CN102897503B - Combined positioning control system - Google Patents
Combined positioning control system Download PDFInfo
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- CN102897503B CN102897503B CN201210378076.9A CN201210378076A CN102897503B CN 102897503 B CN102897503 B CN 102897503B CN 201210378076 A CN201210378076 A CN 201210378076A CN 102897503 B CN102897503 B CN 102897503B
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Abstract
The invention discloses a combined positioning control system and a control method thereof, and belongs to the technical field of positioning control. The combined positioning control system comprises a positioning structure and an electrical control system, wherein the positioning structure comprises a screw rod, a conveying trolley, a motor speed reducer, a multi-ring absolute value decoder, a laser ranging sensor, a fixed operation platform, a laser reflection plate, a trolley operation guide rail and a fixed base plate; and the electrical control system comprises a touch screen, a processor, an industrial control computer, a CAN (controller area network) bus communication card and a motor driver. According to the invention, the problem of long-stroke material conveying is solved successfully by adopting a positioning method by combining rough positioning and fine positioning, not only is cost low, but also because a target position is measured directly, and intermediate links and accumulative errors do not exist, the accuracy is high, the structure is simple, and the installation is easy.
Description
Technical field
The invention belongs to positioning control field, more particularly, relate to a kind of accurate single-point location for large stroke material automatic conveying device or integrated positioning control system and the control method thereof of multipoint positioning control.
Background technology
In the large accurate positioning control of stroke material automatic conveying, the method for positioning control mainly contains:
1. utilize magnetic railings ruler location, this localization method is made up of magnetostatic grid source and quiet magnetic railings ruler, and both are organically combined by special slideway, with contactless suspended pattern work, realize the detection of run location.Concrete application can be referring to document " realization of automatic dock high-speed overload track motor-driven carrier high fix " (handling machinery 2008 (10) P48～P50, author: the Liu Gang of Tongji University etc.);
2. laser rangefinder location, utilize laser ranging technique to realize accurately location, concrete application can be referring to document " Precise Orientation Technique for Auto-Control of Cranes for Nuclear Waste Storehouse " (Nuclear Power Engineering 2006 (12) P95～P97, author: Harbin Engineering University's power and the Yang Zhi of nuclear energy engineering institute reach etc.);
3. coder location, utilizes the coder being arranged on drive link to carry out indirect position detection, and this is a kind of localization method of routine.
In these three kinds of localization methods, method feature is 1. that whole stroke accuracy is high, and shortcoming is that cost is high, installation requirement is high, takes up room large etc.; Method feature is 2. that method of measurement precision is high, install more convenient, but need whole laser measurement stroke unobstructed, cost along with measurement range increase and increase; Method is 3. easy for installation, uses simply, and cost is low, is a kind of widely used method, but has cumulative errors, is mainly used in the not high occasion of accuracy requirement.
In sum, in prior art, lack a kind of position fixing system for large stroke location with low cost and that positioning precision is high that simultaneously has concurrently.
Summary of the invention
1, the problem to be solved in the present invention
Be difficult to have concurrently the low and high problem of precision of cost for large stroke material automatic conveying accurate-positioning control device in prior art simultaneously, the invention provides a kind of integrated positioning control system and control method thereof, it adopts coarse positioning and the combined localization method of fine positioning as required in large stroke material automatic conveying, reaches low cost, high precision, easy object of installing.
2, technical scheme
Object of the present invention is achieved through the following technical solutions:
A kind of integrated positioning control system of the present invention, it comprises location structure and electric control system; Described location structure comprises screw mandrel, carrier loader, motor reducer, multi-turn absolute value encoder, laser range sensor, trolley travelling guide rail and fixed base plate, and described location structure also comprises stationary work-table and laser reflection plate; Described electric control system comprises touch-screen, treater, industrial control computer, CAN bus communication card and motor driver;
Described stationary work-table, trolley travelling guide rail are all fixedly mounted on fixed base plate, described carrier loader is arranged on trolley travelling guide rail, described screw mandrel is arranged on the below of carrier loader, and described motor reducer, multi-turn absolute value encoder is arranged on respectively the two ends of described screw mandrel; Motor reducer and screw mandrel are electrically connected and drive screw mandrel to rotate, and then screw mandrel drives carrier loader to move on trolley travelling guide rail, and laser range sensor is fixed on carrier loader the side near stationary work-table; Described laser reflection plate is arranged on stationary work-table near on the side of carrier loader;
Described laser range sensor is connected with the treater of described electric control system; Described treater, touch-screen are connected with described industrial control computer; Described CAN bus communication card is arranged in the draw-in groove of described industrial control computer, and described multi-turn absolute value encoder, motor driver all link and connect with described CAN bus communication, and the other end of described motor driver is connected with motor reducer.
Preferably, the working direction angle of described laser range sensor and carrier loader is θ: θ=0 ° or 15 °≤θ≤45 °.
The control method of described integrated positioning control system of the present invention, the steps include:
(A) instruction input: the positioning instruction that carrier loader arrives station is input to industrial control computer by touch-screen, and industrial control computer obtains positioning control instruction;
(B) data acquisition: industrial control computer reads observed reading L4 and the multi-turn absolute value encoder actual read number value N of laser range sensor in real time, determine the operation coarse positioning position measurements T of carrier loader:
Fine positioning position probing value t is:
t＝L4×cosθ (2)
θ is the working direction angle of described laser range sensor and carrier loader, and L4 is the distance of laser range sensor along θ direction to laser reflection plate;
The survey precision of described laser range sensor is calculated as follows:
In above formula,
for laser range sensor survey precision along carrier loader moving direction on stationary work-table,
for the Surveying Actual Precision of laser range sensor;
(C) positioning control: positioning control is to complete in industrial control computer, according to command request, first be using multi-turn absolute value encoder real-time measurement values as position feedback, and by CAN bus communication card control motor driver, motor driver control motor reducer rotates, the operation of driving screw mandrel, screw mandrel drives carrier loader, and to target direction, (being first to arrive station 1, is then station 2 ...) operation; In the control process of position, the industrial control computer simultaneously real-time measurement values to multi-turn absolute value encoder and target location value compares:
When the real-time measurement values of multi-turn absolute value encoder and the difference of target location value are more than or equal to measurement range one half of laser range sensor along carrier loader service direction, represent that carrier loader is in coarse positioning scope, using the observed reading of multi-turn absolute value encoder as control system position feedback, carrier loader continues to move to target direction;
When the real-time measurement values of multi-turn absolute value encoder and the difference of target location value are less than measurement range one half of laser range sensor along carrier loader service direction, the position that represents carrier loader has approached target positioning position, using the observed reading of laser range sensor as position feedback, comparison object position and laser range sensor observed reading, when the difference of target location and laser range sensor observed reading is more than or equal to a half of positioning precision, industrial control computer control carrier loader continues operation, when the difference of target location and laser range sensor observed reading is less than a half of positioning precision, industrial control computer control carrier loader is out of service, thereby realize accurately location,
In the time that carrier loader only needs to carry out specified point location, carrier loader moves to this certain position point, the position of adjusting the laser range sensor on carrier loader, makes the point midway of laser range sensor in laser range sensor measurement range, can directly measure.
3, beneficial effect
Than prior art, the invention has the advantages that:
(1) the present invention adopts integrated positioning master mode, large stroke adopts position coder, carry out coarse positioning, in the control process of position, the industrial control computer simultaneously real-time measurement values to multi-turn absolute value encoder and target location value compares, when the real-time measurement values of multi-turn absolute value encoder and the difference of target location value are greater than measurement range one half of laser range sensor along carrier loader service direction, represent that carrier loader is in coarse positioning scope, continue using multi-turn absolute value encoder as control system position feedback; When the real-time measurement values of multi-turn absolute value encoder and the difference of target location value are less than measurement range one half of laser range sensor along carrier loader service direction, represent that the position of carrier loader has approached target positioning position, the position feedback of control system is using the observed reading of laser range sensor as position feedback.And for specific locating point, adopt short range laser range sensor directly to carry out range observation to laser reflection plate, because the relative certain position point of laser reflection plate position determines in advance, therefore this method of measurement does not have cumulative errors, realizes accurately and directly measuring, this integrated positioning pattern, positioning precision is high, there is no cumulative errors, detection and localization cost is low, and cost performance is high;
(2) system of the present invention adopts position coder to install on screw mandrel, encoder is arranged on screw mandrel as position coder, this technology is very ripe at present, encoder with respect to other position-detection sensors as simple installations such as magnetic railings ruler location, to being installed, carrier there is no particular/special requirement, the telecommunication interface of position coder has varied simultaneously, as CAN bus, Industrial Ethernet etc., do not need special solver, therefore interface is simple, system configuration is convenient, and this sensor requires also relatively low to degree of protection.
Brief description of the drawings
Fig. 1 is electric control system composition schematic diagram of the present invention;
Fig. 2 is integrated positioning control system structural representation of the present invention;
Fig. 3 is that integrated positioning control fine positioning of the present invention detects measurement range explanation schematic diagram;
Fig. 4 is the positioning control schematic diagram of 1 liang of station of the embodiment of the present invention;
Fig. 5 is the control process schematic diagram of high precision integrated positioning control system of the present invention;
Fig. 6 is that position feedback of the present invention is switched schematic diagram.
In figure: 1, screw mandrel; 2, carrier loader; 3, motor reducer; 4, multi-turn absolute value encoder; 5, laser range sensor; 6, stationary work-table; 7, laser reflection plate; 8, trolley travelling guide rail; 9, fixed base plate; 10, workpiece; 11, location backup plate.
Detailed description of the invention
Further introduce technical scheme of the present invention below in conjunction with accompanying drawing and specific embodiment.
In Fig. 1, Fig. 2, a kind of integrated positioning control system of the present invention, it comprises location structure and electric control system, and this location structure comprises screw mandrel 1, carrier loader 2, motor reducer 3, multi-turn absolute value encoder 4, laser range sensor 5, stationary work-table 6, laser reflection plate 7, trolley travelling guide rail 8 and fixed base plate 9; This electric control system comprises touch-screen, treater, industrial control computer, CAN bus communication card and motor driver.
Screw mandrel 1, stationary work-table 6 and trolley travelling guide rail 8 are installed on fixed base plate 9, and described screw mandrel 1, trolley travelling guide rail 8 are all positioned at the homonymy of stationary work-table 6, carrier loader 2 is arranged on trolley travelling guide rail 8, and screw mandrel 1 is arranged on the bottom of carrier loader 2; Laser reflection plate 7 is arranged on the side near carrier loader 2 on stationary work-table 6, and motor reducer 3 drives screw mandrel 1, and screw mandrel 1 drives carrier loader 2 to move on trolley travelling guide rail 8; Motor reducer 3, multi-turn absolute value encoder 4 are arranged on respectively the two ends of screw mandrel 1; Laser range sensor 5 is arranged on the side near stationary work-table 6 on carrier loader 2, and laser range sensor 5 is θ with the angle of the working direction of carrier loader 2.
The annexation of electric control system is: laser range sensor 5 is connected with described treater; Described treater, touch-screen are connected with described industrial control computer; Described CAN bus communication card is arranged in the draw-in groove of described industrial control computer, and described multi-turn absolute value encoder 4, motor driver all link and connect with described CAN bus communication, and the other end of motor driver is connected with motor reducer 3.
As Fig. 2, the medial surface of laser reflection plate 7 is as the reflecting surface of laser range sensor 5, and the surface finish of reflecting surface and color are chosen according to concrete laser range sensor 5, generally select a kind of light metal.In Fig. 2, laser reflection plate 7 is provided with two and indicates two certain position points, according to requirement in practical systems, has how many certain position points, just need to set how many laser reflection plates 7.θ angle is the mounting inclination angle of laser range sensor 5, select relevant to actual location demand, θ is less, under laser range sensor 5 measurement range one stable condition, actual measurement range is larger, need the measured angular of precision and laser range sensor 5 etc. to consider simultaneously, do not affecting in installation, the hands-off situation of moving process, θ angle is typically chosen in 10～45 °; In the time only having a positioning requirements, 0 ° of angle can be selected in θ angle;
Laser range sensor 5 is arranged on carrier loader 2, and in carrier loader 2 side near laser reflection plate 7, along the carrier loader 2 service directions optional position in carrier loader 2 as required, but must meet about the following requirement in Fig. 3:
Laser range sensor 5 has two measurement parameters, i.e. minimum measuring distance L1 and measurement range L2.Fig. 3 is that integrated positioning control fine positioning detects measurement range explanation schematic diagram.In figure: the minimum measuring distance L1 of laser range sensor 5 be laser range sensor 5 apart from laser reflection plate 7 proximal most position places, the distance along θ angular direction laser range sensor 5 to laser reflection plate 7; L3 is the moving range of carrier loader 2 along this dolly moving direction; The measurement range L2 of laser range sensor 5 is that laser range sensor 5 arrives the distance of laser reflection plate 7 and the difference of L1 apart from the highest distance position place of laser reflection plate 7 along θ angular direction laser range sensor 5.L2 is integrated positioning control fine positioning and detects measurement range.
The control method of integrated positioning control system of the present invention, the steps include:
(A) instruction input: the positioning instruction that carrier loader 2 arrives station is input to industrial control computer by touch-screen, and industrial control computer obtains positioning control instruction;
(B) data acquisition: industrial control computer reads observed reading L4 and the multi-turn absolute value encoder 4 actual read number value N of laser range sensor 5 in real time, determine the operation coarse positioning position measurements T of carrier loader 2:
Fine positioning position probing value t is:
t＝L4×cosθ (2)
θ is the working direction angle (as Fig. 2) of described laser range sensor 5 and carrier loader 2, and L4 is the distance of laser range sensor 5 along θ direction to laser reflection plate 7;
The survey precision of described laser range sensor 5 is calculated as follows:
In above formula,
for laser range sensor 5 survey precision along carrier loader 2 moving directions on stationary work-table 6,
for the Surveying Actual Precision of laser range sensor 5;
(C) positioning control: positioning control is to complete in industrial control computer, according to command request, first be using multi-turn absolute value encoder 4 real-time measurement values T as position feedback, and by CAN bus communication card control motor driver, motor driver control motor reducer 3 rotates, drive screw mandrel 1 to move, screw mandrel 1 drives carrier loader 2 to move to target direction; In the control process of position, the industrial control computer simultaneously real-time measurement values to multi-turn absolute value encoder 4 and target location value compares:
When the real-time measurement values of multi-turn absolute value encoder 4 and the difference of target location value are more than or equal to the measurement range half of laser range sensor 5 along carrier loader 2 service directions, represent that carrier loader 2 is in coarse positioning scope, using multi-turn absolute value encoder 4 as control system position feedback, continue to move to target direction;
When the real-time measurement values of multi-turn absolute value encoder 4 and the difference of target location value are less than measurement range one half of laser range sensor 5 along carrier loader 2 service directions, the position that represents carrier loader 2 has approached target positioning position, using the observed reading of laser range sensor 5 as position feedback, comparison object position and laser range sensor 5 observed readings, when the difference of target location and laser range sensor 5 observed readings is more than or equal to a half of positioning precision, industrial control computer control carrier loader 2 continues operation, when the difference of target location and laser range sensor 5 observed readings is less than a half of positioning precision, industrial control computer control carrier loader 2 is out of service, thereby realize accurately location,
In the time that carrier loader 2 only needs to carry out specified point location, carrier loader 2 moves to this certain position point, the position of adjusting the laser range sensor 5 on carrier loader 2, makes the point midway of laser range sensor 5 in laser range sensor 5 measurement ranges, can directly measure.
Embodiment 1
The present embodiment 1 is introduced integrated positioning control system and the control method thereof of carrier loader 2 on a kind of certain workpiece machining production line.
In Fig. 4, carrier loader 2 need to be carried to workpiece 10 the specific station of machining production line, extracts for the manipulator on station, and positioning precision is ± 0.1mm that Fig. 4 only draws two position locations, therefore needs two laser reflection plates 7.
In Fig. 1, Fig. 4, the location structure of the present embodiment comprises screw mandrel 1, carrier loader 2, motor reducer 3, multi-turn absolute value encoder 4, laser range sensor 5, stationary work-table 6, laser reflection plate 7, trolley travelling guide rail 8 and fixed base plate 9; Electric control system comprises touch-screen, treater, industrial control computer, CAN bus communication card and motor driver; Stationary work-table 6, trolley travelling guide rail 8 are all fixedly mounted on fixed base plate 9, described carrier loader 2 is arranged on trolley travelling guide rail 8, described screw mandrel 1 is arranged on the below of carrier loader 2, and described motor reducer 3, multi-turn absolute value encoder 4 is arranged on respectively the two ends of described screw mandrel 1; Motor reducer 3 is electrically connected and drives screw mandrel 1 to rotate with screw mandrel 1, and then screw mandrel 1 drives carrier loader 2 move on trolley travelling guide rail 8, and laser range sensor 5 is fixed on a side of close stationary work-table 6 on carrier loader 2; Described laser reflection plate 7 is arranged on stationary work-table 6 near on the side of carrier loader 2.
Laser range sensor 5 is θ with the working direction angle of carrier loader 2; In addition location structure also comprises a location backup plate 11, and location backup plate 11 is arranged on carrier loader 2, and workpiece 10 is arranged on carrier loader 2 and is close to location backup plate 11.
In Fig. 4, the side of laser reflection plate 7 is as the reflecting surface of laser range sensor 5, and the surface finish of reflecting surface and color are chosen according to concrete laser range sensor 5, and this example selects stainless steel sheet as reflecting plate; The mounting inclination angle θ angle of laser range sensor 5 is got 45 °.
As Fig. 1, the electrical connection of native system is: laser range sensor 5 is connected with described treater; Described treater, touch-screen are connected with described industrial control computer; Described CAN bus communication card is arranged in the draw-in groove of described industrial control computer, and multi-turn absolute value encoder 4, motor driver all link and connect with CAN bus communication; The other end of motor driver is connected with motor reducer 3 circuit.
As Fig. 4, establishing L6 is the distance along carrier loader 2 sense of motion location backup plates 11 to laser reflection plate 7 reflecting surfaces, and L7 is the distance along carrier loader 2 sense of motion location backup plates 11 to laser range sensor 5; In the present embodiment, L6 is set to 100mm, and positioning precision is ± 0.1mm that laser range sensor 5 indexs of selection are as follows:
Survey precision (conventionally regioselective precision 1/10～1/5): 0.05mm;
Measurement range (L2): ± 10mm;
Minimum measuring distance (L1): 30mm;
For making full use of the measurement range of laser range sensor 5, select in the time that workpiece 10 arrives position location laser range sensor 5 in measuring distance center, that is:
L4=L1+L2/2=30+10=40mm, L4 be now laser range sensor 5 along θ direction the distance apart from laser reflection plate 7;
L5=L4 × COS θ=28.28mm ≈ 28mm, L5 moves along carrier loader for laser range sensor 5 now
Direction is apart from the distance of laser reflection plate 7;
Therefore, as Fig. 4, along the installation site size L7 of carrier loader 2 moving direction laser range sensor 5 distance location backup plates 11 be now:
L7＝L6－L5＝100－28＝72mm
According to formula (3), the laser range sensor 5 of selecting in this example
for 0.05mm, θ are 45 °, along the survey precision of carrier loader 2 moving directions
for 0.035mm, θ angle is larger, and precision is higher;
Selection about laser range sensor 5:
A. reflection type is selected scattered reflection type;
B. according to real system positioning precision demand, select suitable precision according to formula (3);
C. minimum measuring distance L1 choose relevantly with angle theta, can not cause laser range sensor 5 to interfere with laser reflection plate 7 in motion process;
D. the selection of laser range sensor 5 measurement range L2 is relevant with θ angle and system control accuracy, and general selection is 100～200 times of control accuracys.
About choosing of multi-turn absolute value encoder 4, in this example, select multi-turn absolute value encoder 4, CAN bus interface, can select 12 × 14 according to demand conventionally, i.e. the number of turns of 12,14 individual pen resolution, the pitch of screw mandrel 1 is 12mm.Actual location control stroke is 4096 × 12mm=49m; Coarse positioning resolution is 12mm/16384=0.73mm.
The control process of the combinations thereof positioning control system of the present embodiment, the steps include:
(A) instruction input: the positioning instruction that carrier loader 2 arrives station is input to industrial control computer by touch-screen, and industrial control computer obtains positioning control instruction;
(B) data acquisition: industrial control computer reads observed reading L4 and the multi-turn absolute value encoder 4 actual read number value N of laser range sensor 5 in real time, determine the operation coarse positioning position measurements T of carrier loader 2:
Fine positioning position probing value t is:
t＝L4×cosθ (2)
θ is the working direction angle of described laser range sensor 5 and carrier loader 2, and L4 is the distance of laser range sensor 5 along θ direction to laser reflection plate 7;
The survey precision of described laser range sensor 5 is calculated as follows:
In above formula,
for laser range sensor 5 survey precision along carrier loader 2 moving directions on stationary work-table 6,
for the Surveying Actual Precision of laser range sensor 5;
(C) positioning control: positioning control is to complete in industrial control computer, according to command request, first be using multi-turn absolute value encoder 4 real-time measurement values T as position feedback, and by CAN bus communication card control motor driver, motor driver control motor reducer 3 rotates, drive screw mandrel 1 to move, screw mandrel 1 drives carrier loader 2, and to target direction, (being first to arrive station 1, is then station 2 ...) operation; In the control process of position, the industrial control computer simultaneously real-time measurement values to multi-turn absolute value encoder 4 and target location value compares:
Fig. 5 is high precision integrated positioning control process schematic diagram, the process of position control in Fig. 5, finder, location recognition, gain coupling all in industrial control computer software complete.
Position control is that position loop control is proofreaied and correct, location recognition is to judge whether shift position enters fine positioning region (A1 region, A2 region in Fig. 6), when optical sensor 5 enters fine positioning region, work as the real-time measurement values of multi-turn absolute value encoder 4 and the difference of target location value and be less than measurement range one half of laser range sensor 5 along carrier loader 2 service directions, select the observed reading of laser range sensor 5 as position feedback by finder; When optical sensor 5 is not during or not fine positioning region (difference of target location and laser range sensor 5 observed readings is more than or equal to a half of positioning precision), select the observed reading that is arranged on multi-turn absolute value encoder 4 on screw mandrel 1 as position feedback by finder; Due to the data format difference of both position feedback, therefore gain coupling link is set, for two kinds of position feedback Data Matching;
In Fig. 1, industrial control computer drives operation by multifunction board card control axle; Read by multifunction card the real time position value that is arranged on multi-turn absolute value encoder 4 on screw mandrel 1 simultaneously, and using this real time position value as positioning control position feedback, realize position closed loop control; In the time that position in Fig. 5 recognizes the A1 region of Fig. 6, finder selects the observed reading of laser range sensor 5 as position feedback, carries out high precision position control, completes after this positioning control, and carrier loader 2 continues operation under industrial control computer control; In the time that position in Fig. 5 recognizes the A2 region of Fig. 6, finder selects the observed reading of laser range sensor 5 as position feedback again, carries out high precision position control, in the time having more position locations, can realize by that analogy.
In the time that carrier loader 2 only needs to carry out specified point location, carrier loader 2 moves to this certain position point, the position of adjusting the laser range sensor 5 on carrier loader 2, makes the point midway of laser range sensor 5 in laser range sensor 5 measurement ranges, can directly measure.
Claims (2)
1. an integrated positioning control system, it comprises location structure and electric control system; Described location structure comprises screw mandrel (1), carrier loader (2), motor reducer (3), multi-turn absolute value encoder (4), laser range sensor (5), trolley travelling guide rail (8) and fixed base plate (9), it is characterized in that, described location structure also comprises stationary work-table (6) and laser reflection plate (7); Described electric control system comprises touch-screen, treater, industrial control computer, CAN bus communication card and motor driver;
Described stationary work-table (6), trolley travelling guide rail (8) are all fixedly mounted on fixed base plate (9), described carrier loader (2) is arranged on trolley travelling guide rail (8), described screw mandrel (1) is arranged on the below of carrier loader (2), and described motor reducer (3), multi-turn absolute value encoder (4) is arranged on respectively the two ends of described screw mandrel (1); Motor reducer (3) is electrically connected and drives screw mandrel (1) to rotate with screw mandrel (1), and then screw mandrel (1) drives carrier loader (2) in the upper operation of trolley travelling guide rail (8), laser range sensor (5) is fixed on the upper side near stationary work-table (6) of carrier loader (2); It is upper near on the side of carrier loader (2) that described laser reflection plate (7) is arranged on stationary work-table (6);
Described laser range sensor (5) is connected with the treater of described electric control system; Described treater, touch-screen are connected with described industrial control computer; Described CAN bus communication card is arranged in the draw-in groove of described industrial control computer, described multi-turn absolute value encoder (4), motor driver all link and connect with described CAN bus communication, and the other end of described motor driver is connected with motor reducer.
2. a kind of integrated positioning control system according to claim 1, is characterized in that, the working direction angle of described laser range sensor (5) and carrier loader (2) is θ: θ=0 ° or 15 °≤θ≤45 °.
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| CN101670981B (en) * | 2009-10-13 | 2012-06-13 | 上海理工大学 | Long rail crane group simultaneous localization system with semi-closed loop position feedback and location method thereof |
| CN101844317A (en) * | 2010-03-25 | 2010-09-29 | 合肥工业大学 | Device and method for correcting transmission error of precise numerical control machine closed loop servo system |
| CN102566499A (en) * | 2010-12-24 | 2012-07-11 | 北大方正集团有限公司 | Linearly-reciprocating mobile device and location control method thereof |
| CN202401805U (en) * | 2011-12-30 | 2012-08-29 | 山东齐星铁塔科技股份有限公司 | Transverse moving trolley with laser distance measuring device |
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| CN102897503A (en) | 2013-01-30 |
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