CN101055475A - Coding wheel positioning device for commuting of track vehicle and its controller - Google Patents
Coding wheel positioning device for commuting of track vehicle and its controller Download PDFInfo
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- CN101055475A CN101055475A CN 200610054590 CN200610054590A CN101055475A CN 101055475 A CN101055475 A CN 101055475A CN 200610054590 CN200610054590 CN 200610054590 CN 200610054590 A CN200610054590 A CN 200610054590A CN 101055475 A CN101055475 A CN 101055475A
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Abstract
The present invention discloses a rail vehicle reciprocation move coding wheel positioning apparatus and a control mechanism thereof. The apparatus includes a CPU processor (10) mounted on the case of the rail vehicle and is characterized in that it also includes a rotating coding wheel (6) and a coder (8), the rotating coding wheel (6) is mounted with the said coder (8) through a main shaft (7); the coder (8) outputs A, B photoelectric signals having different time sequences to the CPU processor (10); the inner part of the CPU processor (10) is disposed with a reciprocation stroke recognize mechanism (10a) and a position mechanism (10b), the reciprocation stroke recognize mechanism (10a) receives the time sequence difference of the A, B photoelectric signals to judge the rotation direction of the coder (8) and transfer the difference to the position mechanism (10b). The invention is simples in structure, reliable in reliability, strong in anti-jamming ability, high in positioning accuracy, easy in maintain, low in cost and can reflect the accurate position and running speed of the rail vehicle.
Description
Technical field
The invention belongs to the railcar technical field, specifically, relate in particular to a kind of coding wheel positioning device for commuting of track vehicle and control gear thereof.
Background technology
The rail vehicle of field of traffic comprises railway, light rail, subway etc.; The rail vehicle of industrial circle comprises the rail vehicle of various material handlings, as driving, gantry crane, elevator winch etc. and the various Working vehicles that orbit, as pusher machine, coke guide, coke quenching cart and the charging car etc. of coking industry.
In existing railcar location technology, be that operating personnel rely on vision and experience to determine whether railcar puts in place and centering whether mostly, tend to occur lagging behind or specifying the parking stall in advance, cause frequent manipulation to make controller, the frequent start-stop of speed reduction unit, hydraulic contracting frequently open, security reduction, the serviceable life of power-equipment are shortened.
Photoelectric detecting technologies such as infrared coding location detecting technology, RFID technology, inductive wireless technology are arranged in the railcar location technology that retrieves at present.
Wherein the infrared coding location detecting technology is the mode that adopts nonadjustable signal to combine with movable scale:
Nonadjustable signal: nonadjustable signal length is 1 meter, and 10 infrared emission windows are arranged on the nonadjustable signal, and the spacing a of each infrared emission window is 100mm, and an infrared diode is arranged in each infrared emission window.Per 30 meter amperes are adorned a power supply box.Stube cable between nonadjustable signal.
Movable scale (mobile scale): length is 100mm, and 10 infrared receiving windows are arranged on the movable scale, and the spacing of each infrared receiving window is 10mm.
The infrared diode of nonadjustable signal constantly sends the coded modulation infrared light that comprises the self-position signal.Movable scale is installed on the locomotive, and movable scale constantly receives the infrared position signalling that nonadjustable signal sends in moving process, thereby obtains the specific address of locomotive.Movable scale uploads to the CPU processor to address signal.
Unit: mm
Shown in mobile coding and regular coding conversion table: the theoretical value of infrared coding location detecting technology accuracy of detection is 10mm.
The technical characterstic and the shortcoming of infrared coding location detecting technology are as follows:
1, nonadjustable signal is to adopt the series system power supply, and per 30 nonadjustable signals need be equipped with a power supply box, and its power supply mode complexity is unreliable.
2, in every nonadjustable signal independently Single Chip Microcomputer (SCM) system is arranged, the interface of numerous series systems and solder joint can reduce system reliability greatly.If the reliability of each link is 0.999, to calculate by 1000 links, the reliability of series system then has only 0.37.
3, the initialization of infrared coding method for detecting position is very complicated, needs to adopt intensity detector that each infrared diode of each nonadjustable signal is carried out intensity detection; Adopt the code detection instrument that nonadjustable signal is encoded; Adopt location detector that movable scale is demarcated, install.
4, Single Chip Microcomputer (SCM) system in the nonadjustable signal and electric power system are subjected to electromagnetism easily, as interference such as frequency converter high-frequency impulse, motor-field, the sparkings of three-phase alternating-current supply brush.
5, require every two weeks to month to clean the infrared emission window of a nonadjustable signal, workload is huge.
6, nonadjustable signal and fixing mark light emitting diode etc. exist the angular error influence of alignment error, particularly diode installation big, scattering error; The infrared coding location detecting technology adopts infrared light to transmit coded message, is subjected to ambient infrared light easily and disturbs.Therefore the precision of infrared coding position probing is difficult to reach 10mm, and control accuracy is just lower.
7, because the infrared coding method for detecting position can only detection position information and can not detection speed information, so it can not accomplish speed control preferably, thereby performance is not fully up to expectations when being used for automatic centering.
The RFID technology is that a plurality of electronic tags are installed in orbit, each is representing the physical location of technology respectively, the position of technology can be differentiated according to the 32b sequence number of electronic tag, when electronic tag that the locomotive approach is buried underground, reader is read the geocoding of this label, thereby determine the position of locomotive, main control computer pushes away the running status arrival assigned address of railcar according to the Data Control of electronic tag.
The accuracy of detection of RFID technology is not high, because certain casual emissivity that microwave has, even to its travel direction restriction, the accuracy of detection that is reached also is far longer than 1cm, is difficult to reach the positioning requirements of three big locomotives, generally is used for the coarse positioning of locomotive.
Inductive wireless technology is that flat cable is buried underground in orbit, links central control room by communication cable, and induction antenna is installed on the locomotive, and antenna is measured the railcar position from the about 20cm of induction cable with induction mode.
Existing railcar walking location technology has following deficiency:
1, emitter or receiving device thereby the displacement or the skew that cause former because of mechanical shock etc. causes receiving device can not receive photosignal reliably, and can not produce electric signal or produce wrong signal.
2,, influenced by production on-site environment and cause photoelectric detection system not work reliably because of electrooptical device is installed in the production scene.
3, the various electromagnetic interference sources of production scene are big to the interference that photoelectric detection system produces, and cause photoelectric detection system output that the distortion distortion takes place, and make system's malfunction or cause industrial accident.
4, in locomotive operation, can cause photoelectric detection system to produce erroneous judgement, can not correctly detect the running status of railcar because of skidding.
5, the accurate position of railcar can only be detected, the current travelling speed of railcar can't be reflected in real time.
6, along with the length of track, the corresponding increase of installation cost, directional error also can accumulate.
Summary of the invention
For solving above technical matters, the object of the present invention is to provide a kind of antijamming capability strong, cost is low, can in time reflect the coding wheel positioning device for commuting of track vehicle and the control gear thereof of accurate position of railcar and travelling speed.
Technical scheme of the present invention is as follows: a kind of coding wheel positioning device for commuting of track vehicle, comprise the CPU processor that is installed on the railcar railway carriage, its key is: also include bearing, frame, rotary coding wheel and scrambler, wherein bearing is fixed on the railway carriage bottom surface and flexibly connects with the upper end of frame, the rotary coding wheel is installed in the lower end of frame by main shaft and contacts with the track rolling of railcar, and described scrambler is installed on the termination of described main shaft;
Described scrambler internal fixation has two photosensitive receiving tubes, and two photosensitive receiving tubes connect two output lines and stretch out from shell, to described CPU processor output A, photosignal that B two-way sequential is different;
Described CPU processor inside is provided with round trip identification mechanism and detent mechanism, wherein the output terminal of round trip identification mechanism is connected with the input end of described detent mechanism, described round trip identification mechanism receives the difference of injection time of described A, B two-way light spot signal and judges the sense of rotation of described scrambler, and flowing to described detent mechanism, described detent mechanism is realized the location of described railcar;
Scrambler 8 adopts the incremental encoder of 2000 line systems, the diameter D=250mm of rotary coding wheel 6, and its accuracy of detection is 3.14*D/2000=0.4mm, repeatable accuracy is that two pulses are 0.8mm.
Described detent mechanism inside is provided with electronic timer.Calculate the signal output frequency of described stroke identification mechanism.
The weight range of described frame is between 20 kilograms to 100 kilograms.
Increase the counterweight of frame, can increase the friction force between rotary coding wheel and the track, it is more reliable that the rotary coding wheel is contacted with the rolling of track, prevents that the rotary coding wheel from skidding.
Described frame kink is on described main shaft, and this frame also is connected with the shell of described scrambler.
Frame is connected with the shell of described scrambler, and main shaft is connected with the rotor of described scrambler, is convenient to scrambler and can accurately reads the rotary coding wheel speed.
Described bearing is fixed on railway carriage bottom surface and hinged with the upper end of frame.
A kind of control gear of coding wheel positioning device for commuting of track vehicle, comprise the CPU processor that is installed on the railcar railway carriage, its key is: described CPU processor inside is provided with round trip identification mechanism and detent mechanism, wherein the output terminal of round trip identification mechanism is connected with the input end of described detent mechanism, and described round trip identification mechanism is provided with:
The mechanism that is used for system initialization;
Be used to judge that A road signal equals 1 mechanism that denys; A road signal is not equal to 1, then returns describedly to be used to judge that A road signal equals 1 mechanism that denys and continues to judge; Equal 1, then carry out:
Be used to judge that B road signal equals 1 mechanism that denys; B road signal is not equal to 1, then returns describedly to be used to judge that B road signal equals 1 mechanism that denys and continues to judge; Equal 1, then carry out:
Be used to judge that A road signal equals 0 mechanism that denys; A road signal is not equal to 0, then returns describedly to be used to judge that A road signal equals 0 mechanism that denys and continues to judge; Equal 0, then carry out:
Be used to judge that B road signal equals 1 mechanism that denys; Be not equal to 1, then execution is used for the mechanism that railcar is driven in the wrong direction,
Be used for counter and subtract 1 mechanism; Return and describedly be used to judge that A road signal equals 1 mechanism that denys; Equal 1, then carry out:
Be used for the mechanism that railcar is just being gone,
Be used for counter and add 1 mechanism; Return and describedly be used to judge that A road signal equals 1 mechanism that denys.
The present invention in use, bearing is fixed on the bottom of railcar body, rotary coding wheel compresses in orbit under the self gravitation effect of bearing, frame etc., the lead of scrambler is connected with the CPU processor.When railcar was walked, scrambler was input to the numeration module of CPU processor with the travel distance of rotary coding wheel by the numeration pulse signal, to determine railcar present located physical location.
The invention has the beneficial effects as follows: can in time reflect accurate position of railcar and travelling speed:
1, the air line distance location that will grow distance changes into a less railcar sensing device of diameter and locatees, and locatees more accurately, has also reduced cost simultaneously;
2, package unit has only code wheel to contact with track machine, and is simple in structure, and the reliability height is easy to maintenance;
3, have wide range of applications, the rugged surroundings that promptly are used in high temperature strong corrosion can not influence result of use yet, and antijamming capability is strong;
4, bearing accuracy height can reach ± 0.8mm.
Description of drawings
Fig. 1 is a theory diagram of the present invention;
Fig. 2 is the structural representation of railcar sensing device;
Fig. 3 is that the A of Fig. 2 is to view;
Fig. 4 is a scrambler internal work schematic diagram;
Fig. 5 is 8A, 8B photosensitive receiving tube signal timing diagram;
Fig. 6 is the FB(flow block) of round trip identification mechanism.
Embodiment
The invention will be further described below in conjunction with drawings and Examples:
As Fig. 1, Fig. 2, shown in Figure 3, a kind of coding wheel positioning device for commuting of track vehicle, comprise the CPU processor 10 that is installed on the railcar railway carriage, also include bearing 1, frame 2, rotary coding wheel 6 and scrambler 8, wherein bearing 1 is fixed on the railway carriage bottom surface and flexibly connects with the upper end of frame 2, rotary coding wheel 6 is installed in the lower end of frame 2 by main shaft 7 and contacts with the track rolling of railcar, and described scrambler 8 is installed on the termination of described main shaft 7;
As Fig. 4, shown in Figure 5, described scrambler 8 internal fixation have two photosensitive receiving tube 8A, 8B, and two photosensitive receiving tube 8A, 8B connect two output lines and stretch out from shell, to described CPU processor 10 output A, photosignal that B two-way sequential is different;
As shown in Figure 1: described CPU processor 10 inside are provided with round trip identification mechanism 10a and detent mechanism 10b, wherein the output terminal of round trip identification mechanism 10a is connected with the input end of described detent mechanism 10b, described round trip identification mechanism 10a receives the difference of injection time of described A, B two-way light spot signal and judges the sense of rotation of described scrambler 8, and flowing to described detent mechanism 10b, described detent mechanism 10b realizes the location of described railcar;
Described detent mechanism 10b inside is provided with electronic timer.Calculate the signal output frequency of described stroke identification mechanism.
The weight range of described frame 2 is between 20 kilograms to 100 kilograms.
Increase the counterweight of frame 2, can increase the friction force between rotary coding wheel 6 and the track, it is more reliable that rotary coding wheel 6 is contacted with the rolling of track, prevents that rotary coding wheel 6 from skidding.
Described frame 2 kinks are on described main shaft 7, and this frame 2 also is connected with the shell of described scrambler 8.
Described bearing 1 is fixed on railway carriage bottom surface and hinged with the upper end of frame 2.
The model of described CPU processor 10 is to be A3ACPU, and described scrambler 8 adopts the AUTONIC incremental encoder; Described CPU processor 10 is connected to prior art with the circuit of scrambler 8.
As shown in Figure 6: a kind of control gear of coding wheel positioning device for commuting of track vehicle, comprise the CPU processor 10 that is installed on the railcar railway carriage, also include bearing 1, frame 2, rotary coding wheel 6 and scrambler 8, wherein bearing 1 is fixed on the railway carriage bottom surface and flexibly connects with the upper end of frame 2, rotary coding wheel 6 is installed in the lower end of frame 2 by main shaft 7 and contacts with the track rolling of railcar, and described scrambler 8 is installed on the termination of described main shaft 7;
Described scrambler 8 internal fixation have two photosensitive receiving tube 8A, 8B, and two photosensitive receiving tube 8A, 8B connect output lines and stretch out from shell, to described CPU processor 10 output A, photosignal that B two-way sequential is different;
Described CPU processor 10 inside are provided with round trip identification mechanism 10a and detent mechanism 10b, and wherein the output terminal of round trip identification mechanism 10a is connected with the input end of described detent mechanism 10b, and described round trip identification mechanism 10a is provided with:
The mechanism that is used for system initialization, the location of realizing described railcar:
Be used to judge that A road signal equals 1 mechanism that denys; A road signal is not equal to 1, then returns describedly to be used to judge that A road signal equals 1 mechanism that denys and continues to judge; Equal 1, then carry out:
Be used to judge that B road signal equals 1 mechanism that denys; B road signal is not equal to 1, then returns describedly to be used to judge that B road signal equals 1 mechanism that denys and continues to judge; Equal 1, then carry out:
Be used to judge that A road signal equals 0 mechanism that denys; A road signal is not equal to 0, then returns describedly to be used to judge that A road signal equals 0 mechanism that denys and continues to judge; Equal 0, then carry out:
Be used to judge that B road signal equals 1 mechanism that denys; Be not equal to 1, then execution is used for the mechanism that railcar is driven in the wrong direction,
Be used for counter and subtract 1 mechanism; Return and describedly be used to judge that A road signal equals 1 mechanism that denys; Equal 1, then carry out:
Be used for the mechanism that railcar is just being gone,
Be used for counter and add 1 mechanism; Return and describedly be used to judge that A road signal equals 1 mechanism that denys.
Return the direction of travel that stroke identification mechanism 10a identifies railcar,, just can detect the speed of travel and the travel distance of described railcar timely and accurately in conjunction with the statistics of electronic timer to signal frequency.
Principle of work of the present invention is:
In use, scrambler 8 is connected with the signal input part of CPU processor 10, CPU processor 10.Bearing 1 among the present invention is fixed on railcar railway carriage bottom, and rotary coding wheel 6 compresses in orbit under the self gravitation effect of bearing 1, frame 2 etc., and driven rotary code wheel 6 rolls during the railcar walking, the output pulse input CPU processor 10 of scrambler 8.CPU processor 10 detects the accurate position and the travelling speed of railcar.
Claims (5)
1, a kind of coding wheel positioning device for commuting of track vehicle, comprise the CPU processor (10) that is installed on the railcar railway carriage, it is characterized in that: also include bearing (1), frame (2), rotary coding wheel (6) and scrambler (8), wherein bearing (1) is fixed on the railway carriage bottom surface and flexibly connects with the upper end of frame (2), rotary coding wheel (6) is installed in the lower end of frame (2) by main shaft (7) and contacts with the track rolling of railcar, and described scrambler (8) is installed on the termination of described main shaft (7);
Described scrambler (8) internal fixation has two photosensitive receiving tubes (8A, 8B), and two photosensitive receiving tubes (8A, 8B) connect output line and stretch out from shell, to described CPU processor (10) output A, photosignal that B two-way sequential is different;
Described CPU processor (10) inside is provided with round trip identification mechanism (10a) and detent mechanism (10b), wherein the output terminal of round trip identification mechanism (10a) is connected with the input end of described detent mechanism (10b), described round trip identification mechanism (10a) receives the difference of injection time of described A, B two-way light spot signal and judges the sense of rotation of described scrambler (8), and flowing to described detent mechanism (10b), described detent mechanism (10b) is realized the location of described railcar;
Described detent mechanism (10b) inside is provided with electronic timer.
2, coding wheel positioning device for commuting of track vehicle according to claim 1 is characterized in that: the weight range of described frame (2) is between 20 kilograms to 100 kilograms.
3, coding wheel positioning device for commuting of track vehicle according to claim 1 and 2 is characterized in that: described frame (2) kink is on described main shaft (7), and this frame (2) also is connected with the shell of described scrambler (8).
4, coding wheel positioning device for commuting of track vehicle according to claim 1 is characterized in that: described bearing (1) is fixed on railway carriage bottom surface and hinged with the upper end of frame (2).
5, a kind of control gear of coding wheel positioning device for commuting of track vehicle, comprise the CPU processor (10) that is installed on the railcar railway carriage, it is characterized in that: described CPU processor (10) inside is provided with round trip identification mechanism (10a) and detent mechanism (10b), wherein the output terminal of round trip identification mechanism (10a) is connected with the input end of described detent mechanism (10b), and described round trip identification mechanism (10a) is provided with:
The mechanism that is used for system initialization;
Be used to judge that A road signal equals 1 mechanism that denys; A road signal is not equal to 1, then returns describedly to be used to judge that A road signal equals 1 mechanism that denys and continues to judge; Equal 1, then carry out:
Be used to judge that B road signal equals 1 mechanism that denys; B road signal is not equal to 1, then returns describedly to be used to judge that B road signal equals 1 mechanism that denys and continues to judge; Equal 1, then carry out:
Be used to judge that A road signal equals 0 mechanism that denys; A road signal is not equal to 0, then returns describedly to be used to judge that A road signal equals 0 mechanism that denys and continues to judge; Equal 0, then carry out:
Be used to judge that B road signal equals 1 mechanism that denys; Be not equal to 1, then execution is used for the mechanism that railcar is driven in the wrong direction,
Be used for counter and subtract 1 mechanism; Return and describedly be used to judge that A road signal equals 1 mechanism that denys; Equal 1, then carry out:
Be used for the mechanism that railcar is just being gone,
Be used for counter and add 1 mechanism; Return and describedly be used to judge that A road signal equals 1 mechanism that denys.
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| Application Number | Priority Date | Filing Date | Title |
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| CN 200610054590 CN101055475A (en) | 2006-11-10 | 2006-11-10 | Coding wheel positioning device for commuting of track vehicle and its controller |
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| Application Number | Priority Date | Filing Date | Title |
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| CN 200610054590 CN101055475A (en) | 2006-11-10 | 2006-11-10 | Coding wheel positioning device for commuting of track vehicle and its controller |
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| CN101055475A true CN101055475A (en) | 2007-10-17 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102680724A (en) * | 2012-05-28 | 2012-09-19 | 无锡普智联科高新技术有限公司 | Two-freedom-degree speed measurement mechanism and speed measurement method for mobile robot car |
| CN102735235A (en) * | 2012-06-07 | 2012-10-17 | 无锡普智联科高新技术有限公司 | Indoor mobile robot positioning system and method based on two-dimensional code |
| CN105856858A (en) * | 2016-06-01 | 2016-08-17 | 河北大唐激光科技有限公司 | Laser marking machine |
| CN108982507A (en) * | 2017-05-31 | 2018-12-11 | 武汉桑普瑞奇科技有限公司 | A kind of Rail Surface hurt detection device and method |
| CN113074716A (en) * | 2021-03-23 | 2021-07-06 | 江西工控智能科技有限公司 | Aluminum profile traveling crane positioning detection device |
| CN114383547A (en) * | 2020-10-21 | 2022-04-22 | 广东博智林机器人有限公司 | Feeding method and device for fixed die table production line, electronic equipment and storage medium |
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- 2006-11-10 CN CN 200610054590 patent/CN101055475A/en active Pending
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102680724A (en) * | 2012-05-28 | 2012-09-19 | 无锡普智联科高新技术有限公司 | Two-freedom-degree speed measurement mechanism and speed measurement method for mobile robot car |
| CN102680724B (en) * | 2012-05-28 | 2014-01-01 | 无锡普智联科高新技术有限公司 | Two-freedom-degree speed measurement mechanism and speed measurement method for mobile robot car |
| CN102735235A (en) * | 2012-06-07 | 2012-10-17 | 无锡普智联科高新技术有限公司 | Indoor mobile robot positioning system and method based on two-dimensional code |
| CN105856858A (en) * | 2016-06-01 | 2016-08-17 | 河北大唐激光科技有限公司 | Laser marking machine |
| CN108982507A (en) * | 2017-05-31 | 2018-12-11 | 武汉桑普瑞奇科技有限公司 | A kind of Rail Surface hurt detection device and method |
| CN114383547A (en) * | 2020-10-21 | 2022-04-22 | 广东博智林机器人有限公司 | Feeding method and device for fixed die table production line, electronic equipment and storage medium |
| CN114383547B (en) * | 2020-10-21 | 2024-03-22 | 广东博智林机器人有限公司 | Feeding method and device for fixed die table production line, electronic equipment and storage medium |
| CN113074716A (en) * | 2021-03-23 | 2021-07-06 | 江西工控智能科技有限公司 | Aluminum profile traveling crane positioning detection device |
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