CN103454962A - Grab bucket numerical control system and method - Google Patents
Grab bucket numerical control system and method Download PDFInfo
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- CN103454962A CN103454962A CN2013103654489A CN201310365448A CN103454962A CN 103454962 A CN103454962 A CN 103454962A CN 2013103654489 A CN2013103654489 A CN 2013103654489A CN 201310365448 A CN201310365448 A CN 201310365448A CN 103454962 A CN103454962 A CN 103454962A
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Abstract
The invention discloses a grab bucket numerical control system and method in the technical field of seafloor excavating. The grab bucket numerical control system comprises an analog signal input end, a digital signal input end, a central processing unit and an analog signal output end. The analog signal input end is used for collecting a grab bucket manipulation rod signal and a sensor signal, the digital signal input end is used for collecting a current working state signal of a grab bucket, the central processing unit is used for conducting arithmetic and logical processing on the grab bucket manipulation rod signal, the current working state signal of the grab bucket and the sensor signal and sending out a control command, and the analog signal output end is used for sending out a grab bucket motion control signal to the grab bucket. The grab bucket numerical control system and method achieve speed closed-loop control over the grab bucket, improve the control precision of the grab bucket, improve the construction efficiency, reduce dependency on dredging manipulation on artificial experience and capability level by intelligentized equipment, are suitable for various working environments, and are strong in robustness.
Description
Technical field
The present invention relates to digging technology field, seabed, particularly a kind of grab bucket digital control system and method.
Background technology
The grab bucket motion control of the grapple dredger hand of dredging is handled before joystick to push away by one and (is transferred grab bucket, position more forward, the grab bucket lowering velocity is faster), meta (grab bucket stop motion), post-tensioning (promote grab bucket, more backward, the pulling speed of grabbing bucket is faster in position) realize.In this course of work, the hand of dredging must keep the concern to various signal lamps constantly, and handle control lever according to different signal lamp feedback signals and field condition, make it in suitable position, so that the present speed of grab bucket motion meets operating mode, this is a kind of open loop control mode, its velocity control accuracy is poor, and construction precision stability greatly depends on ability and the experience of the hand of dredging, this increases the working strength of the hand of dredging undoubtedly, make it tired, easily produce misoperation, finally reduce work efficiency.In addition, the push pull maneuver of control lever is normally completed in the short time at the utmost point, this inevitably can make the output signal of control lever change because of mechanical shaking, this can cause the grab bucket movement velocity also shake, may cause security incident, also be unfavorable for grabbing bucket and accurately control and guarantee that construction quality is stable simultaneously.For this reason, produced by computing machine the grab bucket lifting process is carried out to the demand of automatically controlling, but existing control lever can't meet this demand.
Summary of the invention
The purpose of this invention is to provide a kind of control accuracy of grab bucket control system and method raising grab bucket, maintain stable construction quality, improve efficiency and the security of grab bucket work.
The objective of the invention is to be achieved through the following technical solutions: a kind of grab bucket digital control system is characterized in that: this system comprise input end of analog signal for gathering grab bucket control lever signal and sensor signal, for digital signal input end that grab bucket work at present status signal is gathered, for described grab bucket control lever signal, grab bucket work at present status signal and sensor signal are carried out to the arithmetic sum logical process and send the central processing unit of steering order, for send the analog signal output of grab bucket motion control signal to grab bucket.
Described digital signal input end arrives status signal for inputting anxious control signal, deceleration point arrival status signal and the depth location of stopping.
Described grab bucket digital control system also comprises for receiving the communication connection port of the steering order that described host computer sends.
Described central processing unit is connected with described input end of analog signal, analog signal output, digital signal input end and communication connection port respectively; Described communication connection port is connected with host computer and communicates by letter, and finally realizes the host computer purpose of control grab bucket motion fully automatically.
Described input end of analog signal is AD converter.
Described analog signal output is the DA converter.
It is characterized in that: at described analog signal output, be connected with the control mode switch circuit.
A kind of grab bucket numerical control method is characterized in that: this grab bucket numerical control method comprises the following steps:
S1: initialization;
S2: described analog output mouth output grab bucket motion control signal;
S3: the step that the instruction that described host computer is sent is processed;
S4: the step of the signal of described input end of analog signal mouth and the reception of digital signal input end mouth being carried out to the arithmetic sum logical process.
Described step S3 is specially:
Described central processing unit checks in described communication connection port whether the steering order of described host computer is arranged, if having, carries out described steering order; Otherwise enter step S4.
Described step S4 is specially:
Described central processing unit reads the signal that described input end of analog signal mouth and digital signal input end mouth receive, after the signal that the input end of analog signal mouth is received carries out data smoothing, filtering and anti-shake processing, the signal condition received according to described digital signal input end mouth, described central processing unit generates described analog output mouth output grab bucket motion control signal, returns to step S3.
The present invention compared with prior art has advantages of following:
1. the present invention receives the data that gather from grab bucket control lever and sensor by the input end of analog signal mouth, after corresponding arithmetic sum logical algorithm, realize the closed-loop control to the grab bucket motion, reduced the suffered external factor of control procedure and disturbed, improved control accuracy and stability;
2. the present invention carries out acquisition and processing by central processing unit to the signal of grab bucket control lever signal and sensor, then carry out the logic judgement according to the signal that digital signal input port is received, automatically the due motion control signal of grab bucket under the output corresponding state, realized the robotization that the grab bucket movement velocity is controlled; Improve the stability of construction quality and the security of production, greatly improved operating efficiency; Realized grab bucket is put down to the accurate control of digging with depthkeeping.The workmen is by after controlling control lever startup grab bucket excavation program, grab bucket will arrive rear automatic retarding to predefined speed at deceleration point in decentralization process, after arriving, depth location automatically grab bucket is stopped to target excavation position, in whole process without manual intervention, alleviate workmen's working strength and, too much to the dependence of its technical ability, can effectively stablize construction quality.
3. control mode switch circuit of the present invention has been realized controlling to the quick switching between the control of grab bucket digital control system from the control lever circuit, has increased the selectivity of working method, has taken into account again original operator scheme simultaneously; When the grab bucket digital control system when in running order, can carry out smoothly the signal from control lever and sensor, filtering, the processing such as anti-shake, realize the automated closed-loop control of grab bucket decentralization process; When not needing digital control system to be controlled, switch to the direct state of a control of control lever circuit, so still can manually to grab bucket, control effectively, strong robustness.
4. the present invention can directly control the grab bucket digital control system according to actual working condition by host computer (optional), thereby can realize the dredge robotization of overall process of grab bucket.Automatically transfer grab bucket, automatic retarding, automatically stop, automatic lifting, dump automatically, this is the function that does not adopt the grab boat of digital control system not realize.Therefore the invention provides, grab bucket is carried out to full-automatic closed-loop control basic condition.
The accompanying drawing explanation
Fig. 1 is structured flowchart of the present invention;
Fig. 2 is process flow diagram of the present invention.
Embodiment
Below in conjunction with drawings and Examples, the invention will be further described.Shown in Figure 1; In order to solve the existing work efficiency that improves hog barge, strengthen the grab bucket campaign that the effective stable operating performance of dredging plant and pinpoint accuracy are controlled hog barge, the present invention proposes a kind of grab bucket digital control system and method.
The core of grab bucket digital control system is digital control lever controller, also comprises the respective peripheral parts.Digital control lever controller mainly contains digital signal input end, communication connection port, central processing unit, input end of analog signal, analog output mouth.Peripheral components mainly contains control mode switch circuit, analog sensor and the digital sensor of an interlock.
The control mode switch circuit is mainly used in the switching of " original " and " numeral " two kinds of working methods.When switch is positioned at " original " position, will cut off the output of simulation output port, control voltage signal using the output signal of conventional control lever as the grab bucket rising or falling speed simultaneously and export to the grab bucket speed control.When switch is positioned at " numeral " position, to cut off conventional control lever output signal, and control voltage signal using the output of analog output mouth as the grab bucket rising or falling speed and export to the grab bucket speed control, now control lever signal and sensor signal will be via the collection of input end of analog signal mouth to digital control lever controllers, central processing unit carries out filtering at the signal to the input end of analog signal input, after level and smooth and anti-shake processing, the status signal detected according to digital signal input end again, pass through closed loop control algorithm, calculate in real time the current controlled quentity controlled variable that should offer the grab bucket speed control, finally via the analog output mouth, to the grab bucket speed control, send corresponding control signal.
System of the present invention specifically comprises:
1. input end of analog signal, with the grab bucket control lever, with grab bucket speed, depth transducer, be connected, for detection of the current residing position of control lever (controlled quentity controlled variable set-point) and sensor signal (rate signal of grab bucket and depth signal), input end of analog signal is selected AD converter.Sensor signal is carried out to analog to digital conversion, after filtering, obtain control lever position and digital signal corresponding to sensor signal after denoising, the processing such as anti-shake;
2. central processing unit, the signal for receiving according to input end of analog signal mouth and digital signal input end mouth, generate real-time grab bucket control signal.When the communication connection port receives the instruction that host computer (optional) sends, the instruction of priority processing host computer (optional).Realize the directly purpose of control grab bucket motion of host computer (optional).Central processing unit is connected with input end of analog signal, analog signal output, digital signal input end and communication connection port respectively.The logical algorithm that central processing unit has the upper seat in the plane control command to receiving to be processed.
Central processing unit adopts arm processor or Intel processor, and concrete model can be selected according to actual needs;
3. analog signal output, for to the grab bucket speed control, sending the grab bucket control signal, analog signal output is selected the DA converter.
4. digital signal input end, for receiving the stop command that sends from the workmen, receiving deceleration point arriving signal and depth location arriving signal that digital sensor detects.Be specially:
" suddenly stopping " signal is a digital input signals, can produce with a button, also may, from host computer (optional), for ordering central processing unit, to the grab bucket speed control, send the control signal that stops immediately the grab bucket motion.After central processing unit receives this signal, can send and stop voltage signal corresponding to grab bucket motion to the grab bucket speed control immediately.The grab bucket speed control is controlled the action that stops immediately grab bucket.
" deceleration point arrival " is a digital input signals, comes from a switch sensor of former ship, for send grab bucket deceleration application to central processing unit.After central processing unit receives this signal, will be by the analog output mouth to magnitude of voltage that velocity amplitude is corresponding of setting with preliminary election of grab bucket speed control output, after the grab bucket speed control receives this control signal, the lowering velocity of controlling grab bucket is decelerated to preset speed, so that when the grab bucket depth location arrives, avoid producing because lowering velocity is excessive larger inertia, thereby produce larger departure.
" depth location arrival " is a digital input signals, comes from switch sensor of former ship, for show current grab bucket position to central processing unit, has arrived the predetermined position of dredging, and now should stop the grab bucket motion.Central processing unit, will be to by the analog output mouth, to the output of grab bucket speed control, making the grab bucket motion stop corresponding voltage signal after receiving this signal.After the grab bucket speed control receives this signal, should automatically grab bucket be stopped to target excavation position.
5. communication connection port, the steering order of sending for receiving host computer (optional).
6. host computer (optional), be connected with described communication connection port, for by the present invention, the grab bucket motion process being carried out to the overall process closed loop, automatically controls.
7. control mode switch circuit, for selecting the control lever control circuit to send the grab bucket control signal or digital control lever controller sends the grab bucket control signal.The output terminal of control mode switch circuit is connected on the grab bucket speed control, and two input ends are connected with the output terminal of control lever control circuit and the output terminal (analog signal output) of digital control lever controller respectively.Adopt change-over switch or other switching devices to realize.
Shown in Figure 2; The inventive method comprises the following steps:
S1: initialization;
When the grab bucket digital control system is connected, each ingredient of grab bucket digital control system is carried out to initialization operation;
S2: described analog output mouth output grab bucket motion control signal;
In order to guarantee the processing safety of original grab bucket, when access grab bucket digital control system, grab bucket is placed in to stationary state.
S3: the step that the instruction that described host computer is sent is processed;
Described central processing unit checks in described communication connection port whether the steering order of described host computer (optional) is arranged, if having, carries out described steering order; Otherwise enter step S4;
During the normal operation of grab bucket digital control system, communication connection do not have host computer (optional) to send in port steering order, if the steering order of host computer (optional) is arranged, suspend other operations, the steering order of priority processing host computer (optional), the steering order of host computer (optional) can be the preset geard-down speed instruction after " suddenly stopping " instruction, setting " deceleration point arrival ", can be also directly to control the steering order of grab bucket motion by the grab bucket digital control system.After executing the steering order of host computer (optional), the operation that central processing unit suspends before continuing to process.
S4: the step of the signal of described input end of analog signal mouth (ADC) and digital signal input end mouth (DAC) reception being carried out to the arithmetic sum logical process;
Described central processing unit reads the signal of described input end of analog signal mouth and digital signal input end mouth, at the signal that the input end of analog signal mouth is received, carry out smoothly, after filtering and anti-shake processing, the signal condition received according to described digital signal input end mouth, described central processing unit will generate controls described analog output mouth output grab bucket control signal, returns to step S3.
The input end of analog signal mouth receives the data of control lever position signalling and sensor, and the data of sensor comprise depth information and the velocity information of grab bucket.Central processing unit is received from the data of input end of analog signal mouth input, and after these data are carried out to filtering, denoising, anti-shake etc. the processing, the status signal detected according to digital signal input end again, pass through closed loop control algorithm, calculate in real time the current controlled quentity controlled variable that should offer the grab bucket speed control, finally via the analog output mouth, to the grab bucket speed control, send corresponding control signal.Advantage of the present invention is:
The present invention receives by the input end of analog signal mouth data and the control lever position signalling that the sensor in grab bucket gathers, realized the closed-loop control to grab bucket speed, control procedure has reduced the external factor interference, improved control accuracy, can strengthen the effective runnability of dredging plant, be beneficial to the stability that maintains construction quality.
The present invention only need relatively just can draw the control signal of grab bucket by signal and the signal in the digital signal input end mouth to sensor by central processing unit, has greatly improved operating efficiency, has realized the robotization that the grab bucket movement velocity is controlled; Improved the security of producing; Realized grab bucket is carried out that the pinpoint accuracy Depth control is peaceful digs control.Without manual intervention, alleviated workmen's working strength and, too much to the dependence of its technical ability, can effectively stablize construction quality in process.
The present invention carries out acquisition and processing by central processing unit to the signal of grab bucket control lever signal and sensor, then carry out the logic judgement according to the signal that digital signal input port is received, automatically export the due motion control signal of grab bucket under corresponding state, greatly improve operating efficiency, realized the robotization that the grab bucket movement velocity is controlled; Improved the security of producing; Realized grab bucket is put down to the accurate control of digging with depthkeeping.The workmen is by after controlling control lever startup grab bucket excavation program, grab bucket will arrive rear automatic retarding to predefined speed at deceleration point in decentralization process, after arriving, depth location automatically grab bucket is stopped to target excavation position, in whole process, without manual intervention, the working strength that has alleviated the workmen reaches the dependence to artificial ability.
The present invention is that the scoop dredger construction overall process is carried out the full-automatic closed-loop control condition that provides the foundation.By the present invention, host computer (optional) can directly be controlled the grab bucket digital control system according to actual working condition, thereby can realize automatically transferring grab bucket, automatic retarding, automatically stop, automatic lifting, dump automatically, this is the function that does not adopt the grab boat of digital control system not realize.
Above embodiment is only for illustrating the present invention; and be not limitation of the present invention; the those of ordinary skill in relevant technologies field; without departing from the spirit and scope of the present invention; can also make a variety of changes and modification; therefore all technical schemes that are equal to also belong to category of the present invention, and scope of patent protection of the present invention should be defined by the claims.
Claims (10)
1. a grab bucket digital control system is characterized in that: this system comprise input end of analog signal for gathering grab bucket control lever signal and sensor signal, for digital signal input end that grab bucket work at present status signal is gathered, for described grab bucket control lever signal, grab bucket work at present status signal and sensor signal are carried out to the arithmetic sum logical process and send the central processing unit of steering order, for send the analog signal output of grab bucket motion control signal to grab bucket.
2. the digital control system of grabbing bucket according to claim 1 is characterized in that: described digital signal input end suddenly stops control signal for inputting, deceleration point arrives status signal and depth location arrives status signal.
3. the digital control system of grabbing bucket according to claim 1 is characterized in that: described grab bucket digital control system also comprises for receiving the communication connection port of the steering order that described host computer sends.
4. the digital control system of grabbing bucket according to claim 3, it is characterized in that: described central processing unit is connected with described input end of analog signal, analog signal output, digital signal input end and communication connection port respectively; Described communication connection port is connected with host computer and communicates by letter, and finally realizes the host computer purpose of control grab bucket motion fully automatically.
5. the digital control system of grabbing bucket according to claim 4, it is characterized in that: described input end of analog signal is AD converter.
6. the digital control system of grabbing bucket according to claim 4, it is characterized in that: described analog signal output is the DA converter.
7. according to one of them described grab bucket digital control system of claim 1-6, it is characterized in that: at described analog signal output, be connected with the control mode switch circuit.
8. an application rights requires the 1-7 grab bucket numerical control method that wherein arbitrary described grab bucket digital control system realizes, it is characterized in that: this grab bucket numerical control method comprises the following steps:
S1: initialization;
S2: described analog output mouth output grab bucket motion control signal;
S3: the step that the instruction that described host computer is sent is processed;
S4: the step of the signal of described input end of analog signal mouth and the reception of digital signal input end mouth being carried out to the arithmetic sum logical process.
9. the numerical control method of grabbing bucket according to claim 8, it is characterized in that: described step S3 is specially:
Described central processing unit checks in described communication connection port whether the steering order of described host computer is arranged, if having, carries out described steering order; Otherwise enter step S4.
10. the numerical control method of grabbing bucket according to claim 8, it is characterized in that: described step S4 is specially:
Described central processing unit reads the signal that described input end of analog signal mouth and digital signal input end mouth receive, after the signal that the input end of analog signal mouth is received carries out data smoothing, filtering and anti-shake processing, the signal condition received according to described digital signal input end mouth, described central processing unit generates described analog output mouth output grab bucket motion control signal, returns to step S3.
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| CN2013103654489A CN103454962A (en) | 2013-08-20 | 2013-08-20 | Grab bucket numerical control system and method |
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| CN2013103654489A CN103454962A (en) | 2013-08-20 | 2013-08-20 | Grab bucket numerical control system and method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109138018A (en) * | 2018-09-07 | 2019-01-04 | 中交广州航道局有限公司 | Control method of grabbing bucket and system, computer equipment, computer storage medium |
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| CN2743317Y (en) * | 2004-10-26 | 2005-11-30 | 汤保昌 | Single handle grab controller |
| CN2743316Y (en) * | 2004-10-26 | 2005-11-30 | 汤保昌 | Angle measuring type single handle grab control system |
| CN201553552U (en) * | 2009-10-29 | 2010-08-18 | 岳阳长炼机电工程技术有限公司 | Grab control automatic operation compensator |
| CN202322059U (en) * | 2011-11-25 | 2012-07-11 | 重庆起重机厂有限责任公司 | System for controlling crane grab bucket |
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- 2013-08-20 CN CN2013103654489A patent/CN103454962A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2535391Y (en) * | 2002-02-28 | 2003-02-12 | 周顺新 | Rotor frequency-changing speed-governing control device for grab bucket crane |
| CN2743317Y (en) * | 2004-10-26 | 2005-11-30 | 汤保昌 | Single handle grab controller |
| CN2743316Y (en) * | 2004-10-26 | 2005-11-30 | 汤保昌 | Angle measuring type single handle grab control system |
| CN201553552U (en) * | 2009-10-29 | 2010-08-18 | 岳阳长炼机电工程技术有限公司 | Grab control automatic operation compensator |
| CN202322059U (en) * | 2011-11-25 | 2012-07-11 | 重庆起重机厂有限责任公司 | System for controlling crane grab bucket |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109138018A (en) * | 2018-09-07 | 2019-01-04 | 中交广州航道局有限公司 | Control method of grabbing bucket and system, computer equipment, computer storage medium |
| CN109138018B (en) * | 2018-09-07 | 2021-08-20 | 中交广州航道局有限公司 | Grab bucket control method and system, computer equipment and computer storage medium |
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Application publication date: 20131218 |