CN103759628A - Gray bus displacement detection system - Google Patents
Gray bus displacement detection system Download PDFInfo
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- CN103759628A CN103759628A CN201110310951.5A CN201110310951A CN103759628A CN 103759628 A CN103759628 A CN 103759628A CN 201110310951 A CN201110310951 A CN 201110310951A CN 103759628 A CN103759628 A CN 103759628A
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Abstract
The invention relates to a displacement detection device, particularly, a Gray bus displacement detection system. According to the displacement detection device, electromagnetic coupling can be performed through an antenna box mounted in a mobile station and a Gray bus laid adjacent to a mobile locomotive track, such that information can be transmitted, and therefore, the Gray bus displacement detection system is advantageous in no mechanical contact wear. Since Gray bus wire cores are distributed in a Gray code mode and in a crossed and twisted manner, and therefore, it can be ensured that no overlapped cross points exists in the Gray bus wire cores in a whole process, and absolute addresses can be detected continuously with high precision in a mobile locomotive walking range; according to the Gray bus, a special crossed and twisted structure and a phase detection technique are adopted, and therefore, electromagnetic interference generated in switching on and switching off of a power source can be eliminated, and influence of ambient noises and signal receiving electric level fluctuation can be avoided; and therefore, the Gray bus displacement detection system can reliably work for a long term in harsh environmental conditions such as iron ores.
Description
Technical field
The present invention relates to a kind of displacement detector, is a kind of gray bus displacement detection system specifically.
Technical background
There is a lot of drawbacks and deficiency in the existing equipment for detection of position or displacement, for example by contact, detect the equipment that obtains displacement, contact component is had to mechanical abrasion, or the equipment that utilizes electromagnetic signal to detect for some, the result detecting is easily subject to the impact of the situations such as electromagnetic interference (EMI), environmental noise, received signal level fluctuation, or be easily subject to the impact of the physical environments such as rainwater, dust, soda acid, thereby cause that accuracy of detection is low, error is large, reliability is low.
Summary of the invention
The present invention has overcome above-mentioned shortcoming, provides a kind of simple in structure, the gray bus displacement detection system that testing result is accurate, antijamming capability is strong.
The present invention solves the technical scheme that its technical matters takes: comprise Gray bus, geocoding transmitter, geocoding receiver and antenna as coding cable, and have two kinds of types of attachment:
Described antenna is connected with described geocoding transmitter, and is arranged in movement station, and described Gray bus is connected with the described geocoding receiver being arranged in fixed station,
Or described antenna is connected with described geocoding receiver, and is arranged in movement station, described Gray bus now joins with the described geocoding transmitter being arranged in fixed station,
Described Gray bus comprises at least two pairs of heart yearns, and wherein a pair of is the datum line being parallel to each other, and all the other are the address wire of intersecting once every a step-length to address wire, and the step-length of every pair of address wire is different, is respectively 2 of minimum step
idoubly, i=0 wherein, 1,2.......
Described geocoding receiver and geocoding transmitter all can be connected with Programmable Logic Controller, and described Programmable Logic Controller is also connected with wireless communication module.
Programmable Logic Controller in described movement station also can be connected with a display screen.
Described coil can comprise main coil and the secondary coil that parameter is identical, direction is identical, and described main coil is than the near distance between secondary coil and described Gray bus.
Described Gray bus also can comprise with at least one pair of address wire step-length and equating, and the address wire of half step-length that staggers.
The minimum step of described Gray bus can be 20～400 millimeters, and preferred values is 200 millimeters.
The total length of described Gray bus can be 2
n-1* W, wherein, the logarithm that n is address wire, W is minimum step.
The present invention is by main beneficial effect of the present invention: by being arranged on the antenna box of movement station and the other Gray bus of the mobile vehicle track that is laid in, carrying out electromagnetic coupled and come transmission of information, machinery-free contact wear; Because intersecting twisting in Gray code mode, Gray bus heart yearn arranges, guarantee the omnidistance non-overlapping point of crossing of Gray bus heart yearn, can in the mobile vehicle domain of walk, detect continuously, accurately specific address, and because Gray bus has been used distinctive intersection twisting structure and phase-detection technology, can eliminate the electromagnetic interference (EMI) that power supply is opened, stopped producing in process, be not subject to the impact of environmental noise and received signal level fluctuation yet, can long-term work reliably in such as severe environmental conditions such as iron ore fields.
Accompanying drawing explanation
Fig. 1 is the structural representation of embodiment 1 in the present invention
Fig. 2 is the cable core stretch-out view of Gray bus in the present invention
Fig. 3 is the fundamental diagram of embodiment 1 in the present invention
Fig. 4 is the structural representation of embodiment 2 in the present invention
Fig. 5 is embodiment 2 fundamental diagrams in the present invention
Fig. 6 is accurate address testing schematic diagram in the present invention
Fig. 7 is coil case of the present invention and Gray bus distribution schematic diagram
Embodiment
The detection bus of described Gray bus for arranging in Gray code mode, comprise cable cover(ing) and the cable core being wrapped up by described cable cover(ing) and core rod, described cable core as shown in Figure 2, described cable core has two kinds, be datum line R line and address wire G0 line-G9 line, datum line R line does not intersect in whole Gray bus section, and for obtaining standard signal, address wire is for detection of address.Each, intersects once every a step-length by the layout of asynchronous calipers rule to address wire, and the minimum step of establishing Gray bus is W, G0, G1, G2 ... G8, G9 step-length are respectively 2
0w, 2
1w, 2
2w ... 2
8w, 2
9w, i.e. 1W, 2W, 4W ... 256W, 512W.
By the address wire of above-mentioned layout, can realize the detection of specific address, on movement station, install one with the antenna box of emitting antenna, antenna box is apart from Gray's bus cable 8～20CM, the high-frequency signal of antenna box transmitting is received by the Gray bus cable on ground by electromagnetic induction, R line is a pair of line of parallel lay-up, the signal receiving is as reference signal, G0～G9 has different point of crossing in different positions, its signal receiving is after even number intersects, phase place is identical with reference signal, behind odd number point of crossing, the single spin-echo of phase place and reference signal, if address is " 0 " during regulation same-phase, during antiphase, address is " 1 ", in a certain position of Gray bus cable, obtain the geocoding of unique 10, this is corresponding to an address of locomotive.
As shown in Figure 3, by a minimum address detection system, describe detection mode principle of work on the ground, the Gray bus in this system is only comprised of the address wire of pair of cross and the datum line of pair of parallel.While passing into exchange current in the aerial coil of movement station, near antenna, can produce alternating magnetic field, due to antenna from Gray bus very close to (approximately 80 millimeters), therefore described Gray bus is approximate be in an alternation, in equally distributed magnetic field, therefore every pair of Gray bus heart yearn can produce induction electromotive force.Address signal by the antenna transmission of described movement station is sent in the address wire and datum line of Gray bus by electromagnetic coupled mode, and signal is sent to the geocoding receiver of fixed station by address wire and datum line.Geocoding receiver carries out phase bit comparison to the received signal.When the signal phase of address wire of address " 0 " is identical with the signal phase of datum line, define so movement station address for " 0 "; When the signal phase of address wire of address " 1 " is contrary with the signal phase of datum line, movement station address is " 1 " so.Thereby realized at fixed station and completed address detected.
In this process, movement station antenna box is signal " emitting antenna ", and fixed station Gray bus heart yearn is signal " receiving antenna "; By fixed station, detected the address of movement station, described movement station will obtain this locomotive address and need obtain by communication.
Embodiment 2 sends coded signal for a kind of by fixed station, by the displacement detecting mode of movement station received encoded signal, also claims detection mode on car.As shown in Figure 4, the two ends of Gray bus are connected with respectively termination rack and top case, described top case is connected to the geocoding transmitter in fixed station through lead cable, described geocoding transmitter connects a Programmable Logic Controller PLC1, described Programmable Logic Controller PLC1 connects one for carrying out the wireless module of radio communication with movement station, described movement station comprises antenna box and the geocoding receiver being connected with described antenna box
described geocoding receiver and another Programmable Logic Controller pLC2 is connected, also connect simultaneously for show the relevant informations such as detected state and result display screen and for described fixed station carries out the wireless module of radio communication(annexation is with detection mode is different on the ground herein, and wireless module is not connected with PLC with display screen, how to carry out corresponding output?).
The detection bus of described Gray bus for arranging in Gray code mode, comprise cable cover(ing) and the cable core being wrapped up by described cable cover(ing) and core rod, described cable core also as shown in Figure 2, described cable core has two kinds, be datum line R line and address wire G0 line-G9 line, datum line R line does not intersect in whole Gray bus section, and for obtaining standard signal, address wire is for detection of address.Each, intersects once every a step-length by the layout of asynchronous calipers rule to address wire, and the minimum step of establishing Gray bus is W, G0, G1, G2 ... G8, G9 step-length are respectively 2
0w, 2
1w, 2
2w ... 2
8w, 2
9w, i.e. 1W, 2W, 4W ... 256W, 512W.
By the address wire of above-mentioned layout, can realize the detection of specific address, the geocoding generator of land station is at T
r0constantly connect standard signal line R0, first send a synchronous head, and then send R0 signal; T
g0constantly connect address wire G0, send G0 signal; Connect successively and to G1, G2 ... G8, G9 transmitted signal.Receiving antenna on car receives after synchronous head signal, and the signal of next time is R0, is and then G0, G1, G2 ... G8, G9.On car, address detecting unit produces a standard signal according to the R0 signal receiving, and then will receive Ge road address wire signal amplifies after shaping and sends into and carry out phase demodulation and counting, G0, G1, G2 ... G8, G9 signal phase are identical with R0 signal, if specified address is " 0 ", during antiphase, address is " 1 ", can obtain one group of Gray code.Finally Gray code conversion is become decimal number can obtain the position of mobile vehicle.
As shown in Figure 5, take the detection system of 4 addresses as example specifically describes mobile testing process: the geocoding transmitter of described fixed station is given signal respectively Gray bus standard lines, address wire 1, address wire 2 with same frequency time-sharing format, and by electromagnetic coupled mode, signal is sent to the antenna of movement station.
The geocoding receiver of movement station receives after signal in order, and the signal of two pairs of address wires is carried out to phase bit comparison with datum line signal respectively, if the signal phase of address wire is identical with the signal phase of datum line, defines so address for " 0 "; If single spin-echo, definition address is " 1 ".In Fig. 3, two of address 1 pairs of signal phases of address wire are identical with the signal phase of datum line, so address 1 is " 00 ".The signal phase of first pair of address wire in address 2 is identical with the signal phase of datum line, and second pair of signal phase of address wire is contrary with the signal phase of datum line, so address 2 is " 01 ".
From analysis above, can see, Gray bus can detect 2 addresses by a pair of address wire, by two pairs of address wires, 4 addresses can be detected.In fact, with n, to address wire, can detect 2
nindividual address.
According to electromagnetic theory:
Φ=S*B is wherein: Φ is magnetic flux, and S is area coil, and B is electromagnetism intensity.
E=N*d Φ/dt is wherein: e is induced voltage, the number of turn that N is coil.
Theoretically, as long as Gray bus minimum step W is obtained enough little, Gray bus positioning precision just can be done very highly, but in engineering due to Gray bus heart yearn, antenna size error, nosing, Distribution of Magnetic Field unevenness, and the factor such as external interference, Gray bus minimum step W value is subject to certain limitation.W obtains too little, and electromagnetic induction area diminishes, and the signal to noise ratio (S/N ratio) of address detected is low, causes address unstable.According to engineering experience, W=200 millimeter is better.
Gray bus minimum step W determines according to positioning precision, and cable length is determined by quantity and the minimum step W of Gray bus heart yearn.In general:
Absolute fix precision μ=W/2 (wherein W is Gray bus minimum step)
Gray bus length L=2
n* μ (wherein n is the quantity of Gray bus heart yearn)
We know that, when Gray bus minimum step W=200 millimeter, the accuracy of detection of large address is analysis by above:
μ=W/2=200/2=100 millimeter.
If Gray bus address wire is 10 to (G0-G9), when W=200 millimeter, Gray bus length is:
L=2
10* 100 (millimeter)=102.4 meter.
Gray bus length can be determined according to requirement of engineering, and single Gray bus length can reach 102.4 meters, and many Gray buses are sliceable to meet requirement of engineering.
200 millimeters of address wire G0 step-lengths, start to intersect at 100 millimeters; 400 millimeters of G1 step-lengths, start to intersect at 200 millimeters; 800 millimeters of G2 step-lengths, start to intersect at 400 millimeters, 51.2 meters of G8 step-lengths, 25.6 meters of intersections once; 102.4 meters of G9 step-lengths, 51.2 meters of intersections once.
Select that a kind of address detected working method to consider to determine according to the demand of control system.If the center of gravity of control system on movement station, adopts mobile detection mode better; If the center of gravity of control system at fixed station, adopts fixed test mode more suitable.
In addition, can in described Gray bus, increase a pair of address wire L0, as shown in Figure 4, the step-length of described address wire L0 is that transpostion interval follows G0 the same, and step-length just staggers half.
The same with specific address detection method, accurate address is also divided into detection mode and ground detection mode on car.Two kinds of working method principles are identical, take ground detection mode here as example, increase a pair of address wire L0 in Gray bus cable, and its transpostion interval is the same with G0, and minimum step just staggers half.
As shown in Figure 6, G0, the intercross distance of 0 two pairs of lines of L is consistent, is 200 millimeters, and staggers 100 millimeters, and wherein R line is datum line, does not intersect.
While passing into exchange current in the aerial coil of movement station, the induction electromotive force that address wire G0, L0 produce is as follows:
V0＝-N*dΦ0/d?t ....................(1)
V1＝-N*dΦ1/d?t ....................(2)
Φ＝S*B ......?...?.........(3)
Wherein, V0, V1---the upper induced electromotive force signal amplitude of cable core G0, L0;
N---the Gray bus heart yearn number of turns, here N=1;
B---magnetic field intensity;
The useful area of S---magnetic fields on cable core G0, L0;
If S0 is the useful area of magnetic fields on heart yearn G0, S1 is the useful area of magnetic fields on heart yearn L0, the width that H is cable, and W is the minimum step of Gray bus heart yearn.Antenna on movement station (displacement is X, 100 millimeters of X <) when mode moves in Fig. 5.
: V0=-d Φ 0/dt=-BdS0/dt=-Bd (HW-2HX)/dt .... (4)
V1＝-dΦ1/dt＝-BdS1/dt＝-Bd(2HX)/dt ....(5)
In interval, by (4)/(5), obtained at one time:
V0/V1＝W/2X-1 ....(6)
After Gray bus installs, when antenna signal source is constant, from formula (6), within the scope of 100 millimeters of X <, V0/V1 and X are linear.Because the intercross distance of G0, L 0 is identical and stagger 100 millimeters, thus in each position of 100 millimeters of spacing, always there is a V0/V1 ratio corresponding, and this ratio is not subject to the impact of environmental noise and received signal level fluctuation.
By V 0, V1 rectification, A/D changes to obtain digital quantity, and V0, V1 send into CPU, calculates V0/V1, and this ratio is corresponding to an address of (0 → 100 millimeter) in large address, and its accuracy of detection is μ/m, and m is the isodisperse of large address segmentation.If in theory V0/V1 ratio is infinitely segmented, can obtain very high accuracy of detection, but due to the restriction of process conditions, address segmentation number can not be very large, according to engineering experience, it is 20 better that segmentation number is got.For example, if the large address precision that Gray bus obtains is 100 millimeters, segmentation number is 20, accurate address precision=100/20=5 millimeter.
Described housings comprises main coil and secondary coil, and described main coil is the same with secondary coil parameter, connects in the same way, and main coil is near apart from induction cable signal radiation scope, and secondary coil is far away apart from induction cable signal radiation scope.Because main coil and secondary coil have range difference, concerning the induced signal of address, the signal power that two coils receive is variant; Concerning undesired signal, the signal of two coil receptions is quite strong and weak.Signal power is variant; Concerning undesired signal, the signal of two coil receptions is quite strong and weak.Like this, by collection and comparison to G0 line and L0 line, can either eliminate the electromagnetic interference (EMI) that power supply is opened, stopped producing in process, not dip again and detect the receiving sensitivity of antenna, than the difference coil of coaxial distribution, cause system signal noise ratio much lower.
Main beneficial effect of the present invention is: by being arranged on the antenna box of movement station and the other Gray bus of the mobile vehicle track that is laid in, carrying out electromagnetic coupled and come transmission of information, machinery-free contact wear; Because intersecting twisting in Gray code mode, Gray bus heart yearn arranges, guarantee the omnidistance non-overlapping point of crossing of Gray bus heart yearn, can in the mobile vehicle domain of walk, detect continuously, accurately specific address, accuracy of detection reaches 5 millimeters, can meet the pinpoint demand of mobile vehicle completely; And because Gray bus has been used distinctive intersection twisting structure and phase-detection technology, can eliminate the electromagnetic interference (EMI) that power supply is opened, stopped producing in process, be not subject to the impact of environmental noise and received signal level fluctuation, can work reliably for a long time in such as severe environmental conditions such as iron ore fields yet; In addition, be arranged on outdoor Gray bus, antenna box, top case, termination rack and intersegmental case and adopt nonmetallic materials to make and adopt sealing technology, be not afraid of rainwater, dust, acid and alkali resistance corrosion.
Claims (7)
1. a gray bus displacement detection system, is characterized in that: comprise Gray bus, geocoding transmitter, geocoding receiver and antenna as coding cable, and have two kinds of types of attachment:
Described antenna is connected with described geocoding transmitter, and is arranged in movement station, and described Gray bus is connected with the described geocoding receiver being arranged in fixed station,
Or described antenna is connected with described geocoding receiver, and is arranged in movement station, described Gray bus now joins with the described geocoding transmitter being arranged in fixed station,
Described Gray bus comprises at least two pairs of heart yearns, and wherein a pair of is the datum line being parallel to each other, and all the other are the address wire of intersecting once every a step-length to address wire, and the step-length of every pair of address wire is different, is respectively 2 of minimum step
idoubly, i=0 wherein, 1,2.......
2. gray bus displacement detection system according to claim 1, is characterized in that: described coil comprises main coil and the secondary coil that parameter is identical, direction is identical, and described main coil is than the near distance between secondary coil and described Gray bus.
3. gray bus displacement detection system according to claim 1 and 2, is characterized in that: described geocoding receiver and geocoding transmitter are all connected with Programmable Logic Controller, and described Programmable Logic Controller is also connected with wireless communication module.
4. gray bus displacement detection system according to claim 3, is characterized in that: the Programmable Logic Controller in described movement station is also connected with a display screen.
5. gray bus displacement detection system according to claim 1 and 2, is characterized in that: described Gray bus also comprises with at least one pair of address wire step-length and equating, and the address wire of half step-length that staggers.
6. gray bus displacement detection system according to claim 1 and 2, is characterized in that: the minimum step of described Gray bus is 20～400 millimeters, and preferred values is 200 millimeters.
7. gray bus displacement detection system according to claim 1 and 2, is characterized in that: the total length of described Gray bus is 2
n-1* W, wherein, the logarithm that n is address wire, W is minimum step.
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| CN201110310951.5A CN103759628A (en) | 2011-10-14 | 2011-10-14 | Gray bus displacement detection system |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105141323A (en) * | 2015-08-04 | 2015-12-09 | 杭州钱江称重技术有限公司 | Extra-long-distance wireless continuous address reading data system |
| CN106094650A (en) * | 2016-08-03 | 2016-11-09 | 华北理工大学 | High-speed LEM mover alignment system based on Gray code |
| CN106086395A (en) * | 2016-08-25 | 2016-11-09 | 中冶北方（大连）工程技术有限公司 | A kind of pelletizing cloth intelligence control system and method |
| CN111679310A (en) * | 2020-06-24 | 2020-09-18 | 重庆赛迪奇智人工智能科技有限公司 | Locomotive high-precision fusion positioning scheme applied to iron and steel enterprises |
| CN113800400A (en) * | 2020-06-12 | 2021-12-17 | 中冶宝钢技术服务有限公司 | Crane safety avoiding system |
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2011
- 2011-10-14 CN CN201110310951.5A patent/CN103759628A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105141323A (en) * | 2015-08-04 | 2015-12-09 | 杭州钱江称重技术有限公司 | Extra-long-distance wireless continuous address reading data system |
| CN106094650A (en) * | 2016-08-03 | 2016-11-09 | 华北理工大学 | High-speed LEM mover alignment system based on Gray code |
| CN106086395A (en) * | 2016-08-25 | 2016-11-09 | 中冶北方（大连）工程技术有限公司 | A kind of pelletizing cloth intelligence control system and method |
| CN113800400A (en) * | 2020-06-12 | 2021-12-17 | 中冶宝钢技术服务有限公司 | Crane safety avoiding system |
| CN111679310A (en) * | 2020-06-24 | 2020-09-18 | 重庆赛迪奇智人工智能科技有限公司 | Locomotive high-precision fusion positioning scheme applied to iron and steel enterprises |
| CN111679310B (en) * | 2020-06-24 | 2023-09-22 | 重庆赛迪奇智人工智能科技有限公司 | Locomotive high-precision fusion positioning method applied to iron and steel enterprises |
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Application publication date: 20140430 |