CN103019256A - System and method for positioning linear rail car based on laser ranging - Google Patents
System and method for positioning linear rail car based on laser ranging Download PDFInfo
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- CN103019256A CN103019256A CN2012104936740A CN201210493674A CN103019256A CN 103019256 A CN103019256 A CN 103019256A CN 2012104936740 A CN2012104936740 A CN 2012104936740A CN 201210493674 A CN201210493674 A CN 201210493674A CN 103019256 A CN103019256 A CN 103019256A
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Abstract
The invention relates to a system and a method for positioning a linear rail car based on laser ranging. The system comprises a laser range finder, a controller programmable logic controller (PLC) and an alternating current contactor for controlling a motor, wherein the controller controls the rail car to start and stop by controlling the alternating current contactor; the laser range finder is arranged on the rail car; the emitted laser is parallel to an advancing rail; a laser reflection plate is supported by an upright post and fixed at one end of the rail; and the controller can accurately judge the current position of the rail car by receiving a digital position signal of the laser range finder, and can control starting and stopping of the motor according to the demanded position when the laser emitted by the laser range finder irradiates the reflection plate and is reflected to the laser range finder. By adopting the positioning method disclosed by the invention, the rail car can accurately achieve the target position, so as to achieve full-automatic positioning of the rail car.
Description
Technical field
The present invention relates to a kind of rectilinear orbit car positioning system and method based on laser ranging, be a kind of railcar laser orientation system specifically and control non-adjustable speed motor to reach the method for hi-Fix.
Background technology
Railcar comprises the coke oven car, train, and subways etc. all belong to heavy duty equipment, and general volume is larger, and inertia is larger during walking, and rail locomotive need to be in the reciprocal walking states of a kind of " move-aligning parking-operation " according to the requirement of production process.How can accurately obtain in real time the current residing position of locomotive and make locomotive energy automatic stopping be positioned at the position of appointment, be the key that realizes robotization control.Along with the development of laser technology, its error is little, and resolution is high, more and more is applied in the various fields of measurement.
Analyze existing patent:
(1) utility model patent title: the laser distance measuring locating device for mechanical parking equipment carrier (patent No.: 98240435.2), the laser range finder that this invention will be connected with computing machine is installed on the carrier, and at parking apparatus the Laser emission plate is housed, laser range finder imports data into computer control system, for positioning control.
This patent does not relate to Electromechanical Control actuating unit and control localization method.
(2) utility model patent title: the track trolley laser location system (patent No.: 200820159345.1), the Laser emission plate is installed on the vehicle motor, laser range finder is installed in the ground of track centerline straight line parallel, the laser range finder connection control system.Control system is according to distance value control motor start and stop work.
In this patent control desk on the ground, nearly tens of the various control lines of cable needs that are connected with dolly and signal wires, sliding connection structure is complicated, cost is high, poor reliability.This patent does not relate to the control localization method.
(3) utility model patent title: (application number: 201120176926.8), the laser scanning and ranging instrument is arranged on the tracking mechanism a kind of laser ranging positioning system, and tracking mechanism links to each other with the motor of being controlled by processor.
Owing to after needing dolly to put in place in this programme next action is carried out in laser shutdown, open laser ranging when needing walking, so the high temperature alarm mechanism in this patent there is no need in this programme to arrange.This patent does not relate to Electromechanical Control actuating unit and control localization method.
(4) patent of invention title: linear running location system for electrically driven vehicle (application number 02111510.9), the laser position detecting device is arranged on the fixture of orbit center line one end of vehicle, and console panel receives this signal and controls vehicle driving motor.
Control desk is not suitable for this programme on the ground in this patent.This patent does not relate to the Electromechanical Control actuating unit.
(5) patent of invention title: traveling crane positioning system and localization method (application number: 200710061233.2), adopt high-precision laser sensor and scrambler to measure the distance of overhead traveling crane x, y, three directions of z.
In the railcar walking process, measure the distance of direction of travel, there is no need to measure the distance of other both directions.This patent does not relate to Electromechanical Control actuating unit and control localization method.
(6) patent of invention title: the high precision positioning and accessing system of nuke rubbish (application number 200610009875.3), two laser range finders and a rotary encoder, the monitoring spreader position is by frequency conversion system control motor.
This patent does not relate to the control localization method.
By finding out existing location technology analysis, each patent has application background separately, and advantage is separately arranged.Need the operating personnel that solve railcar to operate onboard in this programme, control desk onboard, used motor is for exchanging reducing motor, the band-type brake power supply discharges separately.How to reach control accuracy in the bearing accuracy of ± 3mm, all do not have complete scheme in the above patent, and can overcome the above problems in the scheme that proposes in this patent.
Summary of the invention
Goal of the invention:
The purpose of this invention is to provide a kind of rectilinear orbit car positioning system and method based on laser ranging, by existence conditions, control three-phase asynchronous braking motor, reach the automatic location of railcar.
Technical scheme:
The present invention is achieved through the following technical solutions:
A kind of rectilinear orbit car positioning system based on laser ranging, comprise laser range finder, in orbit railcar, controller, displacement data display are set, it is characterized in that: laser range finder is installed in the railcar top and can moves with railcar, at track terminal point and laser range finder over against locating to arrange reflecting plate, laser range finder connects controller by data line, controller difference connecting position shift is device and A.C. contactor according to the show, A.C. contactor connects motor, and motor is that electromagnetic type braking interchange reducing motor is comprised of alternating current generator and reducer casing.
Described laser range finder measuring distance is 200m, and precision is 1mm; Output signal is the RS485 interface, access controller.
Described controller is Siemens PLC C S7-200; Data line is 485 signal wires.
A kind of as mentioned above based on the localization method of the rectilinear orbit car positioning system of laser ranging, it is characterized in that: laser range finder sends laser when opening and is mapped on the reflecting plate, be reflected back again laser range finder, the data communication device of laser range finder is crossed in the data line input control device, controller is closed by compute distance values control A.C. contactor, the control motor makes the railcar walking by reducer casing, and shift value is shown by the displacement data display; Concrete steps are as follows:
The digital quantity that controller is received adopts the sliding average method to carry out filtering, makes the each scanning result of controller keep all the time this up-to-date sampled result;
Adopt the method for " contraposition of walking-parking-crawl " control motor:
Walking is that A.C. contactor is closed, and railcar is from static process at the uniform velocity advancing;
Parking refers to that A.C. contactor discharges, the motor outage, and railcar is from the uniform velocity to stopping, by sliding that system inertia produces; The each positive stroke coasting distance of equal storage update or reverse drive coasting distance of stopping;
Crawl is after railcar is stopped, when physical location and target location have error distance greater than minimum crawl displacement, PLC controller control A.C. contactor is according to the time closing of minimum crawl time, railcar " crawl " walking, when the actual parking spot of railcar does not reach desired value, railcar forward " crawl " is in desired value, otherwise when the actual parking spot of railcar surpassed desired value, railcar oppositely " crawl " was returned in the desired value; The shut-down operation during less than the crawl displacement of the actual parking spot of railcar and Target Location Error distance, band-type brake enters next step action.
Adopt the displacement data display to show relative displacement and absolute displacement, display is divided into two row, the relative displacement of up range of a signal desired value, and descending demonstration is from the absolute displacement of reflecting plate.
The band-type brake power supply that adopts carries out separately band-type brake and discharges, and during the railcar walking band-type brake is discharged, and band-type brake after the accurate positioning conveniently carries out next step action.
Advantage and effect:
The present invention is a kind of rectilinear orbit car positioning system and method based on laser ranging, and the present invention compared with prior art has following advantage:
Laser ranging of the present invention is connected with the PLC control system, has improved the reliability of system and intelligent.
Railcar control system accurately obtains current residing position in real time, is the key issue that realizes robotization control, makes the operational motion time shorten of machine railcar, and efficient improves.
Do not adopt speed-adjusting and control system, make structure become simple and reliable, the cost performance of system improves.
When externally environment changed, system can adjust to realize accurate location timely.
Description of drawings:
Fig. 1 is railcar positioning system schematic diagram of the present invention;
Fig. 2 is Electric Machine Control process flow diagram of the present invention;
Fig. 3 is circuit diagram of the present invention, and wherein Fig. 3 (a) is main loop circuit figure of the present invention, and Fig. 3 (b) is control loop circuit diagram of the present invention.
Wherein: 1. laser range finder, 2. railcar, 3. data line, 4. controller, 5. displacement data display, 6. A.C. contactor, 7. motor, 8. reducer casing, 9. track, 10. reflecting plate;
QM1. miniature circuit breaker, KM1. A.C. contactor, KM2. A.C. contactor, M. motor, QM2. miniature circuit breaker, KM3. A.C. contactor, YB. electromagnetic brake.
Embodiment:
The present invention is described further below in conjunction with accompanying drawing and specific embodiment:
The present invention proposes a kind of rectilinear orbit car positioning system based on laser ranging, such as Fig. 1, Fig. 2 and shown in Figure 3, comprise laser range finder 1, be arranged on the railcar 2 on the track 9, controller 4, displacement data display 5, it is characterized in that: laser range finder 1 is installed in railcar 2 tops, prevent having barrier to block laser beam at walking process, laser range finder can be mobile together along with railcar, at track 9 terminal points and laser range finder 1 over against locating to arrange reflecting plate 10, laser range finder 1 connects controller 4 by data line 3, controller 4 difference connecting position shifts are device 5 and A.C. contactor 6 according to the show, A.C. contactor 6 connects motor, motor is that the electromagnetic type braking exchanges reducing motor, exchange reducing motor and be comprised of alternating current generator 7 and reducer casing 8, the integrated design of motor and reducer casing is so that its mounting structure is very compact.
Described laser range finder 1 is positioned on the railcar 2, and its Emission Lasers parallels with the track 9 of advancing, and laser reflection plate 10 is propped by column, is fixed on an end of track 9.When laser that laser range finder 1 sends is mapped on the reflecting plate 10, be reflected back again laser range finder, controller can accurately judge the current location of this small rail car by accepting the digital position signal of laser range finder, and the start and stop of the position control motor that arrives as requested.
Described laser range finder 1 measuring distance is 200m, and precision is 1mm; Output signal is the RS485 interface, the prot0 mouth of access controller 4.
Described controller is Siemens PLC C S7-200; Data line 3 is 485 signal wires.
A kind of as mentioned above based on the localization method of the rectilinear orbit car positioning system of laser ranging, it is characterized in that: laser range finder 1 sends laser when opening and is mapped on the reflecting plate 10, be reflected back again laser range finder 1, the data output end of laser range finder 1 links to each other with controller 4, data communication device is crossed in the data line 3 input control devices 4, controller 4 is by compute distance values control A.C. contactor 6 closures, thereby the control motor makes railcar 2 walkings by reducer casing 8, and shift value shows by displacement data display 5 in real time.
Concrete steps are as follows:
The displacement signal of laser range finder transmission is digital quantity, has " bad point " of shift value sudden change to occur in the time of in the signal that the PLC controller receives in practice, so that railcar stops and goes, system stability is bad; The digital quantity that the present invention receives controller adopts the sliding average method to carry out digital filtering, has so both overcome the time-delay of arithmetic mean method, again so that controller can obtain up-to-date sampled result all the time;
If data do not change in railcar 2 walking processes, illustrate that laser range finder 1 does not have the distance of unlatching or test to surpass the scope of laser range finder; If data generation great change explanation has barrier to stop laser beam, above situation is all reported to the police and is stopped.
The railcar travel speed is about 50mm/s, because the laser range finder sample frequency is 2Hz-15Hz, if stop the electric machine rotation method during according to general arrival desired value, theoretical positioning error can reach 25mm, and the response time of transmitting owing to laser sensor in the actual motion, the factor positioning errors such as variation of the inertia of railcar and wheel and track friction coefficient can reach 50mm, and the project that do not meet is less than the error requirements of 3mm.
Therefore, the present invention adopts the method for " contraposition of walking-parking-crawl " control motor:
Walking is that contactor is closed, and railcar is from static process at the uniform velocity advancing;
Parking refers to that contactor discharges, the motor outage, and railcar is from the uniform velocity to stopping, by sliding that system inertia produces.System inertia has: response time, the mass inertia of railcar, the friction of wheel and track and mechanical transmission mechanism, the rotator inertia of motor and gear reducer and the factors such as actuation time of contactor of laser sensor transmission.For the railcar of reality, positive running is different with the coasting distance that needs the reverse drive operation, has noted in the present invention positive stroke coasting distance and reverse drive coasting distance; The friction factor of wheel and track and mechanical transmission mechanism is also changing, and shows uncertainty, adopts in the present invention the each positive stroke coasting distance of equal storage update or reverse drive coasting distance of stopping, to reduce this uncertainty.
Crawl is behind the railcar coast to stop, when physical location and target location have error distance greater than minimum crawl displacement, PLC controller control A.C. contactor is according to the time closing of minimum crawl time, railcar " crawl " walking, when the actual parking spot of railcar does not reach desired value car can forward " crawl " in desired value, otherwise when the actual parking spot of railcar surpasses desired value car oppositely in " crawl " time desired value; The shut-down operation during less than the crawl displacement of the actual parking spot of railcar and Target Location Error distance, band-type brake enters next step action.
Adopt displacement data display 5 to show relative displacement and absolute displacement, connect PLC controller 4 by 485 signal wires, display is divided into two row, the relative displacement of up range of a signal desired value, descending demonstration is from reflecting plate 10(0 point) absolute displacement, the handled easily personnel better understand the railcar position, pass through data display equipment, the displacement of display measurement moves reference data accurately for operating personnel provide in real time.
The band-type brake power supply that adopts carries out separately band-type brake and discharges, and during the railcar walking band-type brake is discharged, and band-type brake after the accurate positioning conveniently carries out next step action.
For convenient control, with controller, A.C. contactor, displacement data display etc. is located in the switch board.
Use this localization method of the present invention, failure rate is reduced greatly, debugging is simple, but and shock resistance, dustproof, waterproof, in the situation that shake and vibrations also can make positioning of parking apparatus accurate stable.
Principle of work of the present invention:
The present invention is a kind of rectilinear orbit car positioning system and method based on laser ranging, comprises the A.C. contactor of laser range finder, controller PLC and control motor, and controller is controlled the dolly start-stop by the coil of control A.C. contactor.Laser range finder is positioned on the railcar, and the straight line overhead gage that parallels over against the track centerline of advancing of its transmitting terminal.The laser that sends when laser range finder is mapped on the reflecting plate, be reflected back again laser range finder, controller is by accepting the digital position signal of laser range finder, can accurately judge the current location of this railcar, and the start and stop of the position control motor that arrives as requested, make railcar can arrive accurately the target location, thereby reach the automatic location of railcar.
Embodiment:
The position data updating method:
The digital quantity that the PLC controller is received adopts the sliding average method to carry out filtering, the sliding average method adopts data queue as the raw data of data calculating mean value, the length of data queue is fixed as 10, whenever carry out once new sampling, just the last samples result is placed on rear of queue, the sampled result of original formation first place is thrown away, in data queue, keeping all the time so a up-to-date sampled result, this sampled result is used as this shift value constantly calculates.
Crawl is adjusted method:
Crawl is behind the railcar coast to stop, when physical location and target location have error distance greater than minimum crawl displacement, PLC controller control A.C. contactor is according to the time closing of minimum crawl time, railcar " crawl " walking, when the actual parking spot of railcar does not reach desired value car can forward " crawl " in desired value, otherwise when the actual parking spot of railcar surpasses desired value car oppositely in " crawl " time desired value; The shut-down operation during less than the crawl displacement of the actual parking spot of railcar and Target Location Error distance, band-type brake enters next step action.
The acquisition of minimum crawl time:
Crawl is a kind of of Motor Control mode, starts to stop soon.Startup and stop signal are sent by PLC in this patent, can finish in the very short time, can be short to not reaction of motor, alternating current are arranged, the inertia of motor and gear reducer, the factors such as the actuation time of contactor here.This patent described " minimum crawl time " is exactly under condition amid all these factors, and on actual device, the action message minimum time by test of many times obtains obtains minor increment---the crawl displacement of this railcar reliable mobile certainly.The minimum time at the interval of the next crawl that also will obtain by test of many times simultaneously.
The minimum crawl time is 80ms in this example, and the crawl displacement is 3mm; Crawl 2S interval time.
Detection and the renewal of positive stroke coasting distance:
Because the uncertain variation of railcar gear train friction factor, the each parking coasting distance of railcar is different, according to the automatic up-to-date positive stroke coasting distance of record and upgrading of accurate positioning PLC, in order to extrapolate relatively accurate in advance vehicle positioning stop position.
The time interval of the automatic multipoint recording of PLC is 20ms in this example.
The detection of reverse drive coasting distance and renewal:
Preparation method is except the railcar direct of travel is opposite with " detection and the renewal of positive stroke coasting distance ", and other is identical.
Because the asymmetry of railcar gear train and mass distribution, the speed of its positive stroke and reverse drive is different, in this example the vehicle positioning stop command area is divided into positive stroke coasting distance and reverse drive coasting distance.The vehicle positioning stop position also is to calculate with positive stroke coasting distance and reverse drive coasting distance respectively in advance.Positive stroke vehicle positioning stop position equals the target location and deducts coasting distance, and reverse drive vehicle positioning stop position equals the target location and adds coasting distance.
Claims (6)
1. rectilinear orbit car positioning system based on laser ranging, comprise laser range finder (1), be arranged on the railcar (2) on the track (9), controller (4), displacement data display (5), it is characterized in that: laser range finder (1) is installed in railcar (2) top and can moves with railcar, at track (9) terminal point and laser range finder (1) over against locating to arrange reflecting plate (10), laser range finder (1) connects controller (4) by data line (3), controller (4) difference connecting position shift is device (5) and A.C. contactor (6) according to the show, A.C. contactor (6) connects motor, and motor is that electromagnetic type braking interchange reducing motor is comprised of alternating current generator (7) and reducer casing (8).
2. the rectilinear orbit car positioning system based on laser ranging according to claim 1, it is characterized in that: described laser range finder (1) measuring distance is 200m, and precision is 1mm; Output signal is the RS485 interface, access controller (4).
3. the rectilinear orbit car positioning system based on laser ranging according to claim 1, it is characterized in that: described controller is Siemens PLC C S7-200; Data line (3) is 485 signal wires.
4. one kind as claimed in claim 1 based on the localization method of the rectilinear orbit car positioning system of laser ranging, it is characterized in that: laser range finder (1) sends laser when opening and is mapped on the reflecting plate (10), be reflected back again laser range finder (1), the data communication device of laser range finder (1) is crossed in data line (3) the input control device (4), controller (4) is by compute distance values control A.C. contactor (6) closure, thereby the control motor makes railcar (2) walking by reducer casing (8), and displacement shows by displacement data display (5); Concrete steps are as follows:
The digital quantity that controller is received adopts the sliding average method to carry out filtering, makes the each scanning result of controller keep all the time this up-to-date sampled result;
Adopt the method for " contraposition of walking-parking-crawl " control motor:
Walking is that A.C. contactor is closed, and railcar is from static process at the uniform velocity advancing;
Parking refers to that A.C. contactor discharges, the motor outage, and railcar is from the uniform velocity to stopping, by sliding that system inertia produces; The each positive stroke coasting distance of equal storage update or reverse drive coasting distance of stopping;
Crawl is after railcar is stopped, when physical location and target location have error distance greater than minimum crawl displacement, PLC controller control A.C. contactor is according to the time closing of minimum crawl time, railcar " crawl " walking, when the actual parking spot of railcar does not reach desired value, railcar forward " crawl " is in desired value, otherwise when the actual parking spot of railcar surpassed desired value, railcar oppositely " crawl " was returned in the desired value; The shut-down operation during less than the crawl displacement of the actual parking spot of railcar and Target Location Error distance, band-type brake enters next step action.
5. the rectilinear orbit car localization method based on laser ranging according to claim 4, it is characterized in that: adopt displacement data display (5) to show relative displacement and absolute displacement, display is divided into two row, the relative displacement of up range of a signal desired value, descending demonstration is from the absolute displacement of reflecting plate (10).
6. the rectilinear orbit car localization method based on laser ranging according to claim 4 is characterized in that: the band-type brake power supply of employing carries out separately band-type brake and discharges, and during the railcar walking band-type brake is discharged, and carries out band-type brake after the accurate positioning, conveniently carries out next step action.
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| CN2012104936740A CN103019256A (en) | 2012-11-28 | 2012-11-28 | System and method for positioning linear rail car based on laser ranging |
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