CN104129715A - Bridge type crane positioning system based on laser ranging and bar code positioning technology - Google Patents
Bridge type crane positioning system based on laser ranging and bar code positioning technology Download PDFInfo
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Abstract
一种基于激光测距与条码定位技术的桥式起重机定位系统，其特征在于它包括桥式起重机电机单元、变频器单元、测量单元、下位机单元、总线转换卡单元、工控机单元及人机界面单元；其工作方法包括运动、定位、采集、控制、反馈；其优越性在于：①定位速度快、精度高、易于实现；②提高了管理效率和控制；③为桥式起重机应用在危险的、人无法介入的场合提供有利的条件。
An overhead crane positioning system based on laser ranging and barcode positioning technology, characterized in that it includes an overhead crane motor unit, a frequency converter unit, a measurement unit, a lower computer unit, a bus conversion card unit, an industrial computer unit and a man-machine Interface unit; its working methods include movement, positioning, acquisition, control, and feedback; its advantages are: ① fast positioning, high precision, and easy implementation; ② improved management efficiency and control; ③ suitable for bridge cranes in dangerous , Provide favorable conditions for occasions where people cannot intervene.
Description
(一)技术领域：(1) Technical field:
本发明属于金属制造业检测技术领域，尤其是一种基于激光测距与条码定位技术的桥式起重机定位系统。The invention belongs to the technical field of detection in metal manufacturing industry, in particular to a bridge crane positioning system based on laser ranging and bar code positioning technology.
(二)背景技术：(two) background technology:
传统桥式起重机操作方式是由操作人员与地面指挥人员互相配合，操作人员通过观察桥式起重机的运行方向墙壁上横、纵向彩条并接受地面人员的指挥来操作桥式起重机，最终实现定位的目标，这种定位方法效率低、安全性能低、能耗大以及定位精度低，自动定位时大多使用编码器作为测距传感器，当桥式起重机刹车时，桥式起重机轮轴会出现打滑的现象，而编码器的数值不会发生变化，但实际桥式起重机的位置却发生了变化，因此，无法进行精确地定位。所以，迫切需要新型的桥式起重机定位操作系统的研发。尤其是测量精度准确、智能化功能强大的系统的研究更是变得十分重要。The traditional bridge crane operation mode is that the operator and the ground commander cooperate with each other. The operator operates the bridge crane by observing the horizontal and vertical color bars on the wall in the running direction of the bridge crane and accepting the command of the ground personnel, and finally realizes the positioning. Target, this positioning method has low efficiency, low safety performance, high energy consumption and low positioning accuracy. Most of the automatic positioning uses encoders as distance measuring sensors. When the bridge crane brakes, the axle of the bridge crane will slip. The value of the encoder will not change, but the actual position of the bridge crane has changed, so it is impossible to accurately locate. Therefore, there is an urgent need for the development of a new positioning operating system for bridge cranes. In particular, the research on systems with accurate measurement accuracy and powerful intelligent functions has become very important.
(三)发明内容：(3) Contents of the invention:
本发明的目的在于设计一种基于激光测距与条码定位技术的桥式起重机定位系统，它可以克服传统桥式起重机定位系统存在的定位精度较差、运行不平稳问题，是一种采用激光测距器、条码定位仪及模糊控制算法的系统，使桥式起重机的运行定位精度高、运行快速、高效和安全，且结构简单、智能。The purpose of the present invention is to design a bridge crane positioning system based on laser ranging and bar code positioning technology, which can overcome the problems of poor positioning accuracy and unstable operation in traditional bridge crane positioning systems. The system of spacer, bar code locator and fuzzy control algorithm makes the overhead crane have high positioning accuracy, fast operation, high efficiency and safety, and the structure is simple and intelligent.
本发明的技术方案：一种基于激光测距与条码定位技术的桥式起重机定位系统，其特征在于它包括桥式起重机电机单元、变频器单元、测量单元、下位机单元、总线转换卡单元、工控机单元及人机界面单元；其中所述测量单元是由激光测距器、编码器及条码定位仪构成；所述测量单元的输入端采集桥式起重机的信号；所述激光测距器安装在桥式起重机小车行走机构上，采集桥式起重机纵向运动位置和速度信号；所述编码器用于吊钩高度和速度测量；所述条码定位仪安装在桥式起重机大车行走机构上，测量桥式起重机横向运动的位置和速度信号；所述激光测距器与下位机单元连接；所述编码器及条码定位仪的输出端与下位机单元的输入端之间依总线连接；所述变频器单元的输入端与桥式起重机电机单元的输出端连接，其输出端与下位机单元的输入端连接；所述人机界面单元的输入端与工控机单元的输出端连接；所述下位机单元依总线转换卡单元与工控机单元进行数据通讯；所述工控机单元的输出端连接人机界面单元的输出端。The technical solution of the present invention: a bridge crane positioning system based on laser ranging and barcode positioning technology, characterized in that it includes a bridge crane motor unit, a frequency converter unit, a measurement unit, a lower computer unit, a bus conversion card unit, Industrial computer unit and man-machine interface unit; Wherein said measurement unit is made up of laser rangefinder, encoder and barcode locator; The input terminal of said measurement unit collects the signal of overhead crane; Said laser rangefinder is installed On the traveling mechanism of the trolley of the bridge crane, the longitudinal motion position and speed signals of the bridge crane are collected; the encoder is used for hook height and speed measurement; The position and speed signal of the horizontal movement of the type crane; the laser range finder is connected with the lower computer unit; the output end of the encoder and the barcode locator is connected with the input end of the lower computer unit according to the bus; the frequency converter The input end of the unit is connected to the output end of the bridge crane motor unit, and its output end is connected to the input end of the lower computer unit; the input end of the human-machine interface unit is connected to the output end of the industrial computer unit; the lower computer unit Data communication is performed between the conversion card unit and the industrial computer unit according to the bus; the output end of the industrial computer unit is connected to the output end of the man-machine interface unit.
所述桥式起重机电机单元由吊钩电机、大车电机和小车电机构成；所述吊钩电机、大车电机和小车电机的输出端分别连接变频器单元的输入端。The bridge crane motor unit is composed of a hook motor, a cart motor and a trolley motor; the output ends of the hook motor, cart motor and trolley motor are respectively connected to the input ends of the frequency converter unit.
所述变频器单元是由吊钩变频器、大车变频器、小车变频器构成；所述吊钩变频器、大车变频器、小车变频器的输入端分别与吊钩电机、大车电机和小车电机连接，其输出端与下位机单元的输入端连接。The inverter unit is composed of a hook inverter, a cart inverter, and a trolley inverter; the input terminals of the hook inverter, the cart inverter, and the trolley inverter are respectively connected to the hook motor, the cart motor and The trolley motor is connected, and its output end is connected with the input end of the lower computer unit.
所述下位机单元与工控机之间通过PROFIBUS-DP总线进行数据通讯；所述变频器单元与下位机之间通过PROFIBUS-DP总线进行数据通讯。Data communication is performed between the lower computer unit and the industrial computer through the PROFIBUS-DP bus; data communication is performed between the frequency converter unit and the lower computer through the PROFIBUS-DP bus.
所述下位机单元是S7-300PLC可编程逻辑控制器；所述激光测距器与S7-300PLC可编程逻辑控制器的模拟量模块连接。The lower computer unit is a S7-300PLC programmable logic controller; the laser rangefinder is connected with an analog module of the S7-300PLC programmable logic controller.
所述工控机单元是工业控制计算机。The industrial computer unit is an industrial control computer.
所述激光测距器采集的是4-20mA模拟信号，信号直接输入下位机单元的PLC可编程逻辑控制器的模拟量模块；所述条码定位仪采集的是数字量信号。What the laser range finder collects is a 4-20mA analog signal, and the signal is directly input to the analog module of the PLC programmable logic controller of the lower computer unit; what the barcode locator collects is a digital signal.
一种基于激光测距与条码定位技术的桥式起重机定位系统的工作方法，其特征在于它包括以下步骤：A working method of an overhead crane positioning system based on laser ranging and barcode positioning technology, characterized in that it comprises the following steps:
①大车变频器带动电机驱动大车横向行走，即X方向运动，小车变频器带动电机驱动小车纵向行走，即Y方向运动；大车变频器和小车变频器通过PROFIBUS-DP总线与下位机通讯；①The cart inverter drives the motor to drive the cart to move horizontally, that is, to move in the X direction, and the trolley inverter drives the motor to drive the cart to move longitudinally, that is, to move in the Y direction; the cart inverter and the trolley inverter communicate with the lower computer through the PROFIBUS-DP bus ;
②激光测距器安装在桥式起重机小车行走机构上，采集桥式起重机纵向运动位置信号及速度信号，将位置信号记作Y轴信号，并将位置及速度信号发送给下位机单元，即可编程控制器PLC；②The laser range finder is installed on the traveling mechanism of the trolley of the bridge crane, collects the position signal and speed signal of the longitudinal movement of the bridge crane, records the position signal as the Y-axis signal, and sends the position and speed signal to the lower computer unit. Programming controller PLC;
③绝对值编码器安装在桥式起重机的吊钩上，采集吊钩的高度及速度信号，将高度信号记作Z轴信号，并通过PROFIBUS-DP总线传输将高度及速度信号发送给下位机单元，即可编程控制器PLC；③The absolute value encoder is installed on the hook of the bridge crane, collects the height and speed signal of the hook, records the height signal as the Z-axis signal, and sends the height and speed signal to the lower computer unit through PROFIBUS-DP bus transmission , that is, programmable controller PLC;
④条码定位仪安装在桥式起重机大车行走机构上，测量桥式起重机横向运动的位置及速度信号，将横向位置信号记作X轴信号，并通过总线传输将横向位置及速度信号发送给下位机单元，即可编程控制器PLC；④ The barcode locator is installed on the traveling mechanism of the bridge crane to measure the position and speed signal of the lateral movement of the bridge crane, record the lateral position signal as the X-axis signal, and send the lateral position and speed signal to the lower position through bus transmission Machine unit, that is, programmable controller PLC;
⑤下位机单元，即可编程控制器PLC，将接收到的关于起重机运动的X轴、Y轴、Z轴信号以及桥式起重机的大车、小车、吊钩运动的速度信号通过总线转换卡，将信号转换成工控机单元可以接收的信号；⑤The lower computer unit, that is, the programmable controller PLC, receives the X-axis, Y-axis, Z-axis signals about the movement of the crane and the speed signals of the cart, trolley, and hook movement of the bridge crane through the bus conversion card, Convert the signal into a signal that the industrial computer unit can receive;
⑥所述工控机单元，即工业控制计算机，将桥式起重机的大车、小车及吊钩的位置及速度实时信息，进行处理、判断并进行最优化计算，将计算结果通过给出指令的方式控制下位机，下位机控制各个变频器的输出从而达到控制各个电机按照规定好的速度和启停曲线自动运行，并将大车、小车和吊钩位置、速度信息通过人机界面单元进行显示；进而实现桥式起重机自动运行。⑥The industrial computer unit, that is, the industrial control computer, processes, judges and optimizes the real-time information on the positions and speeds of the carts, trolleys and hooks of the bridge crane, and calculates the results by giving instructions. Control the lower computer, the lower computer controls the output of each frequency converter so as to control the automatic operation of each motor according to the specified speed and start-stop curve, and display the position and speed information of the cart, trolley and hook through the man-machine interface unit; Then realize the automatic operation of the bridge crane.
本发明的工作原理：Working principle of the present invention:
如图2所示，首先由安装在桥式起重机行走机构(大车、小车)上的高精度的条形码定位仪和激光测距传感器通过光学反射原理测取桥式起重机行走机构在作业空间的坐标并产生相应的模拟信号，通过工控机上的数据采集卡将测量的模拟信号转变成数字信号传给工控机单元。As shown in Figure 2, firstly, the coordinates of the traveling mechanism of the bridge crane in the working space are measured by the high-precision barcode locator and the laser ranging sensor installed on the traveling mechanism of the bridge crane through the principle of optical reflection And generate the corresponding analog signal, through the data acquisition card on the industrial computer, the measured analog signal is converted into a digital signal and sent to the industrial computer unit.
1)桥式起重机空间定位系统设计，如图2所示为桥式起重机空间结构原理图：基于x、y、z三维空间坐标的定位方式，桥式起重机大车运动方向规定为x，桥式起重机小车的运动方向规定为y，桥式起重机主、副起升的运动方向规定为z。通过条码定位仪(大车)、激光测距器(小车)和绝对编码器(吊钩)系统对x、y、z的准确定位，使桥式起重机能够准确、快速定位；1) The design of the spatial positioning system of the bridge crane, as shown in Figure 2 is the schematic diagram of the space structure of the bridge crane: based on the positioning method of the three-dimensional space coordinates of x, y, z, the movement direction of the bridge crane cart is specified as x, and the bridge crane The movement direction of the crane trolley is specified as y, and the movement direction of the main and auxiliary lifting of the bridge crane is specified as z. Accurate positioning of x, y, z through barcode locator (cart), laser range finder (trolley) and absolute encoder (hook) system, so that the bridge crane can be positioned accurately and quickly;
2)将相应的测量信号传给上位机处理并在定位控制系统监控界面显示吊钩的实时坐标以便操作人员观测，同时操作人员可以在定位控制系统监控界面用鼠标代替原来的操纵杆完成对起重机运行机构的控制；2) Send the corresponding measurement signal to the upper computer for processing and display the real-time coordinates of the hook on the monitoring interface of the positioning control system for the operator to observe. At the same time, the operator can use the mouse to replace the original joystick on the monitoring interface of the positioning control system to complete the inspection of the crane. control of the operating agency;
3)如图5所示，在定位控制系统监控界面中，操作者通过鼠标对行走机构目标位置点击，可以显示出行走机构当前位置距目标位置的横向(X)和纵向(Y)距离，即起重机的本次作业行程，从而也就得知起重机本次行程最大速度Vmax，并将Vmax传给PLC作为给定速度，行走机构开始向目标位置运动；所述激光测距器采集的是4-20mA模拟信号，测得Y方向的坐标；所述条码定位仪采集的是数字量信号，经过条码阅读器内部的解码器把大车实时的位置信息经由PROFIBUS—DP总线传输至PLC处理数据，测得X方向的坐标；3) As shown in Figure 5, in the monitoring interface of the positioning control system, the operator clicks on the target position of the traveling mechanism with the mouse, and the horizontal (X) and vertical (Y) distances between the current position of the traveling mechanism and the target position can be displayed, namely The current operation stroke of the crane, thereby also knowing the maximum speed V max of the crane this stroke, and passing V max to the PLC as a given speed, the traveling mechanism starts to move to the target position; the laser range finder collects 4-20mA analog signal to measure the coordinates in the Y direction; the barcode locator collects digital signals, and the real-time position information of the cart is transmitted to the PLC via the PROFIBUS-DP bus through the decoder inside the barcode reader for data processing , the coordinates in the X direction are measured;
4)运动过程的加速与减速都是通过模糊控制策略实现调速控制，目的是为了使行走机构运行过程尤其是速度切换的拐点处更快速、平稳。由于加速和减速距离是一样的(行走机构速度曲线是对称的)，所以测距传感器在行走机构达到Vmax后将测量的加速距离传送给上位机，上位机经与全程距离计算可以得出减速距离，即减速的起始位置，并给下位控制器减速信号，使行走机构在合理的位置开始减速，在这过程中再次由模糊控制策略完成减速控制，最后以非常慢的速度接近目标进入“爬行速度”，速度极慢，通常是满速的2％～3％，走行一段很小的距离后自动停车，最终完成行走机构的准确定位。4) The acceleration and deceleration of the motion process are all controlled by the fuzzy control strategy, the purpose is to make the running process of the running mechanism, especially the inflection point of speed switching, faster and more stable. Since the acceleration and deceleration distances are the same (the speed curve of the traveling mechanism is symmetrical), the distance measuring sensor will transmit the measured acceleration distance to the host computer after the traveling mechanism reaches V max , and the host computer can calculate the deceleration by calculating the whole distance. Distance, that is, the starting position of deceleration, and a deceleration signal to the lower controller, so that the traveling mechanism starts to decelerate at a reasonable position. In the process, the deceleration control is completed by the fuzzy control strategy again, and finally approaches the target at a very slow speed and enters ""Crawlingspeed", the speed is extremely slow, usually 2% to 3% of the full speed, and it will automatically stop after walking a small distance, and finally complete the accurate positioning of the walking mechanism.
工控机中使用VisualBasic高级语言开发平台编写人机界面监控系统，将数据采集卡安装在工控机CPU上来处理采集数据，并通过OPC接口技术以PROFIBUS-DP总线的方式查询并读取PLC内部数据通道的数据信息，进行数据分析和处理，为满足系统要求，编写相应的PLC控制程序；在人机界面用图形动画实时显示起重机当前运行位置、高度以及状态信息等实时数据，并用数据库加以管理和记录如图4所示，在运行过程中工控机结合模糊控制并根据测距传感器反馈回来的信号处理后实时调整变频器的频率值，使机车快速平稳准确的到达目的地址，实现起重机运行位置与速度的闭环控制，较好地满足了桥式起重机作业中高速运行、换速平稳、低速停准的速度控制和准确定位要求。Use the VisualBasic high-level language development platform to write the human-machine interface monitoring system in the industrial computer, install the data acquisition card on the CPU of the industrial computer to process the collected data, and use the OPC interface technology to query and read the internal data channel of the PLC in the form of PROFIBUS-DP bus The data information, data analysis and processing, in order to meet the system requirements, write the corresponding PLC control program; display the real-time data such as the current operating position, height and status information of the crane in real time on the man-machine interface with graphic animation, and use the database to manage and record As shown in Figure 4, during the operation process, the industrial computer combines fuzzy control and adjusts the frequency value of the frequency converter in real time after processing the signal fed back by the distance measuring sensor, so that the locomotive can reach the destination quickly, smoothly and accurately, and realize the operating position and speed of the crane. The closed-loop control better meets the speed control and accurate positioning requirements of high-speed operation, stable speed change, and low-speed stop in the operation of bridge cranes.
OPC技术主要完成上位工控机与下位机PLC的通讯协议编程。OPC technology mainly completes the communication protocol programming between the upper industrial computer and the lower computer PLC.
所述下位机PLC主要作为I/O控制站是数据采集和动作控制的核心，负责对测距传感器的位置信号进行采集，并利用各种数字量、模拟量模块完成实时数据采样、报警信号检测与输出，以及对变频器等执行机构进行控制。S7-300PLC作为下位机通过PROFIBUS-DP与工控机进行数据通信，并负责控制现场大、小车行走机构的行走，准确运行到指定位置。在调速过程中，结合先进的智能控制方法——模糊控制算法，完成桥式起重机作业过程中的变频调速，使之快速平稳的运行。The lower computer PLC is mainly used as an I/O control station and is the core of data acquisition and action control, responsible for collecting the position signal of the distance measuring sensor, and using various digital and analog modules to complete real-time data sampling and alarm signal detection and output, and control actuators such as frequency converters. S7-300PLC, as the lower computer, performs data communication with the industrial computer through PROFIBUS-DP, and is responsible for controlling the walking mechanism of the large and small vehicles on the site, and accurately running to the designated position. In the speed regulation process, combined with the advanced intelligent control method - fuzzy control algorithm, the frequency conversion speed regulation in the operation process of the bridge crane is completed, so that it can run quickly and smoothly.
由于上述两种测距传感器的模拟信号与桥式起重机位置成线形关系，所以，工控机通过对来自测距传感器的模拟信号处理后，结合先进的模糊控制算法实现桥式起重机运行位置的检测和定位。这种测距传感器与模糊控制相结合的测距方式测量精度较高、定位较准确。Since the analog signals of the above two distance measuring sensors are in a linear relationship with the position of the bridge crane, the industrial computer realizes the detection and detection of the operating position of the bridge crane by combining the advanced fuzzy control algorithm after processing the analog signal from the distance measuring sensor. position. This distance measuring sensor combined with fuzzy control has higher measurement accuracy and more accurate positioning.
下位机PLC主要作为I/O控制站是数据采集和动作控制的核心，负责对测距传感器的位置信号进行采集，并利用各种数字量、模拟量模块完成实时数据采样、报警信号检测与输出，以及对变频器等执行机构进行控制。The lower computer PLC is mainly used as the I/O control station and is the core of data acquisition and action control. It is responsible for collecting the position signal of the ranging sensor, and uses various digital and analog modules to complete real-time data sampling, alarm signal detection and output. , and control actuators such as frequency converters.
所述激光测距器的工作原理是将激光测距器安装在小车上，由电脉冲驱动产生激光束，激光束经过安装在大车一端的反射板反射，通过接收镜头返回接收元件产生电脉冲，再测算发射脉冲及接收脉冲的时间间隔，通过微处理器处理后，输出模拟量信号(4-20mA)。即得出相应的激光器距反射板的距离，也就是Y方向的坐标。The working principle of the laser range finder is that the laser range finder is installed on the trolley, driven by electric pulses to generate a laser beam, the laser beam is reflected by a reflector installed at one end of the cart, and returns to the receiving element through the receiving lens to generate electric pulses , and then measure and calculate the time interval between transmitting pulses and receiving pulses, and output analog signals (4-20mA) after processing by the microprocessor. That is to say, the distance between the corresponding laser and the reflector, that is, the coordinate in the Y direction, is obtained.
所述条码定位仪工作原理是将条码阅读器安装在移动的桥式起重机大车上，将条码带全程铺设在大车运行的轨道中，在大车运行过程的中，条码阅读器实时读取条码，再经过条码阅读器内部的解码器把大车实时的位置信息经由连接器输出至PLC。The working principle of the barcode locator is to install the barcode reader on the mobile bridge crane cart, and lay the barcode tape on the track of the cart throughout the whole process. During the operation of the cart, the barcode reader reads in real time. The barcode, and then through the decoder inside the barcode reader, the real-time position information of the cart is output to the PLC through the connector.
本发明的优越性在于：①传感器的定位速度快、定位精度高硬件装置设计简单、易于实现；②通过高级语言VB将下位机PLC中的数据上传至工控机中，以备系统数据分析、处理与显示，提高了管理效率和控制；③为提高桥式起重机的自动控制水平，使桥式起重机应用在危险的、人无法介入的场合提供有利的条件The advantages of the present invention are: 1. the positioning speed of the sensor is fast, and the positioning accuracy is high, and the hardware device design is simple and easy to implement; 2. the data in the lower computer PLC is uploaded to the industrial computer through the high-level language VB, so as to prepare for system data analysis and processing and display, improving management efficiency and control; ③ to improve the automatic control level of bridge cranes, and to provide favorable conditions for the application of bridge cranes in dangerous places where people cannot intervene
(四)附图说明：(4) Description of drawings:
图1为本发明所涉一种基于激光测距与条码定位技术的桥式起重机定位系统的整体结构框图。FIG. 1 is a block diagram of the overall structure of an overhead crane positioning system based on laser ranging and barcode positioning technology according to the present invention.
图2为本发明所涉一种基于激光测距与条码定位技术的桥式起重机定位系统的空间结构原理示意图。Fig. 2 is a schematic diagram of the spatial structure principle of an overhead crane positioning system based on laser ranging and barcode positioning technology according to the present invention.
图3为本发明所涉一种基于激光测距与条码定位技术的桥式起重机定位系统中激光测距器的工作原理结构示意图。Fig. 3 is a schematic structural diagram of the working principle of the laser rangefinder in the bridge crane positioning system based on laser distance measurement and barcode positioning technology according to the present invention.
图4为本发明所涉一种基于激光测距与条码定位技术的桥式起重机定位系统中VisualBasic开发的监控界面示意图。Fig. 4 is a schematic diagram of a monitoring interface developed by VisualBasic in an overhead crane positioning system based on laser ranging and barcode positioning technology according to the present invention.
图5为本发明所涉一种基于激光测距与条码定位技术的桥式起重机定位系统中桥式起重机在中控室的监控界面示意图。5 is a schematic diagram of the monitoring interface of the bridge crane in the central control room in the bridge crane positioning system based on laser ranging and barcode positioning technology according to the present invention.
(五)具体实施方式：(5) Specific implementation methods:
实施例：一种基于激光测距与条码定位技术的桥式起重机定位系统(见图1)，其特征在于它包括桥式起重机电机单元、变频器单元、测量单元、下位机单元、总线转换卡单元、工控机单元及人机界面单元；其中所述测量单元是由激光测距器、编码器及条码定位仪构成；所述测量单元的输入端采集桥式起重机的信号；所述激光测距器安装在桥式起重机小车行走机构上，采集桥式起重机纵向运动位置和速度信号；所述编码器用于吊钩高度和速度测量；所述条码定位仪安装在桥式起重机大车行走机构上，测量桥式起重机横向运动的位置和速度信号；所述激光测距器与下位机单元连接；所述编码器及条码定位仪的输出端与下位机单元的输入端之间依总线连接；所述变频器单元的输入端与桥式起重机电机单元的输出端连接，其输出端与下位机单元的输入端连接；所述人机界面单元的输入端与工控机单元的输出端连接；所述下位机单元依总线转换卡单元与工控机单元进行数据通讯；所述工控机单元的输出端连接人机界面单元的输出端。Embodiment: a bridge crane positioning system based on laser ranging and barcode positioning technology (see Figure 1), characterized in that it includes a bridge crane motor unit, a frequency converter unit, a measurement unit, a lower computer unit, and a bus conversion card unit, industrial computer unit and human-machine interface unit; wherein the measuring unit is composed of a laser range finder, an encoder and a barcode locator; the input terminal of the measuring unit collects the signal of the bridge crane; the laser ranging The encoder is installed on the traveling mechanism of the trolley of the bridge crane to collect the longitudinal motion position and speed signal of the bridge crane; the encoder is used for hook height and speed measurement; the barcode locator is installed on the traveling mechanism of the trolley of the bridge crane, Measure the position and speed signal of the lateral movement of the bridge crane; the laser rangefinder is connected to the lower computer unit; the output end of the encoder and the barcode locator is connected to the input end of the lower computer unit according to the bus; the The input end of the inverter unit is connected to the output end of the bridge crane motor unit, and its output end is connected to the input end of the lower computer unit; the input end of the man-machine interface unit is connected to the output end of the industrial computer unit; the lower The computer unit performs data communication with the industrial computer unit according to the bus conversion card unit; the output end of the industrial computer unit is connected to the output end of the man-machine interface unit.
所述桥式起重机电机单元(见图1)由吊钩电机、大车电机和小车电机构成；所述吊钩电机、大车电机和小车电机的输出端分别连接变频器单元的输入端。The bridge crane motor unit (see Figure 1) is composed of a hook motor, a cart motor and a trolley motor; the output terminals of the hook motor, cart motor and trolley motor are respectively connected to the input terminals of the frequency converter unit.
所述变频器单元(见图1)是由吊钩变频器、大车变频器、小车变频器构成；所述吊钩变频器、大车变频器、小车变频器的输入端分别与吊钩电机、大车电机和小车电机连接，其输出端与下位机单元的输入端连接。The frequency converter unit (see Figure 1) is made up of a hook frequency converter, a cart frequency converter, and a trolley frequency converter; , The cart motor is connected to the trolley motor, and its output end is connected to the input end of the lower computer unit.
所述下位机单元与工控机之间通过PROFIBUS-DP总线进行数据通讯；所述变频器单元与下位机之间通过PROFIBUS-DP总线进行数据通讯。Data communication is performed between the lower computer unit and the industrial computer through the PROFIBUS-DP bus; data communication is performed between the frequency converter unit and the lower computer through the PROFIBUS-DP bus.
所述下位机单元(见图1)是S7-300PLC可编程逻辑控制器；所述激光测距器与S7-300PLC可编程逻辑控制器的模拟量模块连接。The lower computer unit (see Fig. 1) is a S7-300PLC programmable logic controller; the laser distance finder is connected with the analog quantity module of the S7-300PLC programmable logic controller.
所述工控机单元是工业控制计算机。The industrial computer unit is an industrial control computer.
所述激光测距器采集的是4-20mA模拟信号，信号直接输入下位机单元的PLC可编程逻辑控制器的模拟量模块；所述条码定位仪采集的是数字量信号。What the laser range finder collects is a 4-20mA analog signal, and the signal is directly input to the analog module of the PLC programmable logic controller of the lower computer unit; what the barcode locator collects is a digital signal.
一种基于激光测距与条码定位技术的桥式起重机定位系统的工作方法，其特征在于它包括以下步骤：A working method of an overhead crane positioning system based on laser ranging and barcode positioning technology, characterized in that it comprises the following steps:
①大车变频器带动电机驱动大车横向行走，即X方向运动，小车变频器带动电机驱动小车纵向行走，即Y方向运动；大车变频器和小车变频器通过PROFIBUS-DP总线与下位机通讯；①The cart inverter drives the motor to drive the cart to move horizontally, that is, to move in the X direction, and the trolley inverter drives the motor to drive the cart to move longitudinally, that is, to move in the Y direction; the cart inverter and the trolley inverter communicate with the lower computer through the PROFIBUS-DP bus ;
②激光测距器安装在桥式起重机小车行走机构上，采集桥式起重机纵向运动位置信号及速度信号，将位置信号记作Y轴信号，并将位置及速度信号发送给下位机单元，即可编程控制器PLC；②The laser range finder is installed on the traveling mechanism of the trolley of the bridge crane, collects the position signal and speed signal of the longitudinal movement of the bridge crane, records the position signal as the Y-axis signal, and sends the position and speed signal to the lower computer unit. Programming controller PLC;
③绝对值编码器安装在桥式起重机的吊钩上，采集吊钩的高度及速度信号，将高度信号记作Z轴信号，并通过PROFIBUS-DP总线传输将高度及速度信号发送给下位机单元，即可编程控制器PLC；③The absolute value encoder is installed on the hook of the bridge crane, collects the height and speed signal of the hook, records the height signal as the Z-axis signal, and sends the height and speed signal to the lower computer unit through PROFIBUS-DP bus transmission , that is, programmable controller PLC;
④条码定位仪安装在桥式起重机大车行走机构上，测量桥式起重机横向运动的位置及速度信号，将横向位置信号记作X轴信号，并通过总线传输将横向位置及速度信号发送给下位机单元，即可编程控制器PLC；④ The barcode locator is installed on the traveling mechanism of the bridge crane to measure the position and speed signal of the lateral movement of the bridge crane, record the lateral position signal as the X-axis signal, and send the lateral position and speed signal to the lower position through bus transmission Machine unit, that is, programmable controller PLC;
⑤下位机单元，即可编程控制器PLC，将接收到的关于起重机运动的X轴、Y轴、Z轴信号以及桥式起重机的大车、小车、吊钩运动的速度信号通过总线转换卡，将信号转换成工控机单元可以接收的信号；⑤The lower computer unit, that is, the programmable controller PLC, receives the X-axis, Y-axis, Z-axis signals about the movement of the crane and the speed signals of the cart, trolley, and hook movement of the bridge crane through the bus conversion card, Convert the signal into a signal that the industrial computer unit can receive;
⑥所述工控机单元，即工业控制计算机，将桥式起重机的大车、小车及吊钩的位置及速度实时信息，进行处理、判断并进行最优化计算，将计算结果通过给出指令的方式控制下位机，下位机控制各个变频器的输出从而达到控制各个电机按照规定好的速度和启停曲线自动运行，并将大车、小车和吊钩位置、速度信息通过人机界面单元进行显示；进而实现桥式起重机自动运行。⑥The industrial computer unit, that is, the industrial control computer, processes, judges and optimizes the real-time information on the positions and speeds of the carts, trolleys and hooks of the bridge crane, and calculates the results by giving instructions. Control the lower computer, the lower computer controls the output of each frequency converter so as to control the automatic operation of each motor according to the specified speed and start-stop curve, and display the position and speed information of the cart, trolley and hook through the man-machine interface unit; Then realize the automatic operation of the bridge crane.
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Application publication date: 20141105 |