阅读说明：本技术 托盘伸出定位方法和系统 (Tray extension positioning method and system ) 是由 *** 陈志浩 陆文成 于 2018-09-10 设计创作，主要内容包括：本发明公开了一种托盘伸出定位方法和系统。托盘伸出定位方法包括：获取第一传感器的第一检测状态及第二传感器的第二检测状态；判断第一检测状态和第二检测状态；若第一检测状态为检测到第一距离信号并且第二检测状态为未检测到第二距离信号,则驱动托盘沿一顺旋转方向旋转运动；若第一检测状态为未检测到第一距离信号并且第二检测状态为检测到第二距离信号,则驱动托盘沿与顺旋转方向相反的一逆旋转方向旋转运动。本发明提供的托盘伸出定位方法和系统可以判断托盘的第一位置以及第二位置与目标物的距离,从而判断托盘与目标物是否对齐,若是,则可以继续直线运动,若否则可以旋转至对齐,从而避免换电失败。(The invention discloses a tray extending positioning method and a tray extending positioning system. The tray extending and positioning method comprises the following steps: acquiring a first detection state of a first sensor and a second detection state of a second sensor; judging a first detection state and a second detection state; if the first detection state is that the first distance signal is detected and the second detection state is that the second distance signal is not detected, the tray is driven to rotate along a forward rotation direction; if the first detection state is that the first distance signal is not detected and the second detection state is that the second distance signal is detected, the driving tray rotates along a reverse rotation direction opposite to the forward rotation direction. The tray extending positioning method and the tray extending positioning system can judge the distance between the first position and the second position of the tray and the target object so as to judge whether the tray is aligned with the target object, if so, the tray can continue to move linearly, and if not, the tray can rotate to be aligned so as to avoid the failure of battery replacement.)

1. A method for positioning a tray in an extending manner, comprising the steps of:

acquiring a first detection state of a first sensor and a second detection state of a second sensor; the first detection state is used for indicating whether the first sensor detects a first distance signal, and the second detection state is used for indicating whether the second sensor detects a second distance signal; the first distance signal is used for representing the distance between a first position of the tray and a target object, and the second distance signal is used for representing the distance between a second position of the tray and the target object; the first position and the second position are arranged at intervals;

judging the first detection state and the second detection state, and if the first detection state is that the first distance signal is detected and the second detection state is that the second distance signal is detected, driving the tray to move linearly towards the target object at a positioning speed; if the first detection state is that the first distance signal is detected and the second detection state is that the second distance signal is not detected, driving the tray to rotate along a forward rotation direction, so that the second position is closer to the target object faster than the first position; if the first detection state is that the first distance signal is not detected and the second detection state is that the second distance signal is detected, the tray is driven to rotate in a reverse rotation direction opposite to the forward rotation direction, so that the first position is closer to the target object faster than the second position.

2. The tray extension positioning method according to claim 1, further comprising:

and if the first detection state is that the first distance signal is not detected and the second detection state is that the second distance signal is not detected, driving the tray to move linearly towards the target object at a traveling speed.

3. The tray extension positioning method as claimed in claim 2, wherein said tray linearly moving toward said object at a traveling speed comprises the steps of:

judging whether the tray has traveled a preset distance or not, if not, the tray moves linearly to the target object at a first traveling speed; if so, the tray moves linearly to the target object at a second traveling speed;

wherein the second travel speed is lower than the first travel speed;

preferably, the positioning speed is lower than the first travel speed.

4. The tray extension positioning method according to claim 1, further comprising the steps of:

stopping the tray movement after receiving a termination command.

5. The tray extension positioning method according to claim 4, further comprising:

acquiring a third detection state of a third sensor; the third detection state is used for indicating whether the third sensor detects a third distance signal; the third distance signal is used for representing the distance between a third position of the tray and the target object;

judging the third detection state, and if the third detection state is that the third distance signal is detected, generating the termination instruction;

wherein the third position is located between the first position and the second position;

preferably, the first sensor, the second sensor and the third sensor are all distance switches;

preferably, the sensing distance of the first sensor is the same as that of the second sensor, and the sensing distance of the third sensor is smaller than that of the first sensor.

6. The tray extension positioning method according to claim 4, further comprising: and judging whether a limit switch arranged on the tray detects a limit position signal or not, and if so, generating the termination instruction.

7. The tray extension positioning method of any one of claims 1 to 6, wherein said first sensor is fixed at said first position and said second sensor is fixed at said second position.

8. A pallet extension positioning system, comprising:

the first acquisition module is used for acquiring a first detection state of the first sensor and a second detection state of the second sensor; the first detection state is used for indicating whether the first sensor detects a first distance signal, and the second detection state is used for indicating whether the second sensor detects a second distance signal; the first distance signal is used for representing the distance between a first position of the tray and a target object, and the second distance signal is used for representing the distance between a second position of the tray and the target object; the first position and the second position are arranged at intervals;

the first judging module is used for judging the first detection state and the second detection state, and if the first detection state is that the first distance signal is detected and the second detection state is that the second distance signal is detected, the first driving module is called; if the first detection state is that the first distance signal is detected and the second detection state is that the second distance signal is not detected, calling a second driving module; if the first detection state is that the first distance signal is not detected and the second detection state is that the second distance signal is detected, calling a third driving module;

the first driving module is used for driving the tray to move linearly to the target object at a positioning speed;

the second driving module is used for driving the tray to rotate along a forward rotating direction, so that the second position is closer to the target object faster than the first position;

the third driving module is configured to drive the tray to rotate in a reverse rotation direction opposite to the forward rotation direction, so that the first position is closer to the target faster than the second position.

9. The tray extension positioning system of claim 8, further comprising a fourth drive module;

the first judging module is further configured to call the fourth driving module if the first detection state is that the first distance signal is not detected and the second detection state is that the second distance signal is not detected;

the fourth driving module is used for driving the tray to move linearly to the target object at a traveling speed.

10. The tray extension positioning system of claim 9, wherein said first judging module includes a preset distance judging module, and said fourth driving module includes a first driving executing module and a second driving executing module;

the preset distance judging module is used for judging whether the tray travels a preset distance in the process that the tray linearly moves towards the target object at the traveling speed, and if not, the first driving execution module is called; if yes, calling the second drive execution module;

the first driving execution module is used for driving the tray to move linearly to the target object at a first travel speed;

the second driving execution module is used for driving the tray to move linearly to the target object at a second travel speed;

wherein the second travel speed is lower than the first travel speed;

preferably, the positioning speed is lower than the first travel speed.

11. The tray extension positioning system of claim 8, further comprising:

and the stopping module is used for stopping the tray from moving after receiving a termination instruction.

12. The tray extension positioning system of claim 11, further comprising:

the second acquisition module is used for acquiring a third detection state of the third sensor; the third detection state is used for indicating whether the third sensor detects a third distance signal; the third distance signal is used for representing the distance between a third position of the tray and the target object;

a second judging module, configured to judge the third detection state, and generate the termination instruction if the third detection state is that the third distance signal is detected;

wherein the third position is located between the first position and the second position;

preferably, the first sensor, the second sensor and the third sensor are all distance switches;

preferably, the sensing distance of the first sensor is the same as that of the second sensor, and the sensing distance of the third sensor is smaller than that of the first sensor.

13. The tray extension positioning system of claim 11, further comprising:

and the third judgment module is used for judging whether a limit switch arranged on the tray detects a limit position signal or not, and if so, generating the termination instruction.

14. The tray extension positioning system of any of claims 8-13, wherein the first sensor is secured at the first location and the second sensor is secured at the second location.

Technical Field

The invention relates to a tray extending and positioning method and system.

Background

In the case of a power-change electric vehicle, it is necessary to replace a battery regularly or irregularly. Generally, the battery replacement equipment is fixed at a specified position, and the electric vehicle is controlled to stop near the battery replacement equipment for battery replacement. The step of battery replacement is that the tray of the battery replacement equipment is extended in a linear motion to be aligned with the battery supporting device on the electric automobile, and finally, the old battery in the electric automobile is taken out and the new battery is placed.

However, due to the operation error, it is difficult for the electric vehicle to stop to a position that is completely parallel to the battery swapping device, that is, the electric vehicle has more or less some skew with respect to the battery swapping device. However, in the prior art, the tray is extended out due to linear motion, so that the tray and the electric automobile cannot be aligned easily, and the battery replacement failure is caused.

Disclosure of Invention

The invention aims to overcome the defect that a tray can not be aligned with an electric automobile when extending in the prior art, and provides a tray extending and positioning method and a tray extending and positioning system.

The invention solves the technical problems through the following technical scheme:

a tray extending and positioning method is characterized by comprising the following steps:

acquiring a first detection state of a first sensor and a second detection state of a second sensor; the first detection state is used for indicating whether the first sensor detects a first distance signal, and the second detection state is used for indicating whether the second sensor detects a second distance signal; the first distance signal is used for representing the distance between a first position of the tray and a target object, and the second distance signal is used for representing the distance between a second position of the tray and the target object; the first position and the second position are arranged at intervals;

judging the first detection state and the second detection state, and if the first detection state is that the first distance signal is detected and the second detection state is that the second distance signal is detected, driving the tray to move linearly towards the target object at a positioning speed; if the first detection state is that the first distance signal is detected and the second detection state is that the second distance signal is not detected, driving the tray to rotate along a forward rotation direction, so that the second position is closer to the target object faster than the first position; if the first detection state is that the first distance signal is not detected and the second detection state is that the second distance signal is detected, the tray is driven to rotate in a reverse rotation direction opposite to the forward rotation direction, so that the first position is closer to the target object faster than the second position.

Preferably, the tray extension positioning method further includes:

and if the first detection state is that the first distance signal is not detected and the second detection state is that the second distance signal is not detected, driving the tray to move linearly towards the target object at a traveling speed.

Preferably, the linear movement of the tray toward the target object at the traveling speed includes the steps of:

judging whether the tray has traveled a preset distance or not, if not, the tray moves linearly to the target object at a first traveling speed; if so, the tray moves linearly to the target object at a second traveling speed;

wherein the second travel speed is lower than the first travel speed;

preferably, the positioning speed is lower than the first travel speed.

By adopting the arrangement, the tray can firstly travel a preset distance at a higher first travel speed to be close to the target object and then approaches the target object at a lower second travel speed, so that the time is saved and the subsequent adjustment precision is not influenced. Meanwhile, when the target object is further approached, the target object is moved at a lower positioning speed, the problems of untimely adjustment and the like caused by too high speed are also avoided, and the positioning speed can be the same as or higher or lower than the second moving speed.

Preferably, the tray extension positioning method further includes the steps of:

stopping the tray movement after receiving a termination command.

By adopting the arrangement, the tray can stop moving at any time point according to the termination instruction, so that the movement of the tray can be stopped in time when a fault occurs or the tray is in place.

Preferably, the tray extension positioning method further includes:

acquiring a third detection state of a third sensor; the third detection state is used for indicating whether the third sensor detects a third distance signal; the third distance signal is used for representing the distance between a third position of the tray and the target object;

judging the third detection state, and if the third detection state is that the third distance signal is detected, generating the termination instruction;

wherein the third position is located between the first position and the second position.

By adopting the arrangement, when the tray moves in place, a termination instruction is generated to complete the extension positioning of the tray.

Preferably, the first sensor, the second sensor and the third sensor are all distance switches.

With the arrangement, the distance switch can conveniently realize the distance detection.

Preferably, the sensing distance of the first sensor is the same as that of the second sensor, and the sensing distance of the third sensor is smaller than that of the first sensor.

Preferably, the tray extension positioning method further includes: and judging whether a limit switch arranged on the tray detects a limit position signal or not, and if so, generating the termination instruction.

By adopting the arrangement, when the tray moves to the set limit position, the stopping instruction is generated in time to stop the movement of the tray, so that the structural damage is avoided.

Preferably, the first sensor is fixed at the first position, and the second sensor is fixed at the second position.

With the arrangement, the first sensor and the second sensor are fixed conveniently.

A tray-extension positioning system, comprising:

the first acquisition module is used for acquiring a first detection state of the first sensor and a second detection state of the second sensor; the first detection state is used for indicating whether the first sensor detects a first distance signal, and the second detection state is used for indicating whether the second sensor detects a second distance signal; the first distance signal is used for representing the distance between a first position of the tray and a target object, and the second distance signal is used for representing the distance between a second position of the tray and the target object; the first position and the second position are arranged at intervals;

the first judging module is used for judging the first detection state and the second detection state, and if the first detection state is that the first distance signal is detected and the second detection state is that the second distance signal is detected, the first driving module is called; if the first detection state is that the first distance signal is detected and the second detection state is that the second distance signal is not detected, calling a second driving module; if the first detection state is that the first distance signal is not detected and the second detection state is that the second distance signal is detected, calling a third driving module;

the first driving module is used for driving the tray to move linearly to the target object at a positioning speed;

the second driving module is used for driving the tray to rotate along a forward rotating direction, so that the second position is closer to the target object faster than the first position;

the third driving module is configured to drive the tray to rotate in a reverse rotation direction opposite to the forward rotation direction, so that the first position is closer to the target faster than the second position.

Preferably, the tray extension positioning system further comprises a fourth drive module;

the first judging module is further configured to call the fourth driving module if the first detection state is that the first distance signal is not detected and the second detection state is that the second distance signal is not detected;

the fourth driving module is used for driving the tray to move linearly to the target object at a traveling speed.

Preferably, the first judging module includes a preset distance judging module, and the fourth driving module includes a first driving executing module and a second driving executing module;

the preset distance judging module is used for judging whether the tray travels a preset distance in the process that the tray linearly moves towards the target object at the traveling speed, and if not, the first driving execution module is called; if yes, calling the second drive execution module;

the first driving execution module is used for driving the tray to move linearly to the target object at a first travel speed;

the second driving execution module is used for driving the tray to move linearly to the target object at a second travel speed;

wherein the second travel speed is lower than the first travel speed;

preferably, the positioning speed is lower than the first travel speed.

By adopting the arrangement, the tray can firstly advance for a preset distance at a higher first advancing speed to be close to the target object under the driving of the first driving execution module and then approach the target object at a lower second advancing speed under the driving of the second driving execution module, so that the time is saved and the later adjustment precision is not influenced. Meanwhile, when the target object is further approached, the target object moves at a lower positioning speed under the action of the first driving module, the problems of untimely adjustment and the like caused by too high speed are also avoided, and the positioning speed can be the same as or higher or lower than the second moving speed.

Preferably, the tray extension positioning system further comprises:

and the stopping module is used for stopping the tray from moving after receiving a termination instruction.

By adopting the arrangement, the tray can stop moving under the action of the stop module at any time point, so that the movement of the tray can be stopped in time when a fault occurs or the tray is in place.

Preferably, the tray extension positioning system further comprises:

the second acquisition module is used for acquiring a third detection state of the third sensor; the third detection state is used for indicating whether the third sensor detects a third distance signal; the third distance signal is used for representing the distance between a third position of the tray and the target object;

a second judging module, configured to judge the third detection state, and generate the termination instruction if the third detection state is that the third distance signal is detected;

wherein the third position is located between the first position and the second position.

By adopting the arrangement, when the tray moves in place, the second judgment module generates a termination instruction to complete the extension positioning of the tray.

Preferably, the first sensor, the second sensor and the third sensor are all distance switches.

With the arrangement, the distance switch can conveniently realize the distance detection.

Preferably, the sensing distance of the first sensor is the same as that of the second sensor, and the sensing distance of the third sensor is smaller than that of the first sensor.

Preferably, the tray extension positioning system further comprises:

and the third judgment module is used for judging whether a limit switch arranged on the tray detects a limit position signal or not, and if so, generating the termination instruction.

By adopting the arrangement, when the tray moves to the set limit position, the stopping instruction is generated in time to stop the movement of the tray, so that the structural damage is avoided.

Preferably, the first sensor is fixed at the first position, and the second sensor is fixed at the second position.

With the arrangement, the first sensor and the second sensor are fixed conveniently.

On the basis of the common knowledge in the field, the above preferred conditions can be combined randomly to obtain the preferred embodiments of the invention.

The positive progress effects of the invention are as follows:

according to the tray extending positioning method and system, the first position and the distance between the second position of the tray and the target object can be judged through the first sensor and the second sensor and by means of the first acquisition module and the first judgment module, so that whether the tray and the target object are aligned or not is judged, if yes, linear motion can be continued, and if not, the tray can be rotated to be aligned, so that failure in battery replacement is avoided.

Drawings

Fig. 1 is a schematic flow chart of a part of a tray extending and positioning method according to embodiment 1 of the present invention.

Fig. 2 is another partial schematic flow chart of a tray extension positioning method according to embodiment 1 of the present invention.

Fig. 3 is a schematic flow chart of a tray extending and positioning process in a situation of embodiment 1 of the present invention.

Fig. 4 is a schematic flow chart of a tray extending and positioning process in another case of embodiment 1 of the present invention.

Fig. 5 is a schematic flow chart of a tray extending and positioning process in another embodiment 1 of the present invention.

Fig. 6 is a block diagram of a tray extension positioning system according to embodiment 2 of the present invention.

Fig. 7 is a schematic structural view of a tray, a first sensor, a second sensor, and a third sensor according to embodiment 2 of the present invention.

Description of reference numerals:

10: tray extension positioning system

110: first acquisition module

120: second acquisition module

210: first judging module

211: preset distance judgment module

220: second judging module

230: third judging module

310: first drive module

320: second drive module

330: third driving module

340: fourth drive Module

341: first drive execution module

342: second drive execution module

400: stop module

20: tray

31: first sensor

32: second sensor

33: third sensor

Detailed Description

The invention is further illustrated by the following examples, which are not intended to limit the scope of the invention.