CN111847019B - Carriage alignment method and system - Google Patents
Carriage alignment method and system Download PDFInfo
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- CN111847019B CN111847019B CN201910339961.8A CN201910339961A CN111847019B CN 111847019 B CN111847019 B CN 111847019B CN 201910339961 A CN201910339961 A CN 201910339961A CN 111847019 B CN111847019 B CN 111847019B
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- dock leveler
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G69/00—Auxiliary measures taken, or devices used, in connection with loading or unloading
- B65G69/28—Loading ramps; Loading docks
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
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Abstract
The invention relates to the field of automation control, discloses a carriage alignment method and system, and solves the problem of large alignment deviation between a boarding bridge and a carriage in the prior art. The method comprises the following steps: when a truck stability stopping signal is detected, controlling the loading bridge to move upwards; when a carriage approach signal is detected, stopping upward movement and controlling the longitudinal movement of the loading bridge; stopping longitudinal movement when detecting that the longitudinal distance between the dock leveler and the tail of the carriage is smaller than or equal to a preset longitudinal distance; measuring the vertical distance between the two sides of the dock leveler and the tail of the carriage to obtain a first vertical distance and a second vertical distance; judging whether the first vertical distance is equal to the second vertical distance; when the first vertical distance and the second vertical distance are not equal, the steering movement and the longitudinal movement of the dock leveler are controlled according to the first vertical distance and the second vertical distance, and the dock leveler is determined to be aligned with the tail of the carriage until the first vertical distance and the second vertical distance are detected to be equal. The embodiment of the invention is suitable for the alignment process of the dock leveler and the truck carriage.
Description
Technical Field
The invention relates to the field of automation control, in particular to a carriage alignment method and a carriage alignment system.
Background
Most petrochemical enterprises adopt the whole stack of goods to be delivered to the container through a forklift or a manual mode when the whole stack of bagged products is loaded and delivered. Along with the gradual improvement of the automation degree of the loading and unloading vehicles in the grain and oil, feed and chemical industry, the accuracy requirement of the truck on the dock leveler is higher and higher, and the small deviation can cause great influence on the system reliability. At present, most enterprises adopt a hydraulic fixed platform bridge-building boarding device, and in the process of parking a truck on a dock bridge, the alignment is completely carried out by manually operating the vehicle, the parking position deviation is large, and the uncontrollable factor is high.
Disclosure of Invention
The invention aims to provide a carriage alignment method and a carriage alignment system, which solve the problems that in the prior art, the alignment deviation between a boarding bridge and a carriage is large, and the alignment needs to be realized through manual operation, realize the alignment between the boarding bridge and a truck carriage, reduce the time for manually operating a truck to stop the boarding bridge, and improve the loading efficiency and the reliability of the loading process.
In order to achieve the above object, an embodiment of the present invention provides a car aligning method, including: when a truck stability stopping signal is detected, controlling the loading bridge to move upwards; when a carriage approach signal is detected, stopping the boarding bridge from moving upwards, and controlling the boarding bridge to move longitudinally towards the tail of the wagon carriage; stopping the longitudinal movement of the dock leveler towards the tail of the carriage when the longitudinal distance between the dock leveler and the tail of the carriage is detected to be smaller than or equal to the preset longitudinal distance; measuring the vertical distance between the two sides of the dock leveler and the tail of the carriage to obtain a first vertical distance and a second vertical distance; judging whether the first vertical distance is equal to the second vertical distance; when the first vertical distance is not equal to the second vertical distance, controlling the dock leveler to move in a steering mode and in a longitudinal mode according to the first vertical distance and the second vertical distance until the dock leveler is determined to be aligned with the tail of the carriage when the first vertical distance and the second vertical distance are detected to be equal.
Further, the controlling the loading dock to move upwards when the truck-stabilizing signal is detected comprises the following steps: detecting the relative distance between the loading bridge and the tail of the carriage; judging whether the relative distance changes within preset time; and when the relative distance is not changed, determining that a truck stopping signal is detected, and controlling the boarding bridge to move upwards.
Further, the stopping the longitudinal movement of the dock leveler toward the rear of the vehicle when it is detected that the longitudinal distance between the dock leveler and the rear of the vehicle is less than or equal to a preset longitudinal distance includes: measuring the longitudinal distance between the two sides of the dock leveler and the tail of the carriage to obtain a first longitudinal distance and a second longitudinal distance; determining a minimum of the first longitudinal distance and the second longitudinal distance as a longitudinal distance of the dock leveler from the rear of the vehicle; judging whether the longitudinal distance between the dock leveler and the tail of the carriage is smaller than or equal to the preset longitudinal distance or not; and stopping the longitudinal movement of the dock leveler towards the tail of the carriage when the longitudinal distance between the dock leveler and the tail of the carriage is less than or equal to a preset longitudinal distance.
Further, said controlling said dock leveler steering movement and longitudinal movement based on said first vertical distance and said second vertical distance comprises: according to
Obtaining a deviation angle theta of the dock leveler and the tail of the carriage, wherein D1 is the first vertical distance, D2 is the second vertical distance, and X is the distance between two sides of the dock leveler; and controlling the boarding bridge to move in a steering way and move longitudinally according to the deviation angle.
Further, after the stopping the upward movement of the loading axle and before controlling the loading axle to move longitudinally towards the rear of the truck bed, the method further comprises: judging whether a first approach signal and a second approach signal of two sides of the dock leveler and the tail of the carriage are detected or not; controlling the dock leveler to move laterally to a side where no proximity signal is detected when any one of the first proximity signal and the second proximity signal is not detected; and when the transverse approach signal is detected, stopping the boarding bridge from transversely moving.
Further, after the determining that the dock leveler is aligned with the aft portion of the vehicle, the method further comprises: and when an initial position restoring instruction is acquired, controlling the dock leveler to restore the initial state.
Correspondingly, an embodiment of the present invention further provides a car alignment system, where the system is applied to the car alignment method described above, and the system includes: the sensor group is moved up and down and used for detecting a carriage approach signal; the longitudinal sensor group is used for detecting a truck stabilizing signal, measuring the longitudinal distance between the dock leveler and the tail of the carriage and measuring the vertical distance between two sides of the dock leveler and the tail of the carriage; the driving module group is used for driving the boarding bridge to move upwards, driving the boarding bridge to move longitudinally and driving the boarding bridge to move in a steering way; the processor is used for controlling the driving module group to drive the loading bridge to move upwards when the stable stopping signal of the truck is detected; when a carriage approach signal is detected, stopping the boarding bridge from moving upwards, and controlling the driving module group to drive the boarding bridge to move longitudinally towards the tail of the wagon carriage; stopping the longitudinal movement of the dock leveler towards the tail of the carriage when the longitudinal distance between the dock leveler and the tail of the carriage is detected to be smaller than or equal to the preset longitudinal distance; measuring the vertical distance between the two sides of the dock leveler and the tail of the carriage to obtain a first vertical distance and a second vertical distance; judging whether the first vertical distance is equal to the second vertical distance; when the first vertical distance is not equal to the second vertical distance, controlling the driving module group to drive the dock leveler to move in a steering mode and move longitudinally according to the first vertical distance and the second vertical distance until the dock leveler is determined to be aligned with the tail of the carriage when the first vertical distance and the second vertical distance are detected to be equal.
Further, the longitudinal sensor group is also used for detecting the relative distance between the loading bridge and the tail of the carriage; the processor is also used for judging whether the relative distance detected by the longitudinal sensor group changes within preset time; and when the relative distance is not changed, determining that a truck stability stopping signal is detected, and controlling the driving module group to drive the loading bridge to move upwards.
Further, the longitudinal sensor group is also used for measuring the longitudinal distance between two sides of the loading bridge and the tail of the carriage to obtain a first longitudinal distance and a second longitudinal distance; the processor is further configured to determine a minimum of the first longitudinal distance and the second longitudinal distance as a longitudinal distance between the dock leveler and the aft of the vehicle; judging whether the longitudinal distance between the dock leveler and the tail of the carriage is smaller than or equal to the preset longitudinal distance or not; and stopping the longitudinal movement of the dock leveler towards the tail of the carriage when the longitudinal distance between the dock leveler and the tail of the carriage is less than or equal to a preset longitudinal distance.
Further, the processor is also configured to
Obtaining a deviation angle theta of the dock leveler and the tail of the carriage, wherein D1 is the first vertical distance, D2 is the second vertical distance, and X is the distance between two sides of the dock leveler; and controlling the driving module group to drive the dock leveler to move in a steering mode and move in a longitudinal mode according to the deviation angle.
Further, the system further comprises: a lateral sensor group for detecting a lateral approach signal; the driving module group is also used for driving the loading bridge to move transversely; the longitudinal sensor group is also used for detecting a first approach signal and a second approach signal of two sides of the loading bridge and the tail of the carriage; the processor is further used for judging whether a first approach signal and a second approach signal of two sides of the dock leveler and the tail of the carriage are detected or not; when any one of the first approach signal and the second approach signal is not detected, controlling the driving module group to drive the boarding bridge to transversely move towards the side where the approach signal is not detected; and when the transverse sensor group detects a transverse approach signal, stopping the boarding bridge from transversely moving.
Further, the driving module group is also used for driving the dock leveler to recover the initial state; the processor is further used for controlling the driving module group to drive the dock leveler to recover the initial state when the initial position recovery instruction is obtained.
Through the technical scheme, the vertical deviation, the longitudinal deviation and the angle deviation between the dock leveler and the tail of the carriage are corrected, the problems that in the prior art, the alignment deviation between the dock leveler and the carriage is large and the alignment is realized by manual operation are solved, the alignment between the dock leveler and the carriage of the truck is realized, the time for manually operating the truck to stop the dock leveler is shortened, and the loading efficiency and the reliability of the loading process are improved.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic structural diagram of a car alignment system provided by an embodiment of the present invention;
FIG. 2 is a schematic view of the mounting of a up-down motion proximity sensor provided by an embodiment of the present invention;
FIG. 3 is a schematic illustration of the installation of the first longitudinal distance sensor S1 and the second longitudinal distance sensor S2 provided by the embodiment of the present invention;
fig. 4 is a schematic view illustrating an upward movement of the boarding bridge according to the embodiment of the present invention;
fig. 5 is a schematic installation diagram of the up-down movement distance sensor S3 provided in the embodiment of the present invention;
FIG. 6 is a schematic diagram of the first longitudinal distance D1 and the second longitudinal distance D2 provided by the present invention;
FIG. 7 is a schematic diagram of the embodiment of the present invention for calculating the deviation angle of the loading bridge from the tail of the car;
FIG. 8 is a schematic illustration of a left side of a car provided by an embodiment of the present invention;
FIG. 9 is a schematic flow chart diagram of a car alignment method according to an embodiment of the present invention;
fig. 10 is a schematic flow chart of another car alignment method according to an embodiment of the present invention.
Description of the reference numerals
40-dock leveler J3-up-down movement proximity sensor
S1-first longitudinal distance sensor S2-second longitudinal distance sensor
60-truck S3-up-down movement distance sensor
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.
Fig. 1 is a schematic structural diagram of a car alignment system according to an embodiment of the present invention. As shown in fig. 1, the system is located on a dock leveler and includes: the up-down moving sensor group 11 is used for detecting a carriage approach signal; the longitudinal sensor group 12 is used for detecting a truck stabilizing signal, measuring the longitudinal distance between the dock leveler and the tail of the carriage and measuring the vertical distance between two sides of the dock leveler and the tail of the carriage; the driving module group 13 is used for driving the boarding bridge to move upwards, driving the boarding bridge to move longitudinally towards the tail of a truck carriage and driving the boarding bridge to move in a steering mode and move longitudinally; the processor 14 is used for controlling the driving module group to drive the loading bridge to move upwards when the truck stability stopping signal is detected; when a carriage approach signal is detected, stopping the boarding bridge from moving upwards, and controlling the driving module group to drive the boarding bridge to move longitudinally towards the tail of the wagon carriage; stopping the longitudinal movement of the dock leveler towards the tail of the carriage when the longitudinal distance between the dock leveler and the tail of the carriage is detected to be smaller than or equal to the preset longitudinal distance; measuring the vertical distance between the two sides of the dock leveler and the tail of the carriage to obtain a first vertical distance and a second vertical distance; judging whether the first vertical distance is equal to the second vertical distance; when the first vertical distance is not equal to the second vertical distance, controlling the driving module group to drive the dock leveler to move in a steering mode and move longitudinally according to the first vertical distance and the second vertical distance until the dock leveler is determined to be aligned with the tail of the carriage when the first vertical distance and the second vertical distance are detected to be equal.
The up-down moving sensor group may include an up-down moving proximity sensor J3 for detecting a car proximity signal. The longitudinal sensor set may include a first longitudinal distance sensor S1 and a second longitudinal distance sensor S2, wherein the first longitudinal distance sensor S1 and the second longitudinal distance sensor S2 are used to detect a truck-stabilizing signal, measure a longitudinal distance of the dock leveler from the rear of the truck bed, and measure a vertical distance of both sides of the dock leveler from the rear of the truck bed.
In addition, the driving module group may include an up-down movement driving module, a longitudinal driving module, and a steering driving module. The up-down movement driving module is used for driving the boarding bridge to move upwards. The longitudinal driving module is used for driving the boarding bridge to move longitudinally. The steering driving module is used for driving the boarding bridge to move in a steering mode.
In the side view of the dock leveler 40 shown in fig. 2, the up-down proximity sensor J3 of the up-down sensor set may be mounted at the front end of the dock leveler 40 so as to detect a car proximity signal.
In the top view of the dock leveler 40 shown in fig. 3, the first longitudinal distance sensor S1 and the second longitudinal distance sensor S2 of the longitudinal sensor set are installed at both sides of the front end of the dock leveler to facilitate detecting a truck-stopping signal and measuring the vertical distance between both sides of the dock leveler and the rear of the car.
The distance sensor mentioned in the embodiments of the present invention is a sensor having a function of measuring a distance in real time in the art, and includes, but is not limited to, a laser distance measuring sensor or an ultrasonic distance measuring sensor. The proximity sensor mentioned in the embodiment of the invention is capable of monitoring whether two objects are in the measuring range of the sensor in real time in the technical field. When the two objects are within the measuring range, the proximity sensor outputs a high level signal, and when the two objects are not within the measuring range, the proximity sensor outputs a low level signal. The proximity sensor in the embodiment of the present invention includes, but is not limited to, a metal proximity switch sensor or a capacitive proximity switch sensor, etc. In the embodiment of the present invention, the measurement range set by the proximity sensor may be set to 16 mm.
The alignment process between the truck and the boarding bridge in the embodiment of the present invention will be described with reference to fig. 1 to 3.
After the truck is parked in the prescribed parking area, the relative distance of the loading bridge to the rear of the vehicle is detected by the first longitudinal distance sensor S1 and the second longitudinal distance sensor S2. Since the first longitudinal distance sensor S1 and the second longitudinal distance sensor S2 are located at two sides of the front end of the dock leveler, when the dock leveler is not aligned with the rear end of the wagon, the relative distances between the first longitudinal distance sensor S1 and the second longitudinal distance sensor S2 relative to the rear end of the wagon are different, in order to ensure that the wagon is in a fully-parked state, it is required to determine whether the relative distances between the first longitudinal distance sensor S1 and the second longitudinal distance sensor S2 relative to the rear end of the wagon change within a preset time, and if neither change, it is determined that a wagon parking signal is detected, indicating that the wagon has been parked, and the following operations may be performed.
When the processor determines that a truck stopping signal is detected, an upward movement control instruction is sent out to control the up-and-down movement driving module to drive the dock leveler to move upward. In the process that the loading bridge moves upwards, the processor receives output signals from the up-and-down movement proximity sensors in real time, and when the received signals are high level, namely the up-and-down movement proximity sensors detect car proximity signals, the processor sends an up-and-down movement stop command to control the up-and-down movement driving module to stop driving the loading bridge to move upwards. As shown in fig. 4, when the dock leveler is in the initial state, the surface of the dock leveler has a height difference D4 with the inner surface of the wagon 60, and when the output signal of the up-down movement proximity sensor is high during the process of controlling the up-down movement driving module to drive the dock leveler to move up, the surface of the dock leveler is flush with the inner surface of the wagon. In addition, in order to improve the accuracy of the alignment of the surface of the boarding bridge with the inner surface of the vehicle compartment, the up-down sensor set may further include an up-down distance sensor S3, as shown in fig. 5, which may be installed below the boarding bridge. The processor can pre-store the height of the inner surface of the wagon carriage from the ground, receives the up-down movement distance sensor S3 to measure the rising height of the boarding bridge from the ground in real time in the process of controlling the up-down movement driving module to drive the boarding bridge to move upwards, judges whether the rising height is the same as the pre-stored height of the inner surface of the wagon carriage from the ground or not, and sends an up-down movement stopping command to control the up-down movement driving module to stop driving the boarding bridge to move upwards when the rising height is the same as the pre-stored height of the inner surface of the wagon carriage from the ground and the output signal of the up-down movement proximity sensor is received to be at a high level.
Then, the processor sends a longitudinal movement control command to the longitudinal driving module to drive the loading bridge to longitudinally move towards the tail of the truck carriage, and in the process of longitudinal movement of the loading bridge, the processor receives the longitudinal distances between the two sides of the loading bridge and the tail of the carriage measured by the longitudinal distance sensors in real time to obtain a first longitudinal distance D1 and a second longitudinal distance D2, as shown in fig. 6, and judges the sizes of D1 and D2, determines the minimum value of the two as the longitudinal distance between the loading bridge and the tail of the carriage, and judges the size between the longitudinal distance and a preset longitudinal distance in real time. And when the longitudinal distance is judged to be larger than the preset longitudinal distance, the longitudinal driving module continues to drive the loading bridge to longitudinally move towards the tail of the boxcar. And when the longitudinal distance is judged to be less than or equal to the preset longitudinal distance, the processor sends a longitudinal movement stopping command to control a longitudinal driving module to stop the longitudinal movement of the loading bridge to the tail of the carriage.
In consideration of the problem of angular deviation from the boarding bridge when the truck is parked, it is also necessary to correct the angular deviation of the boarding bridge. After stopping the longitudinal movement of the dock leveler toward the rear of the vehicle, the processor measures the vertical distance between both sides of the dock leveler and the rear of the vehicle by the first longitudinal distance sensor S1 and the second longitudinal distance sensor S2Resulting in a first perpendicular distance D1 and a second perpendicular distance D2. The processor then determines whether the first vertical distance D1 and the second vertical distance D2 are equal, indicating that there is no angular misalignment of the dock leveler with the aft end of the car that is already aligned. If the first vertical distance D1 is not equal to the second vertical distance D2, as shown in FIG. 7, the method is based on
And obtaining a deviation angle theta between the dock leveler and the tail of the carriage, wherein X is the distance between two sides of the front end of the dock leveler. And controlling the driving module group to drive the dock leveler to move in a steering mode and move in a longitudinal mode according to the deviation angle. Wherein when the deviation angle theta>0, indicating D2>D1, if the vehicle cabin is deviated to the right, as shown in fig. 6, the processor sends a steering command to the steering driving module to control the dock leveler to rotate clockwise by θ around the position of the first longitudinal distance sensor S1, where the steering command includes a rotation angle and a rotation direction. In addition, the processor simultaneously sends a longitudinal movement command to the longitudinal driving module, controls the side of the loading bridge where the second longitudinal distance sensor S2 is located to move longitudinally, and determines that the loading bridge is aligned with the tail of the carriage when the first vertical distance D1 and the second vertical distance D2 are detected to be equal. When the deviation angle theta<0, indicating D2<D1, if the vehicle cabin is deviated to the left, as shown in fig. 8, the processor sends a steering command to the steering driving module to control the dock leveler to rotate counterclockwise by θ around the position of the second longitudinal distance sensor S2, where the steering command includes a rotation angle and a rotation direction. In addition, the processor simultaneously sends a longitudinal movement command to the longitudinal driving module to control the side of the loading bridge where the first longitudinal distance sensor S1 is located to move longitudinally until the loading bridge is determined to be aligned with the tail of the carriage when the first vertical distance D1 and the second vertical distance D2 are detected to be equal.
In one embodiment of the invention, if the width of the ramp is not large enough, there may be a situation in which the ramp is not aligned with the rear of the truck bed in the transverse direction, for which also a correction of the transverse offset of the ramp from the rear of the bed is required. Wherein the system further comprises a lateral sensor group comprising a lateral proximity sensor J1 for detecting a lateral proximity signal. The driving module group further comprises a transverse driving module used for driving the loading bridge to transversely move. Before the processor sends a longitudinal movement control instruction to the longitudinal driving module, the first longitudinal distance sensor S1 and the second longitudinal distance sensor S2 respectively measure the distance between the two sides of the dock leveler and the tail of the carriage, and judge whether the distance between the two sides of the dock leveler and the tail of the carriage is within a preset distance, if the distance between the two sides of the dock leveler and the tail of the carriage is within the preset distance, it indicates that the first approach signal and the second approach signal are detected, and the dock leveler does not need to be moved transversely. And when any one of the first approach signal and the second approach signal is not detected, the processor sends a transverse control instruction to the transverse driving module, controls the transverse driving module to drive the boarding bridge to transversely move towards the side where the approach signal is not detected, receives an output signal of the transverse approach sensor in real time, and stops the transverse movement of the boarding bridge when the received signal is in a high level, namely, the transverse approach signal is detected.
In addition, in another embodiment of the present invention, the up-down movement sensor group further includes an up-down movement initial position sensor Z1, the longitudinal sensor group further includes a longitudinal initial position sensor X1, and the lateral sensor group further includes a lateral initial position sensor C1. When the processor receives an initial position restoring instruction, the processor respectively sends initial position restoring control instructions to the upward and downward driving module, the longitudinal driving module and the transverse driving module to control the dock leveler to restore the initial state. For example, the upward and downward movement driving module controls the boarding bridge to move downward until the signal output from the upward and downward movement initial position sensor Z1 is at a high level, and stops the downward movement of the boarding bridge. The up-down initial position sensor Z1 can be used to detect the distance between the loading bridge and the ground, and when the distance is within the measuring range, a high level signal is output. In addition, a reference may be provided at the initial position of the loading bridge, so that the loading bridge can be restored to the initial position in the lateral and longitudinal directions by the reference.
The up-down initial position sensor Z1, the longitudinal initial position sensor X1, and the lateral initial position sensor C1 in the embodiment of the present invention also belong to the proximity sensors.
According to the embodiment of the invention, the problems that the alignment deviation between the boarding bridge and the carriage is large and the alignment needs to be realized through manual operation in the prior art can be solved by utilizing the sensor, the driving module and the processor in the system, the alignment between the boarding bridge and the carriage of the truck is realized, the time for manually operating the truck to stop the boarding bridge is reduced, and the loading efficiency and the reliability of the loading process are improved.
Correspondingly, fig. 9 is a schematic flow chart of a car alignment method according to an embodiment of the present invention. As shown in fig. 9, the method is applied to the car alignment system according to the above embodiment, and includes the following steps:
After the truck parks in a specified parking area, the relative distance between the dock leveler and the tail of the carriage is detected in real time by the first longitudinal distance sensor S1 and the second longitudinal distance sensor S2, whether the relative distance between the first longitudinal distance sensor S1 and the second longitudinal distance sensor S2 relative to the tail of the carriage changes within a preset time is judged, if any one of the first longitudinal distance sensor S1 and the second longitudinal distance sensor S2 changes, waiting is continued, if neither of the first longitudinal distance sensor S1 and the second longitudinal distance sensor S2 changes, a truck parking stability signal is determined to be detected, the fact that the truck is parked stably is indicated, and the dock leveler can be continuously controlled to move upwards.
When a carriage approach signal is detected, stopping the boarding bridge from moving upwards, and controlling the boarding bridge to move longitudinally towards the tail of the wagon carriage. And simultaneously measuring the longitudinal distance between the two sides of the dock leveler and the tail of the carriage to obtain a first longitudinal distance and a second longitudinal distance. Determining the minimum value of the first longitudinal distance and the second longitudinal distance as the longitudinal distance between the loading bridge and the tail of the carriage. And judging whether the longitudinal distance between the dock leveler and the tail of the carriage is smaller than or equal to the preset longitudinal distance or not, and when the longitudinal distance is larger than the preset longitudinal distance, continuously controlling the dock leveler to longitudinally move towards the tail of the carriage of the truck. And stopping the longitudinal movement of the dock leveler towards the tail of the carriage when the longitudinal distance between the dock leveler and the tail of the carriage is less than or equal to a preset longitudinal distance.
Then, the vertical distance between the two sides of the dock leveler and the tail of the carriage is measured, and a first vertical distance and a second vertical distance are obtained. And judging whether the first vertical distance and the second vertical distance are equal, and indicating that the angle deviation does not exist between the dock leveler and the tail of the carriage and the dock leveler and the tail of the carriage are aligned when the first vertical distance and the second vertical distance are equal. If the first vertical distance is not equal to the second vertical distance, according to
Obtaining the deviation angle theta of the loading bridge and the tail part of the carriage, wherein D1 is the first vertical distance,d2 is the second vertical distance, and X is the distance between the two sides of the leading end of the dock leveler. Then, according to the deviation angle, controlling the boarding bridge to move in a steering way and in a longitudinal way until the first vertical distance and the second vertical distance are detected to be equal, and determining that the boarding bridge is aligned with the tail of the carriage.
To facilitate an understanding of an embodiment of the present invention, fig. 10 provides a flow diagram of a car alignment method. As shown in fig. 10, the method includes the steps of:
103, determining that a truck stopping signal is detected, and controlling the boarding bridge to move upwards;
106, controlling the loading bridge to longitudinally move towards the tail of the boxcar;
113, measuring the vertical distance between the two sides of the dock leveler and the tail of the carriage to obtain a first vertical distance and a second vertical distance;
the steer and longitudinal movement of the dock leveler is stopped, and the dock leveler is determined to be aligned with the rear of the car, step 118.
In addition, after the loading and unloading of goods to and from the truck bed through the dock leveler are completed, the dock leveler can be controlled to restore the initial state by acquiring an initial position restoration instruction, and the specific implementation process can be referred to the description of the embodiment of the bed alignment system.
According to the embodiment of the invention, the vertical deviation, the transverse deviation, the longitudinal deviation and the angle deviation between the dock leveler and the tail part of the carriage are corrected, so that the problems that the dock leveler and the carriage have larger alignment deviation and need to be manually operated to realize alignment in the prior art are solved, the alignment between the dock leveler and the carriage of the truck is realized, the time for manually operating the truck to stop the dock leveler is shortened, and the loading efficiency and the reliability of the loading process are improved.
The preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, however, the present invention is not limited to the specific details of the above embodiments, and various simple modifications can be made to the technical solution of the present invention within the technical idea of the present invention, and these simple modifications are within the protective scope of the present invention.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. The invention is not described in detail in order to avoid unnecessary repetition.
In addition, any combination of the various embodiments of the present invention is also possible, and the same should be considered as the disclosure of the present invention as long as it does not depart from the spirit of the present invention.
Claims (12)
1. A car alignment method, the method comprising:
when a truck stability stopping signal is detected, controlling the loading bridge to move upwards;
when a carriage approach signal is detected, stopping the boarding bridge from moving upwards, and controlling the boarding bridge to move longitudinally towards the tail of the wagon carriage;
stopping the longitudinal movement of the dock leveler towards the tail of the carriage when the longitudinal distance between the dock leveler and the tail of the carriage is detected to be smaller than or equal to the preset longitudinal distance;
measuring the vertical distance between the two sides of the dock leveler and the tail of the carriage to obtain a first vertical distance and a second vertical distance;
judging whether the first vertical distance is equal to the second vertical distance;
when the first vertical distance is not equal to the second vertical distance, controlling the dock leveler to move in a steering mode and in a longitudinal mode according to the first vertical distance and the second vertical distance until the dock leveler is determined to be aligned with the tail of the carriage when the first vertical distance and the second vertical distance are detected to be equal.
2. The method of claim 1, wherein the controlling the dock leveler to move upward when the truck-stabilizing signal is detected comprises:
detecting the relative distance between the loading bridge and the tail of the carriage;
judging whether the relative distance changes within preset time;
and when the relative distance is not changed, determining that a truck stopping signal is detected, and controlling the boarding bridge to move upwards.
3. The method of claim 1, wherein the stopping the longitudinal movement of the dock leveler toward the end of the car when it is detected that the longitudinal distance between the dock leveler and the end of the car is less than or equal to a preset longitudinal distance comprises:
measuring the longitudinal distance between the two sides of the dock leveler and the tail of the carriage to obtain a first longitudinal distance and a second longitudinal distance;
determining a minimum of the first longitudinal distance and the second longitudinal distance as a longitudinal distance of the dock leveler from the rear of the vehicle;
judging whether the longitudinal distance between the dock leveler and the tail of the carriage is smaller than or equal to the preset longitudinal distance or not;
and stopping the longitudinal movement of the dock leveler towards the tail of the carriage when the longitudinal distance between the dock leveler and the tail of the carriage is less than or equal to a preset longitudinal distance.
4. The method of claim 1, wherein the controlling the dock leveler steering movement and longitudinal movement based on the first vertical distance and the second vertical distance comprises:
according to
Obtaining the dock leveler and theThe deviation angle theta of the tail of the vehicle is shown, wherein D1 is the first vertical distance, D2 is the second vertical distance, and X is the distance between two sides of the dock leveler;
and controlling the boarding bridge to move in a steering way and move longitudinally according to the deviation angle.
5. The method of claim 1, wherein after the stopping the dock leveler from moving upward, and prior to controlling the dock leveler to move longitudinally aft of the truck bed, the method further comprises:
judging whether a first approach signal and a second approach signal of two sides of the dock leveler and the tail of the carriage are detected or not;
controlling the dock leveler to move laterally to a side where no proximity signal is detected when any one of the first proximity signal and the second proximity signal is not detected;
and when the transverse approach signal is detected, stopping the boarding bridge from transversely moving.
6. The method of claim 1, wherein after said determining that the dock leveler is aligned with the aft of the vehicle, the method further comprises:
and when an initial position restoring instruction is acquired, controlling the dock leveler to restore the initial state.
7. A car alignment system for use in the car alignment method of any one of claims 1 to 6, the system comprising:
the sensor group is moved up and down and used for detecting a carriage approach signal;
the longitudinal sensor group is used for detecting a truck stabilizing signal, measuring the longitudinal distance between the dock leveler and the tail of the carriage and measuring the vertical distance between two sides of the dock leveler and the tail of the carriage;
the driving module group is used for driving the boarding bridge to move upwards, driving the boarding bridge to move longitudinally and driving the boarding bridge to move in a steering way;
the processor is used for controlling the driving module group to drive the loading bridge to move upwards when the stable stopping signal of the truck is detected; when a carriage approach signal is detected, stopping the boarding bridge from moving upwards, and controlling the driving module group to drive the boarding bridge to move longitudinally towards the tail of the wagon carriage; stopping the longitudinal movement of the dock leveler towards the tail of the carriage when the longitudinal distance between the dock leveler and the tail of the carriage is detected to be smaller than or equal to the preset longitudinal distance; measuring the vertical distance between the two sides of the dock leveler and the tail of the carriage to obtain a first vertical distance and a second vertical distance; judging whether the first vertical distance is equal to the second vertical distance; when the first vertical distance is not equal to the second vertical distance, controlling the driving module group to drive the dock leveler to move in a steering mode and move longitudinally according to the first vertical distance and the second vertical distance until the dock leveler is determined to be aligned with the tail of the carriage when the first vertical distance and the second vertical distance are detected to be equal.
8. The system of claim 7,
the longitudinal sensor group is also used for detecting the relative distance between the loading bridge and the tail of the carriage;
the processor is also used for judging whether the relative distance detected by the longitudinal sensor group changes within preset time; and when the relative distance is not changed, determining that a truck stability stopping signal is detected, and controlling the driving module group to drive the loading bridge to move upwards.
9. The system of claim 7,
the longitudinal sensor group is also used for measuring the longitudinal distance between the two sides of the loading bridge and the tail of the carriage to obtain a first longitudinal distance and a second longitudinal distance;
the processor is further configured to determine a minimum of the first longitudinal distance and the second longitudinal distance as a longitudinal distance between the dock leveler and the aft of the vehicle; judging whether the longitudinal distance between the dock leveler and the tail of the carriage is smaller than or equal to the preset longitudinal distance or not; and stopping the longitudinal movement of the dock leveler towards the tail of the carriage when the longitudinal distance between the dock leveler and the tail of the carriage is less than or equal to a preset longitudinal distance.
10. The system of claim 7,
the processor is also used for
Obtaining a deviation angle theta of the dock leveler and the tail of the carriage, wherein D1 is the first vertical distance, D2 is the second vertical distance, and X is the distance between two sides of the dock leveler; and controlling the driving module group to drive the dock leveler to move in a steering mode and move in a longitudinal mode according to the deviation angle.
11. The system of claim 7, further comprising: a lateral sensor group for detecting a lateral approach signal; the driving module group is also used for driving the loading bridge to move transversely;
the longitudinal sensor group is also used for detecting a first approach signal and a second approach signal of two sides of the loading bridge and the tail of the carriage;
the processor is further used for judging whether a first approach signal and a second approach signal of two sides of the dock leveler and the tail of the carriage are detected or not; when any one of the first approach signal and the second approach signal is not detected, controlling the driving module group to drive the boarding bridge to transversely move towards the side where the approach signal is not detected; and when the transverse sensor group detects a transverse approach signal, stopping the boarding bridge from transversely moving.
12. The system of claim 7,
the driving module group is also used for driving the dock leveler to recover the initial state;
the processor is further used for controlling the driving module group to drive the dock leveler to recover the initial state when the initial position recovery instruction is obtained.
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| CN112551195B (en) * | 2020-11-25 | 2023-05-26 | 深圳市镭神智能系统有限公司 | Method for docking vehicle with dock bridge and dock management system |
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