CN117263036B - Positioning method, device and system and photovoltaic array semi-finished product mounting equipment - Google Patents
Positioning method, device and system and photovoltaic array semi-finished product mounting equipment Download PDFInfo
- Publication number
- CN117263036B CN117263036B CN202311550551.0A CN202311550551A CN117263036B CN 117263036 B CN117263036 B CN 117263036B CN 202311550551 A CN202311550551 A CN 202311550551A CN 117263036 B CN117263036 B CN 117263036B
- Authority
- CN
- China
- Prior art keywords
- driving
- hanger trolley
- trolley
- target
- hanger
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 52
- 239000011265 semifinished product Substances 0.000 title claims abstract description 36
- 230000033001 locomotion Effects 0.000 claims abstract description 81
- 230000000712 assembly Effects 0.000 claims abstract description 36
- 238000000429 assembly Methods 0.000 claims abstract description 36
- 238000001514 detection method Methods 0.000 claims abstract description 15
- 238000009434 installation Methods 0.000 claims description 23
- 230000008569 process Effects 0.000 claims description 13
- 230000007246 mechanism Effects 0.000 claims description 8
- 230000001133 acceleration Effects 0.000 claims description 7
- 230000009977 dual effect Effects 0.000 claims description 4
- 239000000758 substrate Substances 0.000 claims 1
- 230000001360 synchronised effect Effects 0.000 abstract description 5
- 238000005259 measurement Methods 0.000 abstract description 4
- 238000005516 engineering process Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 11
- 238000012545 processing Methods 0.000 description 7
- 230000001276 controlling effect Effects 0.000 description 6
- 238000011900 installation process Methods 0.000 description 6
- 230000009471 action Effects 0.000 description 3
- 238000004590 computer program Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000000047 product Substances 0.000 description 2
- 238000007792 addition Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004422 calculation algorithm Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
- Control Of Position Or Direction (AREA)
Abstract
The application discloses a positioning method, a positioning device, a positioning system and photovoltaic array semi-finished product mounting equipment, and relates to variable measurement or detection technology. The positioning method comprises the following steps: acquiring the position information of the driving component at each side of the hanger trolley in real time; determining positional deviations between the plurality of drive components based on the positional information of each drive component; under the condition that the position deviation meets a first preset condition, determining a compensation value of motion parameter information of each driving assembly according to the position deviation and the position information of each driving assembly; determining target motion parameter information corresponding to the driving component according to the compensation value of the motion parameter information; and controlling the driving assembly to drive the hanger trolley under the target motion parameter information so that the position deviation among the driving assemblies is smaller than or equal to the preset deviation. According to the embodiment of the application, the driving assemblies can be kept synchronous within a certain error range, the slipping of the hanger trolley is reduced, and the stable movement of the hanger trolley is realized.
Description
Technical Field
The application belongs to the technical field of positioning, relates to variable measurement or detection technology, and particularly relates to a positioning method, device and system based on distance measurement and position detection and photovoltaic array semi-finished product mounting equipment.
Background
In the installation process of the photovoltaic solar panel, the installation equipment needs to reach an implementation operation point (i.e., a target installation position) for installation operation. However, in the related art, a situation in which the mounting apparatus slips due to an unsynchronized driving assembly thereof occurs in the course of moving the mounting apparatus to the implementation work point, so that the mounting apparatus cannot stably reach the implementation work point, thereby affecting the mounting work.
Disclosure of Invention
The embodiment of the application provides a positioning method, a positioning device, a positioning system and photovoltaic array semi-finished product mounting equipment, which can reduce the slipping condition of a hanger trolley.
In a first aspect, an embodiment of the present application provides a positioning method applied to positioning of a hanger trolley, where driving assemblies for driving the hanger trolley are disposed on two sides of the hanger trolley;
the method comprises the following steps:
acquiring the position information of the driving assembly on each side of the hanger trolley in real time;
determining positional deviations among a plurality of driving components according to the positional information of each driving component;
under the condition that the position deviation meets a first preset condition, determining a compensation value of motion parameter information of each driving assembly according to the position deviation and the position information of each driving assembly;
determining target motion parameter information corresponding to the driving component according to the compensation value of the motion parameter information;
and controlling the driving assembly to drive the hanger trolley under the target motion parameter information so that the position deviation among the driving assemblies is smaller than or equal to the preset deviation.
In a second aspect, an embodiment of the present application provides a positioning device, which is applied to positioning of a hanger trolley, wherein driving assemblies for driving the hanger trolley are arranged on two sides of the hanger trolley;
the device comprises:
the acquisition module is used for acquiring the position information of the driving assembly at each side of the hanger trolley in real time;
the first determining module is used for determining the position deviation among a plurality of driving components according to the position information of each driving component;
the second determining module is used for determining a compensation value of the motion parameter information of each driving component according to the position deviation and the position information of each driving component under the condition that the position deviation meets a first preset condition;
the third determining module is used for determining target motion parameter information corresponding to the driving component according to the compensation value of the motion parameter information;
and the control module is used for controlling the driving assembly to drive the hanger trolley under the target motion parameter information so that the position deviation among the driving assemblies is smaller than or equal to the preset deviation.
In a third aspect, an embodiment of the present application provides a positioning system applied to positioning of a hanger trolley, where driving assemblies for driving the hanger trolley are disposed on two sides of the hanger trolley;
the positioning system comprises: position detecting means and control means;
the position detection device is used for detecting the real-time position of the hanger trolley and the position information of the driving assembly;
the control device is connected to the position detection device and the drive assembly for performing the positioning method as described in any of the embodiments of the first aspect.
In a fourth aspect, embodiments of the present application provide a photovoltaic array semi-finished product mounting apparatus comprising a host vehicle, a spreader, a hanger trolley, and a positioning system as described in any of the embodiments of the third aspect;
the main vehicle comprises a vertical supporting assembly, a transverse supporting assembly and a travelling mechanism assembly, wherein the transverse supporting assembly is borne on one side of the vertical supporting assembly along the vertical direction, and the travelling mechanism assembly is arranged on the other side of the vertical supporting assembly along the vertical direction;
the hanger trolley is connected to the main trolley in a sliding manner and is used for connecting the hanger.
According to the positioning method, the device and the system for the photovoltaic array semi-finished product mounting equipment, the positioning method applied to the hanger trolley is used for acquiring the position information of the driving components on each side of the hanger trolley in real time, so that the position deviation among the driving components is determined according to the position information, and under the condition that the position deviation meets the preset condition, the target motion parameter information corresponding to the driving components is determined, so that the driving components are controlled to drive the hanger trolley under the target motion parameter information, the position deviation among the driving components is smaller than or equal to the preset deviation, namely, the driving components are kept synchronous within a certain error range, the slipping condition of the hanger trolley can be reduced, the hanger trolley is stably moved, and the mounting operation requirement in the photovoltaic array semi-finished product mounting process is met.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments of the present application will be briefly described, and it is possible for a person skilled in the art to obtain other drawings according to these drawings without inventive effort.
Fig. 1 is a schematic flow chart of a positioning method according to an embodiment of the present application;
FIG. 2 is a flow chart of another positioning method according to an embodiment of the present disclosure;
fig. 3 is a schematic structural diagram of a positioning device according to an embodiment of the present application;
FIG. 4 is a schematic structural diagram of a positioning system according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of a photovoltaic array semi-finished product mounting apparatus according to an embodiment of the present application.
Detailed Description
Features and exemplary embodiments of various aspects of the present application are described in detail below to make the objects, technical solutions and advantages of the present application more apparent, and to further describe the present application in conjunction with the accompanying drawings and the detailed embodiments. It should be understood that the specific embodiments described herein are intended to be illustrative of the application and are not intended to be limiting. It will be apparent to one skilled in the art that the present application may be practiced without some of these specific details. The following description of the embodiments is merely intended to provide a better understanding of the present application by showing examples of the present application.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises the element.
It should be noted that, in the embodiment of the present application, the data acquisition, storage, use, processing, etc. all conform to relevant regulations of national laws and regulations.
In the installation process of the photovoltaic solar panel, the installation equipment needs to reach an implementation operation point (i.e., a target installation position) for installation operation. However, in the related art, a situation that the driving assembly thereof is not synchronous and slips occurs in the process of moving the mounting apparatus to the implementation work point, so that the mounting apparatus cannot stably and accurately reach the implementation work point, thereby affecting the mounting work.
In order to solve the problems of the related art, the embodiment of the application provides a positioning method, a positioning device, a positioning system and a photovoltaic array semi-finished product mounting device.
It should be noted that the positioning system in the embodiments of the present application relates to distance measurement and position detection techniques.
The positioning method provided by the embodiment of the application is described in detail below through specific embodiments and application scenes thereof with reference to the accompanying drawings.
It should be noted that, the positioning method of the embodiment of the application is applied to positioning of the hanger trolley, and driving assemblies are arranged on two sides of the hanger trolley so as to drive the hanger trolley.
In addition, gallows dolly in this application embodiment belongs to photovoltaic array semi-manufactured goods erection equipment, and photovoltaic array semi-manufactured goods erection equipment is used for installing photovoltaic array semi-manufactured goods on photovoltaic support. The photovoltaic array semi-finished product mounting equipment further comprises a main vehicle and a lifting appliance, wherein the lifting appliance trolley is connected to the main vehicle in a sliding manner, and a sliding rail is arranged on the main vehicle. In the photovoltaic array semi-finished product installation process, the hanger trolley is used for moving on the sliding rail to align the photovoltaic array semi-finished product with the target installation position of the photovoltaic bracket.
Specifically, the photovoltaic array semi-finished product comprises a plurality of photovoltaic panels, and the plurality of photovoltaic panels are arranged along the length direction and/or the width direction of the photovoltaic panels and are assembled by a plurality of purlines and oblique beams.
Fig. 1 shows a flow chart of a positioning method according to an embodiment of the present application. As shown in fig. 1, the positioning method specifically may include the following steps:
s101, acquiring the position information of the driving assembly on each side of the hanger trolley in real time;
s102, determining the position deviation among a plurality of driving components according to the position information of each driving component;
s103, under the condition that the position deviation meets a first preset condition, determining a compensation value of motion parameter information of each driving assembly according to the position deviation and the position information of each driving assembly;
s104, determining target motion parameter information corresponding to the driving component according to the compensation value of the motion parameter information;
s105, controlling the driving assembly to drive the hanger trolley under the target motion parameter information so that the position deviation among the driving assemblies is smaller than or equal to the preset deviation.
Therefore, the position information of the driving components on each side of the hanger trolley is obtained in real time, so that the position deviation among the driving components is determined according to the position information, and the target motion parameter information corresponding to the driving components is determined under the condition that the position deviation meets the preset condition, so that the driving components are controlled to drive the hanger trolley under the target motion parameter information, the position deviation among the driving components is smaller than or equal to the preset deviation, that is, the driving components are kept synchronous within a certain error range, the slipping condition of the hanger trolley can be reduced, the hanger trolley is stably moved, and the installation operation requirement in the photovoltaic array semi-finished product installation process is further met.
A specific implementation of each of the above steps is described below.
It will be appreciated that positioning control of the hanger trolley is required during movement of the hanger trolley. However, in the related art, positioning is generally performed by using position open loop control, and since further processing according to the execution situation after control is not considered and speed control is not considered, accurate positioning cannot be achieved, for example, the cart may move beyond the target installation position.
Therefore, in this embodiment, the positioning is achieved by performing real-time position control and speed control on the hanger trolley, and further processing the feedback information after the control, that is, using double closed-loop control of position closed-loop control and speed closed-loop control.
In some embodiments, the distance between the real-time position of the hanger trolley and the target installation position is determined by obtaining real-time position feedback information of the hanger trolley and applying the real-time position feedback information to a control algorithm, thereby speed controlling the hanger trolley according to the distance.
In the implementation, determining a first movement rate of each driving assembly according to the distance between the real-time position of the hanger trolley and the target installation position and the acceleration of the driving assembly of the hanger trolley; the plurality of drive assemblies are then controlled to each drive the hanger trolley at the first rate of movement. The acceleration of the driving assembly is determined according to the specific mechanical structure of the driving assembly, and the accelerations corresponding to the driving assemblies of the hanger trolley are the same. In this way, speed control is achieved while position control of the hanger trolley is performed, and the maximum speed of the hanger trolley is defined based on the first movement rate so that avoidance of runaway or the like occurs, so that the hanger trolley keeps stably and safely moving.
However, it should be noted that, since the plurality of driving assemblies do not necessarily perform well in controlling the same, that is, the actual operation may deviate from the first movement rate, and the deviation may be different among the plurality of driving assemblies, the plurality of driving assemblies may be out of synchronization, so that the hanger trolley may slip, and even the mechanical mechanism of the hanger trolley may be deformed.
Therefore, in this embodiment, the position information of the plurality of driving assemblies is obtained to be used as feedback information of speed control, so that the plurality of driving assemblies are further processed according to the feedback information to synchronize within a certain error range, and the situation that the hanger trolley slips is avoided. Specifically, in step S101, position information of the driving components on each side of the hanger trolley is acquired in real time.
Further, in some embodiments, in step S102, a positional deviation between the plurality of drive components is determined based on the positional information of each drive component. Wherein the positional deviation may be an absolute value of a difference in positional information between the plurality of driving components.
In some embodiments, in step S103, a first preset threshold value and a second preset threshold value are preset, and for setting the first preset threshold value and the second preset threshold value, the first preset threshold value may be set according to a mechanical structure of the hanger trolley (for example, a maximum allowable inclination angle of a driving assembly of the hanger trolley) and in combination with an actual application requirement, and the first preset threshold value is smaller than the second preset threshold value. That is, if the positional deviation is between the first preset threshold and the second preset threshold, it is indicated that the deviation between the plurality of driving components is not excessive; in case the positional deviation information is greater than a second preset threshold, it is indicated that the deviation between the plurality of driving assemblies is too large.
The first preset condition includes: the duration of the positional deviation being greater than the first preset threshold and less than the second preset threshold is greater than the first duration. And judging the position deviation according to the first preset condition, so as to perform corresponding processing according to the judging result.
In some embodiments, the compensation value of the motion parameter information of each drive assembly is determined from the positional deviation and the positional information of each drive assembly in case the positional deviation meets a first preset condition, e.g. in case the positional deviation is greater than a first preset threshold and the duration of less than a second preset threshold is greater than 3 seconds. Wherein the compensation value of the motion parameter information includes a velocity compensation value.
In specific implementation, according to the position information of each driving component, a target driving component meeting the preset position condition is determined from a plurality of driving components. Wherein the preset position condition may include any one of the following: furthest from the target installation location and closest to the target installation location. That is, the target drive component of the plurality of drive components is determined according to the relative positional relationship of the plurality of drive components to the target mounting position, respectively.
In the specific implementation, determining a speed compensation value corresponding to the target driving component according to the position deviation information; and determining a speed compensation value of the non-target driving component as a preset value, wherein the non-target driving component is a driving component except for the target driving component in the driving components. It will be appreciated that the preset value is zero, i.e., no compensation or adjustment is required for the current rate of movement (i.e., the first rate of movement) of the non-target drive assembly.
For the determination of the speed compensation value, it may be determined based on calculation of the distance and the acceleration of the drive assembly. It will be appreciated that the speed compensation value may be a positive value or a negative value, and is specifically determined according to whether the target driving component is the driving component farthest from the target mounting position or the driving component closest to the target mounting position.
Further, in some embodiments, in step S104, the first motion rate is compensated based on the velocity compensation value to obtain the target motion rate of the driving assembly. That is, the target movement rate of the target driving component is determined by compensating the first movement rate based on the speed compensation value, and the target movement rate of the non-target driving component is the first movement rate. In this way, the target drive assembly can be regulated in the form of acceleration or deceleration, etc., to achieve synchronization with other non-target drive assemblies without excessive misalignment between the multiple drive assemblies.
Thus, in some embodiments, in step S105, the driving component is controlled to drive the hanger trolley under the target motion parameter information (target motion rate), that is, the target driving component is controlled to drive the hanger trolley under the target motion rate of compensating the first motion rate based on the speed compensation value, and the non-target driving component is controlled to drive the hanger trolley under the first motion rate, so that the position deviation between the driving components is smaller than or equal to the preset deviation, thereby enabling the hanger trolley to stably move, meeting the installation operation requirement in the installation process of the semi-finished photovoltaic array product, and further achieving the purpose of completing the alignment of the semi-finished photovoltaic array product with the target installation position of the photovoltaic bracket.
Specifically, for the preset deviation, the preset deviation can be set according to the mechanical mechanism of the hanger trolley and the actual application requirement, namely, the deviation value which enables the hanger trolley not to slip and not to deform the mechanical structure. In addition, the preset deviation may be a first preset threshold.
In addition, in another embodiment, to avoid the situation that the deviation between the plurality of driving assemblies is too large to cause the deformation of the mechanical structure of the hanger trolley, reference may be made to another positioning method of fig. 2.
It will be appreciated that in the event of excessive positional misalignment between the plurality of drive components, there may be situations where a particular drive component is overloaded or malfunctioning. Thus, as shown in fig. 2, in step S201, position information of the driving assembly of each side of the hanger trolley is acquired in real time; in step S202, a positional deviation between a plurality of driving components is determined according to the positional information of each driving component; in step S203, in the case where the positional deviation satisfies the second preset condition, the hanger trolley is braked urgently.
Specifically, the second preset condition is that the duration time period during which the position deviation is greater than or equal to the second preset threshold value is longer than the second duration time period. In addition, in the case that the positional deviation between the plurality of driving components is excessive, alarm prompt information may be generated. In this way, in case of excessive positional deviation among the plurality of driving components, the hanger trolley is braked in an emergency manner to avoid mechanical loss, so that the corresponding driving components are overhauled and adjusted and then re-run.
It should be noted that some embodiments of the present application are described above. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.
Based on the same technical concept, the present application also provides a positioning device 310. And, the positioning device 310 is applied to positioning of the hanger trolley, and both sides of the hanger trolley are provided with driving components for driving the hanger trolley.
As shown in fig. 3, the positioning device 310 may include:
an acquisition module 3101 for acquiring, in real time, positional information of the driving components on each side of the hanger trolley;
a first determining module 3102 configured to determine a positional deviation between a plurality of the driving components according to positional information of each of the driving components;
a second determining module 3103, configured to determine, if the position deviation meets a first preset condition, a compensation value of motion parameter information of each driving component according to the position deviation and position information of each driving component;
a third determining module 3104, configured to determine, according to the compensation value of the motion parameter information, target motion parameter information corresponding to the driving component;
and a control module 3105, configured to control the driving assembly to drive the hanger trolley under the target motion parameter information, so that a positional deviation between a plurality of driving assemblies is less than or equal to a preset deviation.
In some embodiments, the first preset condition includes a duration of time that the positional deviation is greater than a first preset threshold and less than a second preset threshold being greater than a first duration of time.
In some embodiments, positioning device 310 further comprises a fourth determination module (not shown in fig. 3) for determining a first rate of movement of each of the drive assemblies based on a distance between the real-time position of the hanger trolley and a target mounting position and an acceleration of the drive assembly; and controlling a plurality of driving assemblies to drive the hanger trolley at the first movement rate.
In some embodiments, the compensation value of the motion parameter information comprises a velocity compensation value. A second determining module 3103, specifically configured to determine, according to the position information of each driving component, a target driving component that meets a preset position condition from a plurality of driving components; determining a speed compensation value corresponding to the target driving component according to the position deviation; and determining the preset value as a speed compensation value of a non-target driving component, wherein the non-target driving component is a driving component except the target driving component in the driving components. Wherein the preset location condition includes any one of the following: furthest from the target mounting location and closest to the target mounting location.
In some embodiments, the target motion parameter information includes a target motion rate. The third determining module 3104 is specifically configured to compensate the first motion rate based on the speed compensation value, so as to obtain a target motion rate of the driving component.
In some embodiments, the positioning device 310 further comprises an emergency braking module (not shown in fig. 3) for emergency braking of the hanger trolley if the positional deviation satisfies a second preset condition. The second preset condition is that the duration time of the position deviation larger than or equal to a second preset threshold value is longer than a second duration time.
Thus, the positioning device 310 acquires, in real time, the position information of the driving components on each side of the hanger trolley through the acquisition module 3101, so as to determine, through the first determination module 3102, the position deviation between the plurality of driving components according to the position information, and determines, through the second determination module 3103 and the third determination module 3104, the target motion parameter information corresponding to the driving components, so as to control, through the control module 3105, the driving components to drive the hanger trolley under the target motion parameter information, so that the position deviation between the plurality of driving components is smaller than or equal to the preset deviation. The positioning device 310 can keep synchronization of a plurality of driving components in a certain error range, so that the slipping condition of the hanger trolley can be reduced, stable movement of the hanger trolley is realized, and the installation operation requirement in the installation process of the photovoltaic array semi-finished product is further met.
In addition, the application also provides a positioning system. In particular, the positioning system may be applied to the positioning of a hanger trolley.
Referring to fig. 4, a schematic diagram of a positioning system according to an embodiment of the present application is shown. As shown in fig. 4, the positioning system includes: position detection means 410 and control means (not shown in fig. 4). In addition, a track (slide rail) 420 for the hanger trolley to travel and a plurality of drive assemblies 430 for driving the hanger trolley are also shown in fig. 4. Also, as shown in fig. 4, the hanger trolley is provided with driving units 430 at both sides in the moving direction.
Wherein the position detecting device 410 is used for detecting real-time position of the hanger trolley and position information of the driving assembly 430; the control device is connected to the position detection device 410 and the driving assembly 430 for performing the positioning method described in the above corresponding embodiments.
It should be appreciated that the hanger trolley travels along dual tracks, and thus, in some embodiments, a position detection device 410 is provided on each track 420 of the dual tracks to enable detection of real-time position information for both drive assemblies 430 of the hanger trolley.
In some embodiments, the position detection device 410 may be a magnetic scale disposed on the track 420. Because the collection signal (i.e. the measured value) of the magnetic ruler is an absolute value, even if the hanger trolley slips, the accuracy of the measured result can be ensured, and thus the accuracy of the real-time position of the hanger trolley and the accuracy of the position information feedback of the driving assembly 430 can be ensured. However, it should be noted that, for the specific type of the position detecting device 410, it may be selected or set according to the actual application requirement or application scenario, which is not limited in this embodiment.
In addition, the application also provides a photovoltaic array semi-finished product mounting device.
Referring to fig. 5, a schematic structural view of a photovoltaic array semi-finished product mounting apparatus is shown.
As shown in fig. 5, the photovoltaic array semi-finished product mounting apparatus includes a main vehicle 100, a hanger carriage 200, a hanger 300, and a positioning system (not shown in fig. 5) as described in the above-described corresponding embodiments. In addition, a photovoltaic array blank 400 is also shown in fig. 5.
Specifically, the main vehicle 100 includes a vertical support assembly, a lateral support assembly and a travelling mechanism assembly, wherein the lateral support assembly is carried on one side of the vertical support assembly along the vertical direction, and the travelling mechanism assembly is arranged on the other side of the vertical support assembly along the vertical direction; the hanger trolley 200 is slidably connected to the main trolley 100 (transverse support assembly) for connection to the hanger 300.
In addition, as shown in fig. 5, the first direction and the second direction intersect and all intersect with the vertical direction, the transverse supporting assembly comprises a first unit and a second unit which are distributed side by side along the second direction, the first unit and the vertical supporting assembly enclose into a whole and form a first space, and the second unit extends out of the vertical supporting assembly along the second direction and is suspended above the second space.
The first space can provide an installation operation space for the photovoltaic array semi-finished product 400 hoisted in the lifting appliance, and the second space can provide a hoisting operation space for the photovoltaic array semi-finished product 400 to be hoisted in the lifting appliance.
More specifically, the hanger trolley 200 includes two or more hangers stacked vertically, and the hangers of two adjacent layers are movably disposed in different directions; the hanger 300 is connected with the hanger at the lowest layer for hanging the photovoltaic array semi-finished product 400.
Therefore, the photovoltaic array semi-finished product mounting equipment can realize accurate positioning of the hanger trolley 200 and synchronous maintenance of a plurality of driving components of the hanger trolley 200 within a certain error range so as to realize stable movement of the hanger trolley 200, thereby meeting the mounting operation requirement in the photovoltaic array semi-finished product mounting process; meanwhile, automatic installation of the photovoltaic array semi-finished product 400 can be achieved, the installation efficiency is improved, and labor cost and time cost are saved.
It should be clear that the present application is not limited to the particular arrangements and processes described above and illustrated in the drawings. For the sake of brevity, a detailed description of known methods is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method processes of the present application are not limited to the specific steps described and illustrated, and those skilled in the art can make various changes, modifications, and additions, or change the order between steps, after appreciating the spirit of the present application.
The functional blocks shown in the above-described structural block diagrams may be implemented in hardware, software, firmware, or a combination thereof. When implemented in hardware, it may be, for example, an electronic circuit, an Application Specific Integrated Circuit (ASIC), suitable firmware, a plug-in, a function card, or the like. When implemented in software, the elements of the present application are the programs or code segments used to perform the required tasks. The program or code segments may be stored in a machine readable medium or transmitted over transmission media or communication links by a data signal carried in a carrier wave. A "machine-readable medium" may include any medium that can store or transfer information. Examples of machine-readable media include electronic circuitry, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio Frequency (RF) links, and the like. The code segments may be downloaded via computer networks such as the internet, intranets, etc.
It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or devices. However, the present application is not limited to the order of the above-described steps, that is, the steps may be performed in the order mentioned in the embodiments, may be different from the order in the embodiments, or several steps may be performed simultaneously.
Aspects of the present application are described above with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, enable the implementation of the functions/acts specified in the flowchart and/or block diagram block or blocks. Such a processor may be, but is not limited to being, a general purpose processor, a special purpose processor, an application specific processor, or a field programmable logic circuit. It will also be understood that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware which performs the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In the foregoing, only the specific embodiments of the present application are described, and it will be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the systems, modules and units described above may refer to the corresponding processes in the foregoing method embodiments, which are not repeated herein. It should be understood that the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive various equivalent modifications or substitutions within the technical scope of the present application, which are intended to be included in the scope of the present application.
Claims (13)
1. The positioning method is characterized by being applied to positioning of a hanger trolley, wherein the hanger trolley belongs to a photovoltaic array semi-finished product mounting device, the photovoltaic array semi-finished product mounting device further comprises a main trolley, the hanger trolley is connected to the main trolley in a sliding manner so as to align a photovoltaic array semi-finished product with a target mounting position of a photovoltaic bracket, and driving assemblies for driving the hanger trolley are arranged on two sides of the hanger trolley;
the method comprises the following steps:
in the process that the hanger trolley aligns the photovoltaic array semi-finished product with the target installation position of the photovoltaic bracket, controlling a plurality of driving assemblies to drive the hanger trolley at a first movement rate;
acquiring the position information of the driving assembly on each side of the hanger trolley in real time;
determining positional deviations among a plurality of driving components according to the positional information of each driving component;
determining a compensation value of motion parameter information of each driving assembly according to the position deviation and the position information of each driving assembly under the condition that the position deviation meets a first preset condition, wherein the compensation value of the motion parameter information comprises a speed compensation value;
determining target motion parameter information corresponding to the driving component according to the compensation value of the motion parameter information, wherein the target motion parameter information comprises a target motion rate;
controlling the driving assembly to drive the hanger trolley under the target motion parameter information so that the position deviation among a plurality of driving assemblies is smaller than or equal to a preset deviation;
wherein, the determining the target motion parameter information corresponding to the driving component according to the compensation value of the motion parameter information includes:
and compensating the first movement rate based on the speed compensation value to obtain the target movement rate of the driving assembly.
2. The method of claim 1, wherein the first preset condition comprises a duration of time that the positional deviation is greater than a first preset threshold and less than a second preset threshold being greater than a first duration.
3. The method of claim 1, wherein the step of determining the position of the substrate comprises,
the determining the compensation value of the motion parameter information of each driving component according to the position deviation and the position information of each driving component comprises the following steps:
determining a target driving assembly meeting a preset position condition from a plurality of driving assemblies according to the position information of each driving assembly;
determining a speed compensation value corresponding to the target driving component according to the position deviation;
and determining a speed compensation value of a non-target driving component as a preset value, wherein the non-target driving component is a driving component except the target driving component in a plurality of driving components.
4. The method of claim 3, wherein the step of,
before the controlling the plurality of the drive assemblies to each drive the hanger trolley at the first rate of movement, the method further comprises:
and determining a first movement rate of each driving assembly according to the distance between the real-time position of the hanger trolley and the target installation position and the acceleration of the driving assembly.
5. A method according to claim 3, wherein the preset location conditions comprise any one of:
furthest from the target installation location;
closest to the target mounting location.
6. The method of any one of claims 1-5, wherein after determining positional deviations between a plurality of the drive assemblies based on positional information for each of the drive assemblies, the method further comprises:
and under the condition that the position deviation meets a second preset condition, the hanger trolley is braked in an emergency mode.
7. The method of claim 6, wherein the second predetermined condition is that the duration of time that the positional deviation is greater than or equal to a second predetermined threshold is greater than a second duration.
8. The positioning device is characterized by being applied to positioning of a hanger trolley, wherein the hanger trolley belongs to a photovoltaic array semi-finished product mounting device, the photovoltaic array semi-finished product mounting device further comprises a main trolley, the hanger trolley is connected to the main trolley in a sliding manner so as to align a photovoltaic array semi-finished product with a target mounting position of a photovoltaic bracket, and driving assemblies for driving the hanger trolley are arranged on two sides of the hanger trolley;
the device comprises:
the first control module is used for controlling the plurality of driving assemblies to drive the hanger trolley at a first movement rate in the process of aligning the photovoltaic array semi-finished product with the target installation position of the photovoltaic bracket by the hanger trolley;
the acquisition module is used for acquiring the position information of the driving assembly at each side of the hanger trolley in real time;
the first determining module is used for determining the position deviation among a plurality of driving components according to the position information of each driving component;
the second determining module is used for determining a compensation value of motion parameter information of each driving component according to the position deviation and the position information of each driving component under the condition that the position deviation meets a first preset condition, wherein the compensation value of the motion parameter information comprises a speed compensation value;
the third determining module is used for determining target motion parameter information corresponding to the driving component according to the compensation value of the motion parameter information, wherein the target motion parameter information comprises a target motion rate;
the second control module is used for controlling the driving assembly to drive the hanger trolley under the target motion parameter information so that the position deviation among the driving assemblies is smaller than or equal to the preset deviation;
the third determining module is specifically configured to compensate the first motion rate based on the speed compensation value, so as to obtain a target motion rate of the driving component.
9. The positioning system is characterized by being applied to positioning of a hanger trolley, wherein driving assemblies for driving the hanger trolley are arranged on two sides of the hanger trolley;
the positioning system comprises: position detecting means and control means;
the position detection device is used for detecting the real-time position of the hanger trolley and the position information of the driving assembly;
the control device is connected to the position detection device and the drive assembly for performing the positioning method according to any one of claims 1-7.
10. The system of claim 9, wherein the hanger trolley travels along dual tracks, the position detection device being disposed on each of the dual tracks.
11. The system of claim 10, wherein the position detection device is a magnetic scale disposed on a track.
12. A photovoltaic array semi-finished product mounting device, characterized in that it comprises a main vehicle, a sling, a hanger trolley and a positioning system according to any one of claims 9-11;
the main vehicle comprises a vertical supporting assembly, a transverse supporting assembly and a travelling mechanism assembly, wherein the transverse supporting assembly is borne on one side of the vertical supporting assembly along the vertical direction, and the travelling mechanism assembly is arranged on the other side of the vertical supporting assembly along the vertical direction;
the hanger trolley is connected to the main trolley in a sliding manner and is used for connecting the hanger.
13. The photovoltaic array semi-finished product mounting apparatus of claim 12, wherein the hanger trolley comprises more than two hangers arranged in a vertical stack, the hangers of adjacent two layers being movably arranged in different directions; the lifting appliance is connected with the lifting bracket at the lowest layer and is used for lifting the photovoltaic array semi-finished product.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311550551.0A CN117263036B (en) | 2023-11-20 | 2023-11-20 | Positioning method, device and system and photovoltaic array semi-finished product mounting equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311550551.0A CN117263036B (en) | 2023-11-20 | 2023-11-20 | Positioning method, device and system and photovoltaic array semi-finished product mounting equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN117263036A CN117263036A (en) | 2023-12-22 |
| CN117263036B true CN117263036B (en) | 2024-03-01 |
Family
ID=89202910
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311550551.0A Active CN117263036B (en) | 2023-11-20 | 2023-11-20 | Positioning method, device and system and photovoltaic array semi-finished product mounting equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117263036B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1693175A (en) * | 2005-03-22 | 2005-11-09 | 贺月英 | Method for controling steady moving of maintaining platform |
| CN2878329Y (en) * | 2006-03-06 | 2007-03-14 | 吴建红 | Maintenance castle |
| CN102211739A (en) * | 2011-05-26 | 2011-10-12 | 河南省郑起起重设备有限公司 | Basic programming system (BPS) automatic deflection correction method and system for crane cart |
| CN102917945A (en) * | 2010-06-02 | 2013-02-06 | 伊特里克公司 | Marine load lifting system |
| CN202953737U (en) * | 2012-10-23 | 2013-05-29 | 福建天起起重机械有限公司 | Double-crab crane |
| CN115650059A (en) * | 2022-10-10 | 2023-01-31 | 中国二十冶集团有限公司 | Sideslip synchronous control method for rotary hoisting device |
| CN115872281A (en) * | 2021-09-29 | 2023-03-31 | 上海梅山钢铁股份有限公司 | Indoor driving cart operation safety device of ship unloader |
-
2023
- 2023-11-20 CN CN202311550551.0A patent/CN117263036B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1693175A (en) * | 2005-03-22 | 2005-11-09 | 贺月英 | Method for controling steady moving of maintaining platform |
| CN2878329Y (en) * | 2006-03-06 | 2007-03-14 | 吴建红 | Maintenance castle |
| CN102917945A (en) * | 2010-06-02 | 2013-02-06 | 伊特里克公司 | Marine load lifting system |
| CN102211739A (en) * | 2011-05-26 | 2011-10-12 | 河南省郑起起重设备有限公司 | Basic programming system (BPS) automatic deflection correction method and system for crane cart |
| CN202953737U (en) * | 2012-10-23 | 2013-05-29 | 福建天起起重机械有限公司 | Double-crab crane |
| CN115872281A (en) * | 2021-09-29 | 2023-03-31 | 上海梅山钢铁股份有限公司 | Indoor driving cart operation safety device of ship unloader |
| CN115650059A (en) * | 2022-10-10 | 2023-01-31 | 中国二十冶集团有限公司 | Sideslip synchronous control method for rotary hoisting device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN117263036A (en) | 2023-12-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CA2894546C (en) | Method of material handling with automatic guided vehicles | |
| US8700205B2 (en) | Moving stop station for robotic assembly | |
| US9014902B1 (en) | Method of material handling with automatic guided vehicles | |
| KR101461000B1 (en) | Article storage facility and method for controlling same | |
| US9405292B2 (en) | Delivery vehicle and method and program for controlling drive of delivery vehicle | |
| JP2007126254A (en) | Carrier device | |
| WO2024055987A1 (en) | Shuttle vehicle traveling and positioning control method based on encoder self-correction | |
| CN111133395B (en) | Intelligent manufacturing system | |
| CN114690774A (en) | Method and system for controlling movement of robot and computer readable medium | |
| CN117263036B (en) | Positioning method, device and system and photovoltaic array semi-finished product mounting equipment | |
| CN117075647A (en) | Control method and device for stacker | |
| CN102388444B (en) | Conveying system having endless drive medium and conveying method | |
| EP1231178A2 (en) | Method of and apparatus for controlling stacking of a load by a crane | |
| CN117284939B (en) | Speed control system and method for intelligent automatic wafer conveying device | |
| CN102460673B (en) | Conveying system having endless drive medium and method for delivering/receiving article therein | |
| KR101007110B1 (en) | Remote controll apparatus for stacker crane using optical repeater | |
| KR20130115138A (en) | Transfer device | |
| CN117263026B (en) | Positioning system, positioning method, photovoltaic array semi-finished product mounting equipment and method | |
| US8560197B2 (en) | Moving vehicle system and in-position determination method for moving vehicle | |
| JP4893679B2 (en) | Traveling vehicle system | |
| JP2017126286A (en) | Mobile body, mobile body system, and method of calculating correction coefficient for mobile body | |
| CN111045404A (en) | Narrow roadway positioning stacking vehicle, positioning system and positioning method of stacking vehicle | |
| JPH08324716A (en) | Speed control method for stacker crane | |
| KR102330666B1 (en) | Object transport device and method of controlling the same | |
| CN114572216B (en) | Adjusting method and adjusting device for drive system, cleaning device and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |