阅读说明：本技术 Pdu设备及其控制方法 (PDU device and control method thereof ) 是由 袁江徽 徐利雄 刘敬辉 张程飞 于 2021-07-27 设计创作，主要内容包括：本发明提供了一种PDU设备及其控制方法,PDU设备包括输入输出铜排和多个单路PDU轨道系统,多个单路PDU轨道系统与输入输出铜排相连以实现功率切换,单路PDU轨道系统包括：第一驱动电机、同步带、编码器、行程开关、定位孔、设置有反射式光电开关的小车、设置在小车上的触点以及驱动触点运动的第二驱动电机,第一驱动电机用于驱动同步带运动,以带动小车运动,编码器用于计量小车运动的距离,定位孔位于每个孔位中间,用于作为孔位的标定标准,单路PDU轨道系统中的第一驱动电机、行程开关、反射式光电开关、第二驱动电机和编码器均连接到相应的分控制器上并进行控制和采集信息。能够自动标定各孔位的位置信息,无需人工配置,有效地避免人力物力的浪费。(The invention provides a PDU device and a control method thereof, wherein the PDU device comprises an input/output copper bar and a plurality of one-way PDU track systems, the plurality of one-way PDU track systems are connected with the input/output copper bar to realize power switching, and the one-way PDU track system comprises: the device comprises a first driving motor, a synchronous belt, an encoder, a travel switch, a positioning hole, a trolley provided with a reflection-type photoelectric switch, and a contact arranged on the trolley and a second driving motor for driving the contact to move, wherein the first driving motor is used for driving the synchronous belt to move so as to drive the trolley to move, the encoder is used for measuring the moving distance of the trolley, the positioning hole is positioned in the middle of each hole and used as a calibration standard of the hole, and the first driving motor, the travel switch, the reflection-type photoelectric switch, the second driving motor and the encoder in the single-path PDU track system are all connected to corresponding sub-controllers and are used for controlling and acquiring information. The position information of each hole site can be automatically calibrated, manual configuration is not needed, and waste of manpower and material resources is effectively avoided.)

1. The utility model provides a PDU equipment, its characterized in that PDU equipment includes input copper bar, output copper bar and a plurality of one way PDU track system, the input copper bar with the output copper bar is used for connecting input cable and output cable, a plurality of one way PDU track systems be used for with the input copper bar with the output copper bar links to each other in order to realize power switching, wherein, the one way PDU track system includes: the device comprises a first driving motor, a synchronous belt, an encoder, a travel switch, a positioning hole, a trolley provided with a reflective photoelectric switch, a contact arranged on the trolley and a second driving motor for driving the contact to move, wherein the first driving motor is used for driving the synchronous belt to move so as to drive the trolley to move, the encoder is used for measuring the moving distance of the trolley, the travel switch is used for limiting the moving range of the trolley, the positioning hole is positioned in the middle of each hole and used as a calibration standard of the hole, and the first driving motor, the travel switch, the reflective photoelectric switch, the second driving motor and the encoder in the single-path PDU track system are all connected to corresponding sub-controllers and are used for controlling and collecting information.

2. A control method of the PDU device according to claim 1, comprising the steps of:

step S1, controlling the trolley to move from the zero point to the tail end at a first preset speed;

step S2, judging whether the travel switch arranged at the tail end is triggered, if yes, executing step S7, and if no, executing step S3;

step S3, judging whether the reflection-type photoelectric switch is triggered, if yes, executing step S4, and if not, returning to execute the step S2;

step S4, judging whether the reflection-type photoelectric switch is triggered at the previous moment, if so, executing step S5, and if not, executing step S6;

step S5, recording the pulse number from the current hole position to the previous hole position through the encoder, and returning to execute the step S2;

step S6, recording the pulse number from zero point to the first hole position by the encoder, and returning to execute the step S2;

and step S7, controlling the trolley to stop moving and moving the trolley to the head end.

3. The control method of the PDU device of claim 2, further comprising the steps of:

step S101, judging whether first hole spacing information reported by other PDU track systems is received, if so, executing step S102, and if not, executing step S103;

step S102, storing the first hole spacing information reported by the other PDU track systems, and executing the step S103;

step S103, judging whether a motion control command is received, if so, executing step S104, otherwise, returning to execute step S101;

step S104, calculating a first pulse number required by moving to a target hole site, refreshing position information of the current hole site, and setting the hole site spacing pulse count to zero;

step S105, controlling the trolley to move at a second preset speed, and continuously updating the hole site spacing pulse count through the encoder in the moving process;

step S106, judging whether to trigger the reflection-type photoelectric switch, if so, executing step S107, and if not, continuing to execute step S106;

step S107, adding one or subtracting one to the position information of the current hole site according to the movement direction of the trolley, and resetting the hole site spacing pulse count to zero and restarting counting after updating the hole site spacing pulse count to second hole site spacing information of the current one-way PDU track system;

step S108, judging whether the trolley moves the first pulse number or not, if so, executing step S109, and if not, returning to execute step S105;

step S109, controlling the trolley to stop moving, judging whether the second hole spacing information and the first hole spacing information have deviation, and if so, executing step S110;

and step S110, forbidding the current one-way PDU track system and carrying out abnormity early warning.

4. The control method of the PDU device of claim 3, wherein said calculating the first number of pulses required to move to the target hole site comprises the steps of:

acquiring the current hole site, the target hole site and a hole site between the current hole site and the target hole site;

and respectively calculating the hole site interval pulse number between two adjacent hole sites, and summing the hole site interval pulse numbers between two adjacent hole sites to calculate the first pulse number.

5. A computer arrangement comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the control method of a PDU device according to any one of claims 2-4 when executing the computer program.

6. A non-transitory computer-readable storage medium having stored thereon a computer program, characterized in that the program, when executed by a processor, implements a control method of a PDU device according to any one of claims 2-4.

Technical Field

The invention relates to the technical field of PDU equipment, in particular to PDU equipment and a control method of the PDU equipment.

Background

The most relay array that uses of battery charging outfit energy Distribution, the relay array carries out the relay that Power Distribution operation used in large quantity, the wiring is complicated, the later maintenance cost is also higher, in order to solve these problem array PDU (Power Distribution Unit), the equipment takes place in due charge, array PDU equipment divide into input copper bar and output copper bar, remove and stretch out the contact and accomplish the switching connection of input output copper bar by the PDU dolly in the copper bar, this kind of equipment simple structure, the wiring is few, troubleshooting is convenient, and is with low costs, the later maintenance of being convenient for simultaneously.

In the related art, due to the fact that PDU specifications required by charging equipment of different models are different, hole position information needs to be calibrated manually before use, and a large amount of manpower and material resources need to be consumed.

Disclosure of Invention

The invention aims to solve the technical problems and provides the PDU equipment, when the PDU equipment is started to be used, the position information of each hole site can be automatically calibrated, manual configuration is not needed, and therefore waste of manpower and material resources is effectively avoided.

The technical scheme adopted by the invention is as follows:

the utility model provides a PDU equipment, includes input copper bar, output copper bar and a plurality of one way PDU track system, the input copper bar with the output copper bar is used for connecting input cable and output cable, a plurality of one way PDU track systems be used for with the input copper bar with the output copper bar links to each other in order to realize power switching, wherein, the one way PDU track system includes: the device comprises a first driving motor, a synchronous belt, an encoder, a travel switch, a positioning hole, a trolley provided with a reflective photoelectric switch, a contact arranged on the trolley and a second driving motor for driving the contact to move, wherein the first driving motor is used for driving the synchronous belt to move so as to drive the trolley to move, the encoder is used for measuring the movement distance of the trolley, the travel switch is used for limiting the movement range of the trolley, the positioning hole is positioned in the middle of each hole and used as a calibration standard of the hole, and the first driving motor, the travel switch, the reflective photoelectric switch, the second driving motor and the encoder in the single-path PDU track system are all connected to corresponding sub-controllers and are used for controlling and collecting information

A control method of PDU equipment comprises the following steps: step S1, controlling the trolley to move from the zero point to the tail end at a first preset speed; step S2, judging whether the travel switch arranged at the tail end is triggered, if yes, executing step S7, and if no, executing step S3; step S3, judging whether the reflection-type photoelectric switch is triggered, if yes, executing step S4, and if not, returning to execute the step S2; step S4, judging whether the reflection-type photoelectric switch is triggered at the previous moment, if so, executing step S5, and if not, executing step S6; step S5, recording the pulse number from the current hole position to the previous hole position through the encoder, and returning to execute the step S2; step S6, recording the pulse number from zero point to the first hole position by the encoder, and returning to execute the step S2; and step S7, controlling the trolley to stop moving and moving the trolley to the head end.

The control method of the PDU equipment further comprises the following steps: step S101, judging whether first hole spacing information reported by other PDU track systems is received, if so, executing step S102, and if not, executing step S103; step S102, storing the first hole spacing information reported by the other PDU track systems, and executing the step S103; step S103, judging whether a motion control command is received, if so, executing step S104, otherwise, returning to execute step S101; step S104, calculating a first pulse number required by moving to a target hole site, refreshing position information of the current hole site, and setting the hole site spacing pulse count to zero; step S105, controlling the trolley to move at a second preset speed, and continuously updating the hole site spacing pulse count through the encoder in the moving process; step S106, judging whether to trigger the reflection-type photoelectric switch, if so, executing step S107, and if not, continuing to execute step S106; step S107, adding one or subtracting one to the position information of the current hole site according to the movement direction of the trolley, and resetting the hole site spacing pulse count to zero and restarting counting after updating the hole site spacing pulse count to second hole site spacing information of the current one-way PDU track system; step S108, judging whether the trolley moves the first pulse number or not, if so, executing step S109, and if not, returning to execute step S105; step S109, controlling the trolley to stop moving, judging whether the second hole spacing information and the first hole spacing information have deviation, and if so, executing step S110; and step S110, forbidding the current one-way PDU track system and carrying out abnormity early warning.

The method for calculating the first pulse number required by moving to the target hole site comprises the following steps: acquiring the current hole site, the target hole site and a hole site between the current hole site and the target hole site; and respectively calculating the hole site interval pulse number between two adjacent hole sites, and summing the hole site interval pulse numbers between two adjacent hole sites to calculate the first pulse number.

A computer device comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, and when the processor executes the computer program, the control method of the PDU device is realized.

A non-transitory computer-readable storage medium on which a computer program is stored, the program implementing the control method of the PDU device described above when executed by a processor.

One or more technical solutions provided in the embodiments of the present invention have at least the following technical effects or advantages:

(1) when the PDU equipment is started for use, the position information of each hole site can be automatically calibrated without manual configuration, so that the waste of manpower and material resources is effectively avoided.

(2) When the PDU equipment runs, the invention can continuously and automatically calibrate the number of the movement pulses among the hole sites in a self-adaptive manner, effectively compensate the movement distance change caused by various reasons such as system aging or vibration, prevent the connection failure caused by the position missing or movement overshoot, automatically judge whether each track is abnormal according to all track data in the whole system, and ensure the safety of the system.

Drawings

Fig. 1 is a flowchart of a PDU device control method according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of a one-way PDU track system according to one embodiment of the present invention;

fig. 3 is a flowchart of a PDU device control method according to an embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The most relay array that uses of battery charging outfit energy Distribution, the relay array carries out the relay that Power Distribution operation used in large quantity, the wiring is complicated, the later maintenance cost is also higher, in order to solve these problem array PDU (Power Distribution Unit), the equipment takes place in due charge, array PDU equipment divide into input copper bar and output copper bar, remove and stretch out the contact and accomplish the switching connection of input output copper bar by the PDU dolly in the copper bar, this kind of equipment simple structure, the wiring is few, troubleshooting is convenient, and is with low costs, the later maintenance of being convenient for simultaneously.

In the related art, due to the fact that PDU specifications required by charging equipment of different models are different, hole position information needs to be calibrated manually before use, and a large amount of manpower and material resources need to be consumed.

Therefore, the PDU equipment provided by the invention can automatically calibrate the position information of each hole position when the PDU equipment is started to be used, and manual configuration is not needed, so that the waste of manpower and material resources is effectively avoided.

Specifically, the PDU device may include an input copper bar, an output copper bar and a plurality of one-way PDU track systems, where the input copper bar and the output copper bar are used to connect an input cable and an output cable, and the plurality of one-way PDU track systems are used to connect the input copper bar and the output copper bar to implement power switching, where as shown in fig. 1, the one-way PDU track system according to an embodiment of the present invention may include: a first driving motor 100, a synchronous belt 200, an encoder 300, a travel switch 400, a positioning hole 500, a trolley 600 provided with a reflective photoelectric switch, a contact (not specifically shown in figure 1) arranged on the trolley, and a second driving motor (not specifically shown in figure 1) driving the contact to move, wherein, the first driving motor 100 is used for driving the synchronous belt 200 to move so as to drive the trolley 600 to move, the encoder 300 is used for measuring the moving distance of the trolley 600, the travel switch 400 is used for limiting the moving range of the trolley, the positioning hole 500 is positioned in the middle of each hole and used as the calibration standard of the hole, the first driving motor 100, the travel switch 400, the reflective photoelectric switch, the second driving motor and the encoder 300 in the one-way PDU rail system are all connected to corresponding sub-controllers (not specifically shown in fig. 1) and perform control and information collection.

The sub-controllers can send corresponding control signals to control the PDU equipment to execute corresponding control strategies, so that the position information of each hole site can be automatically calibrated when the PDU equipment is started to be used, manual configuration is not needed, and waste of manpower and material resources is effectively avoided.

Specifically, based on the specific structure of the PDU device in the above embodiment, as shown in fig. 2, the method for controlling the PDU device in an embodiment of the present invention may include the following steps:

and S1, controlling the trolley to move from the zero point to the tail end at a first preset speed.

Wherein the first preset speed is the lowest speed of the trolley.

And S2, judging whether the travel switch arranged at the tail end is triggered. If so, go to step S7; if not, step S3 is performed.

Specifically, if the trolley triggers a travel switch arranged at the tail end, the trolley runs to the tail end; if the trolley does not trigger the travel switch arranged at the tail end, the trolley does not run to the tail end, and the trolley needs to be controlled to move continuously.

And S3, judging whether to trigger the reflection-type photoelectric switch. If so, go to step S4; if not, the process returns to step S2.

Specifically, the positioning hole on each hole site is located at the middle of the hole site, when the reflective photoelectric switch on the trolley is not located at the middle of the corresponding hole site, reflected photoelectric information is detected, and at the moment, the reflective photoelectric switch is not triggered; when the reflection-type photoelectric switch on the trolley is in the middle position of the corresponding hole site, the photoelectric signal can not be reflected back to the trolley through the round hole in the middle of the hole site, and the photoelectric signal can not be detected, and at the moment, the reflection-type photoelectric switch is triggered.

And S4, judging whether the reflection-type photoelectric switch is triggered at the previous moment. If so, go to step S5; if not, step S6 is performed.

And S5, recording the pulse number from the current hole position to the previous hole position through the encoder. After the execution of step S5, the process returns to the execution of step S2.

S6, recording the pulse number from zero point to the first hole position by the encoder. After the execution of step S5, the process returns to the execution of step S2.

Specifically, whether the current hole site is the hole site No. 1 is determined by determining whether the reflective photoelectric switch has been triggered at the previous time (the hole sites are sequentially sorted from the head end to the tail end and are divided into the hole site No. zero, the hole site No. 1, and … …). If the reflection-type photoelectric switch is triggered at the previous moment, the current hole site is not the hole site No. 1, at the moment, the pulse number from the current hole site to the previous hole site can be recorded through the encoder, and whether the trolley runs to the tail end or not is judged; if the reflective photoelectric switch is not triggered at the previous moment, the current hole site is the No. 1 hole site, at the moment, the pulse number from the zero point to the first hole site can be recorded through the encoder, and whether the trolley runs to the tail end or not is judged.

And S7, controlling the trolley to stop moving and moving the trolley to the head end.

Specifically, after the trolley is judged to run to the tail end, the trolley is controlled to stop moving, and the trolley is moved to the head end. Therefore, manual configuration is not needed, hole position calibration can be automatically carried out when the device is started, and waste of manpower and material resources is effectively avoided.

It can be understood that, in the related art, because the PDU equipment specifications required by different models of charging equipment are different, the number of the hole sites of the PDU equipment is also different, and meanwhile, because of mechanical assembly errors, the distance between each hole site on the PDU equipment is also different, and finally, the long-term use of the equipment also can cause the structure aging of a driving part, which all can cause that the PDU equipment cannot automatically, safely and accurately reach the specified hole sites.

Therefore, the sub-controller can also control the PDU equipment to automatically and adaptively calibrate the number of the movement pulses among the hole sites, effectively compensate the movement distance change caused by various reasons such as system aging or vibration and the like, and prevent the connection failure caused by the position missing or movement overshoot.

Specifically, based on the PDU device in the above embodiment, as shown in fig. 3, the method for controlling the PDU device in another embodiment of the present invention further includes the following steps:

s101, judging whether first hole spacing information reported by other PDU track systems is received. If yes, executing step S102; if not, step S103 is performed.

S102, storing the first hole site distance information reported by other PDU track systems. After that, step S103 is executed.

S103, judging whether a motion control instruction is received or not. If yes, step S104 is executed, and if no, the process returns to step S101.

S104, calculating the first pulse number required by moving to the target hole site, refreshing the position information of the current hole site, and setting the hole site spacing pulse count to zero.

According to one embodiment of the present invention, calculating the first number of pulses required to move to the target hole site comprises the steps of: acquiring a current hole site, a target hole site and a hole site between the current hole site and the target hole site; and respectively calculating the hole site interval pulse number between two adjacent hole sites, and summing the hole site interval pulse numbers between two adjacent hole sites to calculate a first pulse number.

Specifically, the position information of the current hole site is obtained and recorded as P, the position information of the target hole site is obtained and recorded as Q, then the next hole site at the position P is recorded as P +1, the next hole site is recorded as P +2, … …, and so on.

Further, the number of pulses of hole site pitch between the position P and the position P +1, the number of pulses of hole site pitch between the position P +1 and the position P +2, … …, and the number of pulses of hole site pitch between the position P + n and the position Q are calculated, respectively, and the numbers of pulses of hole site pitch between two adjacent hole sites are summed to calculate the first number of pulses.

And S105, controlling the trolley to move at a second preset speed, and continuously updating the hole site interval pulse counting through an encoder in the moving process.

Specifically, the trolley can move at full speed after receiving the motion control command, and the counting is carried out through an encoder in the moving process, namely the counting of the pulses between the hole sites of the trolley moving from the current hole site to the next hole site is recorded.

And S106, judging whether to trigger the reflection-type photoelectric switch. If yes, step S107 is executed, and if no, step S106 is continued.

And S107, adding one or subtracting one to the position information of the current hole site according to the movement direction of the trolley, and after updating the hole site interval pulse count to the second hole site interval information of the current single-path PDU track system, resetting the hole site interval pulse count to zero and restarting the counting.

Specifically, whether the trolley runs from the current hole position P to the next hole position is judged by judging whether the reflection-type photoelectric switch is triggered. If the reflective photoelectric switch is triggered, the trolley is indicated to move to the next hole site, at the moment, the position sequence of the hole sites can be increased by one or decreased by one according to the movement direction of the trolley, namely, the hole site P +1/P-1, the hole site interval pulse count is updated to the second hole site interval information of the current one-way PDU track system, namely, the hole site interval pulse count from the hole site P to the hole site P +1/P-1 is updated to the second hole site interval information of the current one-way PDU track system, then the hole site interval pulse count is set to zero and the counting is restarted, namely, the hole site interval pulse count of the next adjacent hole site is counted again.

And S108, judging whether the trolley moves for the first pulse number or not. If yes, step S109 is executed, and if no, execution returns to step S105.

And S109, controlling the trolley to stop moving, and judging whether the second hole spacing information and the first hole spacing information have deviation. If so, step S110 is performed.

And step S110, disabling the current one-way PDU track system and carrying out abnormity early warning.

Specifically, whether the trolley runs to the tail end or not is judged by judging whether the trolley runs for the first pulse number or not. If the trolley runs for the first pulse number in total, the trolley is judged to run to the tail end, at the moment, the trolley can be controlled to stop running, and the second hole site distance information is compared with the first hole site distance information to judge whether the second hole site distance information and the first hole site distance information have deviation.

Specifically, the number of the hole bits of each PDU track system in other PDU track systems is recorded as t, and the total number of the tracks is recorded as r. Recording the hole site spacing pulse count between the zero hole site and the No. 1 hole site in the first channel of PDU track system as S11, the hole site spacing pulse count between the No. 1 hole site and the No. 2 hole site as S12, … …, and the hole site spacing pulse count between the No. t-1 hole site and the No. t hole site as S1 t; recording the hole site spacing pulse count between the zero hole site and the No. 1 hole site in the second PDU track system as S21, the hole site spacing pulse count between the No. 1 hole site and the No. 2 hole site as S22, … …, and the hole site spacing pulse count between the No. t-1 hole site and the No. t hole site as S2 t; … …, and repeating the above steps, wherein the pulse count of the hole site spacing between the zero hole site and the No. 1 hole site in the r-way PDU track system is Sr1, the pulse count of the hole site spacing between the No. 1 hole site and the No. 2 hole site is Sr2 and … …, and the pulse count of the hole site spacing between the t-1 hole site and the t hole site is Srt.

Firstly, calculating the average value of hole site distance pulse counts among the same hole site sequences of all the tracks in other PDU track systems, namely A1 ═ S11+ S21+ S31+ … … + Sr 1)/r; a2 ═ (S12+ S22+ S32+ … … + Sr 2)/r; … …, respectively; at ═ S1t + S2t + S3t + … … + Srt)/r.

And secondly, calculating the difference value between the counting of the pulses At the hole site spacing in the current single-path PDU track system and the average value (A1-At) of the counting of the pulses At the hole site spacing, and when the difference value is larger than a first preset value (for example, 50), automatically adding one to the abnormal factor of the current single-path PDU track system.

And finally, after all the tracks are calculated, if the ratio of the abnormal factor to the hole site number t is greater than a second preset value (for example, 0.3), judging that the second hole site spacing information and the first hole site spacing information have deviation, namely judging that the current single-path PDU track system is too large in installation error, or too fast in aging, or the driving part is abnormal, and therefore forbidding the current single-path PDU track system and carrying out abnormity early warning.

Therefore, when the PDU equipment runs, the invention can continuously and automatically calibrate the number of the movement pulses among the hole sites in a self-adaptive manner, effectively compensate the movement distance change caused by various reasons such as system aging or vibration, prevent the connection failure caused by the position missing or movement overshoot, automatically judge whether each track is abnormal according to all track data in the whole system, and ensure the system safety.

To sum up, according to the PDU device of the embodiment of the present invention, the PDU device includes an input copper bar, an output copper bar and a plurality of one-way PDU track systems, the input copper bar and the output copper bar are used for connecting an input cable and an output cable, the plurality of one-way PDU track systems are used for connecting the input copper bar and the output copper bar to realize power switching, wherein the one-way PDU track system includes: the device comprises a first driving motor, a synchronous belt, an encoder, a travel switch, a positioning hole, a trolley provided with a reflection-type photoelectric switch, and a second driving motor arranged on the trolley and used for driving the contact to move, wherein the first driving motor is used for driving the synchronous belt to move so as to drive the trolley to move, the encoder is used for measuring the movement distance of the trolley, the travel switch is used for limiting the movement range of the trolley, the positioning hole is positioned in the middle of each hole and used as a calibration standard of the hole, and the first driving motor, the travel switch, the reflection-type photoelectric switch, the second driving motor and the encoder in the single-path PDU track system are all connected to corresponding sub-controllers and are used for controlling and collecting information. Therefore, when the PDU equipment is started for use, the position information of each hole site can be automatically calibrated, manual configuration is not needed, and waste of manpower and material resources is effectively avoided.

Corresponding to the above embodiment, the present invention further provides a control method for a PDU device.

As shown in fig. 2, a method for controlling a PDU device according to an embodiment of the present invention may include the following steps:

and S1, controlling the trolley to move from the zero point to the tail end at a first preset speed.

Wherein the first preset speed is the lowest speed of the trolley.

And S2, judging whether the travel switch arranged at the tail end is triggered. If so, go to step S7; if not, step S3 is performed.

Specifically, if the trolley triggers a travel switch arranged at the tail end, the trolley runs to the tail end; if the trolley does not trigger the travel switch arranged at the tail end, the trolley does not run to the tail end, and the trolley needs to be controlled to move continuously.

And S3, judging whether to trigger the reflection-type photoelectric switch. If so, go to step S4; if not, the process returns to step S2.

Specifically, the positioning hole on each hole site is located at the middle of the hole site, when the reflective photoelectric switch on the trolley is not located at the middle of the corresponding hole site, reflected photoelectric information is detected, and at the moment, the reflective photoelectric switch is not triggered; when the reflection-type photoelectric switch on the trolley is in the middle position of the corresponding hole site, the photoelectric signal can not be reflected back to the trolley through the round hole in the middle of the hole site, and the photoelectric signal can not be detected, and at the moment, the reflection-type photoelectric switch is triggered.

And S4, judging whether the reflection-type photoelectric switch is triggered at the previous moment. If so, go to step S5; if not, step S6 is performed.

And S5, recording the pulse number from the current hole position to the previous hole position through the encoder. After the execution of step S5, the process returns to the execution of step S2.

S6, recording the pulse number from zero point to the first hole position by the encoder. After the execution of step S5, the process returns to the execution of step S2.

Specifically, whether the current hole site is the hole site No. 1 is determined by determining whether the reflective photoelectric switch has been triggered at the previous time (the hole sites are sequentially sorted from the head end to the tail end and are divided into the hole site No. zero, the hole site No. 1, and … …). If the reflection-type photoelectric switch is triggered at the previous moment, the current hole site is not the hole site No. 1, at the moment, the pulse number from the current hole site to the previous hole site can be recorded through the encoder, and whether the trolley runs to the tail end or not is judged; if the reflective photoelectric switch is not triggered at the previous moment, the current hole site is the No. 1 hole site, at the moment, the pulse number from the zero point to the first hole site can be recorded through the encoder, and whether the trolley runs to the tail end or not is judged.

And S7, controlling the trolley to stop moving and moving the trolley to the head end.

Specifically, after the trolley is judged to run to the tail end, the trolley is controlled to stop moving, and the trolley is moved to the head end. Therefore, manual configuration is not needed, hole position calibration can be automatically carried out when the device is started, and waste of manpower and material resources is effectively avoided.

It can be understood that, in the related art, because the PDU equipment specifications required by different models of charging equipment are different, the number of the hole sites of the PDU equipment is also different, and meanwhile, because of mechanical assembly errors, the distance between each hole site on the PDU equipment is also different, and finally, the long-term use of the equipment also can cause the structure aging of a driving part, which all can cause that the PDU equipment cannot automatically, safely and accurately reach the specified hole sites.

Therefore, the invention also provides a control method of the PDU equipment, which can automatically and adaptively calibrate the number of the movement pulses between the hole sites, effectively compensate the movement distance change caused by various reasons such as system aging or vibration and the like, and prevent connection failure caused by short-time movement or movement overshoot.

Specifically, based on the PDU device in the above embodiment, as shown in fig. 3, the method for controlling the PDU device in another embodiment of the present invention further includes the following steps:

s101, judging whether first hole spacing information reported by other PDU track systems is received. If yes, executing step S102; if not, step S103 is performed.

S102, storing the first hole site distance information reported by other PDU track systems. After that, step S103 is executed.

S103, judging whether a motion control instruction is received or not. If yes, step S104 is executed, and if no, the process returns to step S101.

S104, calculating the first pulse number required by moving to the target hole site, refreshing the position information of the current hole site, and setting the hole site spacing pulse count to zero.

According to one embodiment of the present invention, calculating the first number of pulses required to move to the target hole site comprises the steps of: acquiring a current hole site, a target hole site and a hole site between the current hole site and the target hole site; and respectively calculating the hole site interval pulse number between two adjacent hole sites, and summing the hole site interval pulse numbers between two adjacent hole sites to calculate a first pulse number.

Specifically, the position information of the current hole site is obtained and recorded as P, the position information of the target hole site is obtained and recorded as Q, then the next hole site at the position P is recorded as P +1, the next hole site is recorded as P +2, … …, and so on.

Further, the number of pulses of hole site pitch between the position P and the position P +1, the number of pulses of hole site pitch between the position P +1 and the position P +2, … …, and the number of pulses of hole site pitch between the position P + n and the position Q are calculated, respectively, and the numbers of pulses of hole site pitch between two adjacent hole sites are summed to calculate the first number of pulses.

And S105, controlling the trolley to move at a second preset speed, and continuously updating the hole site interval pulse counting through an encoder in the moving process.

Specifically, the trolley can move at full speed after receiving the motion control command, and the counting is carried out through an encoder in the moving process, namely the counting of the pulses between the hole sites of the trolley moving from the current hole site to the next hole site is recorded.

And S106, judging whether to trigger the reflection-type photoelectric switch. If yes, step S107 is executed, and if no, step S106 is continued.

And S107, adding one or subtracting one to the position information of the current hole site according to the movement direction of the trolley, and after updating the hole site interval pulse count to the second hole site interval information of the current single-path PDU track system, resetting the hole site interval pulse count to zero and restarting the counting.

Specifically, whether the trolley runs from the current hole position P to the next hole position is judged by judging whether the reflection-type photoelectric switch is triggered. If the reflective photoelectric switch is triggered, the trolley is indicated to move to the next hole site, at the moment, the position sequence of the hole sites can be increased by one or decreased by one according to the movement direction of the trolley, namely, the hole site P +1/P-1, the hole site interval pulse count is updated to the second hole site interval information of the current one-way PDU track system, namely, the hole site interval pulse count from the hole site P to the hole site P +1/P-1 is updated to the second hole site interval information of the current one-way PDU track system, then the hole site interval pulse count is set to zero and the counting is restarted, namely, the hole site interval pulse count of the next adjacent hole site is counted again.

And S108, judging whether the trolley moves for the first pulse number or not. If yes, step S109 is executed, and if no, execution returns to step S105.

And S109, controlling the trolley to stop moving, and judging whether the second hole spacing information and the first hole spacing information have deviation. If so, step S110 is performed.

And step S110, disabling the current one-way PDU track system and carrying out abnormity early warning.

Specifically, whether the trolley runs to the tail end or not is judged by judging whether the trolley runs for the first pulse number or not. If the trolley runs for the first pulse number in total, the trolley is judged to run to the tail end, at the moment, the trolley can be controlled to stop running, and the second hole site distance information is compared with the first hole site distance information to judge whether the second hole site distance information and the first hole site distance information have deviation.

Specifically, the number of the hole bits of each PDU track system in other PDU track systems is recorded as t, and the total number of the tracks is recorded as r. Recording the hole site spacing pulse count between the zero hole site and the No. 1 hole site in the first channel of PDU track system as S11, the hole site spacing pulse count between the No. 1 hole site and the No. 2 hole site as S12, … …, and the hole site spacing pulse count between the No. t-1 hole site and the No. t hole site as S1 t; recording the hole site spacing pulse count between the zero hole site and the No. 1 hole site in the second PDU track system as S21, the hole site spacing pulse count between the No. 1 hole site and the No. 2 hole site as S22, … …, and the hole site spacing pulse count between the No. t-1 hole site and the No. t hole site as S2 t; … …, and repeating the above steps, wherein the pulse count of the hole site spacing between the zero hole site and the No. 1 hole site in the r-way PDU track system is Sr1, the pulse count of the hole site spacing between the No. 1 hole site and the No. 2 hole site is Sr2 and … …, and the pulse count of the hole site spacing between the t-1 hole site and the t hole site is Srt.

Firstly, calculating the average value of hole site distance pulse counts among the same hole site sequences of all the tracks in other PDU track systems, namely A1 ═ S11+ S21+ S31+ … … + Sr 1)/r; a2 ═ (S12+ S22+ S32+ … … + Sr 2)/r; … …, respectively; at ═ S1t + S2t + S3t + … … + Srt)/r.

And secondly, calculating the difference value between the counting of the pulses At the hole site spacing in the current single-path PDU track system and the average value (A1-At) of the counting of the pulses At the hole site spacing, and when the difference value is larger than a first preset value (for example, 50), automatically adding one to the abnormal factor of the current single-path PDU track system.

And finally, after all the tracks are calculated, if the ratio of the abnormal factor to the hole site number t is greater than a second preset value (for example, 0.3), judging that the second hole site spacing information and the first hole site spacing information have deviation, namely judging that the current single-path PDU track system is too large in installation error, or too fast in aging, or the driving part is abnormal, and therefore forbidding the current single-path PDU track system and carrying out abnormity early warning.

Therefore, when the PDU equipment runs, the invention can continuously and automatically calibrate the number of the movement pulses among the hole sites in a self-adaptive manner, effectively compensate the movement distance change caused by various reasons such as system aging or vibration, prevent the connection failure caused by the position missing or movement overshoot, automatically judge whether each track is abnormal according to all track data in the whole system, and ensure the system safety.

The control method of the PDU equipment according to the embodiment of the invention comprises the following steps: step S1, controlling the trolley to move from the zero point to the tail end at a first preset speed; step S2, judging whether a travel switch arranged at the tail end is triggered, if yes, executing step S7, and if not, executing step S3; step S3, judging whether to trigger the reflection-type photoelectric switch, if yes, executing step S4, if no, returning to execute step S2; step S4, judging whether the previous time triggers the reflection-type photoelectric switch, if yes, executing step S5, and if no, executing step S6; step S5, recording the pulse number from the current hole position to the previous hole position through the encoder, and returning to execute step S2; step S6, recording the pulse number from zero point to the first hole position by the encoder, and returning to execute step S2; and step S7, controlling the trolley to stop moving and moving the trolley to the head end. Therefore, when the PDU equipment is started for use, the position information of each hole site can be automatically calibrated, manual configuration is not needed, and waste of manpower and material resources is effectively avoided.

Corresponding to the above embodiment, the present invention further provides a computer device, which includes a memory, a processor, and a computer program stored in the memory and capable of running on the processor, and when the processor executes the computer program, the PDU device control method described above is implemented.

According to the computer equipment provided by the embodiment of the invention, when the PDU equipment is started for use, the position information of each hole site can be automatically calibrated, and manual configuration is not needed, so that the waste of manpower and material resources is effectively avoided.

In correspondence with the above embodiment, the present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored, which when executed by a processor implements the PDU device control method described above.

According to the non-transitory computer readable storage medium provided by the embodiment of the invention, when the PDU equipment is started to use, the position information of each hole site can be automatically calibrated, manual configuration is not needed, and thus the waste of manpower and material resources is effectively avoided.

In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. The meaning of "plurality" is two or more unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.

The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.

It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.

It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.

In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.

The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.