The invention discloses a tray extension positioning method and system. The tray extension positioning method comprises the following steps: acquiring a first detection state of a first sensor and a second detection state of a second sensor; judging a first detection state and a second detection state; if the first detection state is that the first distance signal is detected and the second detection state is that the second distance signal is not detected, driving the tray to rotate along a clockwise rotation direction; and if the first detection state is that the first distance signal is not detected and the second detection state is that the second distance signal is detected, the tray is driven to rotate along a reverse rotation direction opposite to the clockwise rotation direction. According to the tray extension positioning method and system, the distance between the first position and the second position of the tray and the target object can be judged, so that whether the tray is aligned with the target object or not is judged, if yes, linear motion can be continued, and if not, the tray can be rotated to be aligned, so that battery replacement failure is avoided.

    本发明公开了一种托盘伸出定位方法和系统。托盘伸出定位方法包括:获取第一传感器的第一检测状态及第二传感器的第二检测状态;判断第一检测状态和第二检测状态;若第一检测状态为检测到第一距离信号并且第二检测状态为未检测到第二距离信号,则驱动托盘沿一顺旋转方向旋转运动;若第一检测状态为未检测到第一距离信号并且第二检测状态为检测到第二距离信号,则驱动托盘沿与顺旋转方向相反的一逆旋转方向旋转运动。本发明提供的托盘伸出定位方法和系统可以判断托盘的第一位置以及第二位置与目标物的距离,从而判断托盘与目标物是否对齐,若是,则可以继续直线运动,若否则可以旋转至对齐,从而避免换电失败。


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    Title :

    Tray extension positioning method and system


    Additional title:

    托盘伸出定位方法和系统


    Contributors:
    ZHANG JIANPING (author) / CHEN ZHIHAO (author) / LU WENCHENG (author)

    Publication date :

    2022-08-02


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen / G01S RADIO DIRECTION-FINDING , Funkpeilung



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