the input instruction, or wherein the reset signal comprises a sensing signal output by the second sensing unit, and wherein the cloth carriage continues to cloth in response to the sensing signal output by the second sensing unit.
4. The method of claim 1, wherein the first sensing unit and the second sensing unit use proximity switches, the sensing object uses a metal sensing piece, and the sensing signal is a signal output by the first sensing unit and the second sensing unit when sensing the sensing object within a preset distance.
5. The method of claim 1, wherein the finished wire cabinet includes a first end and a second end, a length between the first end and the second end of the finished wire cabinet is equal to a second length, the first sensing unit is disposed between the first end and a midpoint of the finished wire cabinet, the second sensing unit is disposed between the midpoint of the finished wire cabinet and the second end, the first sensing unit and the second sensing unit are symmetrically disposed about the midpoint of the finished wire cabinet, and the number of adjustment steps is equal to a difference between the second length and the first length divided by two times the cloth cart step size.
6. A transverse distribution vehicle control system, comprising:
The induction object is fixedly arranged on the material distribution vehicle;
the induction module comprises a first induction unit and a second induction unit, the first induction unit and the second induction unit are arranged on the finished wire cabinet, the distance between the first induction unit and the second induction unit is a first length, and the first induction unit and the second induction unit output induction signals based on the position of the induction object;
The control module is connected with the sensing module to receive the sensing signal, the control module is connected with the distribution vehicle to receive the distribution signal, the control module responds to the distribution signal to obtain the number of traveling steps of the distribution vehicle from a first sensing unit to a second sensing unit, when the number of traveling steps is smaller than a preset step threshold value, the control module controls the distribution vehicle to reversely travel based on the sensing signal output by the second sensing unit, when the number of traveling steps is equal to the step threshold value, the control module outputs fault information of the distribution vehicle and simultaneously controls the distribution vehicle to reversely travel a preset adjustment step number, and the product of the adjustment step number and the distribution vehicle step length is equal to the product of the step threshold value and the distribution vehicle step length.
7. The system of claim 6, wherein a time threshold is generated when the number of steps is equal to the step number threshold, wherein the control module starts timing when the number of steps is equal to the step number threshold, stops timing when a reset signal of the cart is received, and controls the cart to stop when a timing time is equal to the time threshold.
8. The system of claim 7, wherein the reset signal comprises an input instruction by a user, wherein the cloth cart continues to cloth in response to the input instruction; or, the reset signal comprises an induction signal output by the second induction unit, and the cloth vehicle responds to the induction signal output by the second induction unit to continue the cloth.
9. The system of claim 6, wherein the first sensing unit and the second sensing unit employ proximity switches, the sensing object employs a metal sensing piece, and the sensing signal is a signal output by the first sensing unit and the second sensing unit when sensing the sensing object within a preset distance.
10. The system of claim 6, wherein the finished wire cabinet includes a first end and a second end, a length between the first end and the second end of the finished wire cabinet is equal to a second length, the first sensing unit is disposed between the first end and a midpoint of the finished wire cabinet, the second sensing unit is disposed between the midpoint of the finished wire cabinet and the second end, the first sensing unit and the second sensing unit are symmetrically disposed about the midpoint of the finished wire cabinet, and the number of adjustment steps is equal to a difference between the second length and the first length divided by two times the cloth cart step size.
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