CN104932504A - Accurate aligning device of heavy engineering vehicle and control method of aligning device - Google Patents
Accurate aligning device of heavy engineering vehicle and control method of aligning device Download PDFInfo
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- CN104932504A CN104932504A CN201510308253.XA CN201510308253A CN104932504A CN 104932504 A CN104932504 A CN 104932504A CN 201510308253 A CN201510308253 A CN 201510308253A CN 104932504 A CN104932504 A CN 104932504A
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Abstract
The invention discloses an accurate aligning device of a heavy engineering vehicle. The accurate aligning device comprises a host computer, a measuring device and a controller, wherein the host computer, the measuring device and the controller are connected via wireless network signals, the measuring device comprises two measuring instruments and at least one measuring reference, the host computer is provided with a calculation analysis module and a figure display module, and the controller comprises a precision control module and an automatic control module. The accurate aligning device and a control method thereof have the advantages that the joint time is shortened, the technical process is simplified, the efficiency is improved, and the cost is reduced; the measuring precision is high, the measuring range is wide, and measuring information can be back fed in real time; the calculation analysis module of the host computer is additionally arranged to carry out model alignment in advance, discover and prevent problems in the work process in advance, improve the efficiency and avoid repeated processes; the wireless communication manner can simplify line arrangement and is rapid and convenient; and the problems that manual operation is low in precision and heavy in load and needs repeated adjustment are solved.
Description
Technical field
The present invention relates to transport assembling device technical field, in particular to a kind of heavy engineering vehicle accurate aligning device and control method, can be used for large cargo transporting position attitude accurate adjustment.
Background technology
Along with heavy engineering haulage vehicle is applied more and more widely in Over-size transport field, the demand of large cargo transporting position attitude accurate adjustment also increases day by day.As in shipbuilding field, after segmentation manufacture completes, usually need exactitude position, then complete whole ship manufacture.The large-scale segment folding of conventional hulls mainly adopts large-scale crane compounding practice work or is completed by small rail car, and the former complicated operation, danger coefficient are high, low precision, and the latter is high to site requirements, has high input.Along with heavy engineering haulage vehicle and car technical development, the restriction that transport breaches transport tonnage worked in coordination with by multiple stage vehicle, instead of small rail car transport gradually, reduces shipbuilding cost, improve shipbuilding efficiency.Heavy engineering haulage vehicle is mechanical-electrical-hydraulic integration vehicle, has driving, multi-mode steering and jacking function, can use by bicycle, and also can work in coordination with transport by many cars vehicle, can adapt to poor operating mode, types of transportation is flexible.Small rail car orbits, and change in displacement is certain, and rigid contact is without distortion, and heavy type transport vehicle is glue formula tire, and distortion is large, and rail-free change in displacement is complicated, controls more complicated so will reach precise displacement.
Also the exactitude position technology of some heavy engineering vehicles is had at present, but very immature.Do not have a set of perfect grating sensing monitoring device, put as benchmark mainly with one or two the monitoring of goods displacement, controlled quentity controlled variable is a point or a line, cannot realize the comprehensive detection of 3 D stereo.Measurement means adopts laser sensor, and measuring accuracy is poor, some employing video acquisition devices, can only qualitative analysis, cannot quantitatively calculate.Measure monitoring to need to build auxiliary mould, operating process is complicated, needs repeatedly to adjust, and contraposition efficiency is poor, and precision is low.Only consider bicycle, do not consider many cars applicable cases do not possess higher engineer applied and be worth.Therefore, develop a set of can the displacement of Real-Time Monitoring transporting cargo hull 3 D stereo, realize efficient quantitative computational analysis, automatically control vehicle movement, the device realizing transporting cargo three-dimensional attitude quick exactitude position function is significant.
Summary of the invention
For solving the problem, the object of the present invention is to provide a kind of energy Real-Time Monitoring goods three-D displacement, efficient quantitative calculating, Auto-matching traffic program also accurate quick accurate aligning device and the control method controlling vehicle movement.
The invention provides a kind of heavy engineering vehicle accurate aligning device, comprise host computer, measurement mechanism and control device, described measurement mechanism, to be connected by wireless network signal between described host computer and described control device;
Wherein, described measurement mechanism comprises two measuring instruments and at least one measuring basis, for measuring the position for the treatment of contraposition goods and benchmark goods;
Computation analysis module and image display module is provided with, for computational analysis and the described benchmark goods of display and the described positional information treating contraposition goods in described host computer;
Described control device comprises precision controlling module and automatic control module, for controlling the motion path of heavy engineering transport trainset.
Further improve as the present invention, benchmark goods described in described image display module display and the described real time position image treating contraposition goods; Or,
The actual coordinate of the datum mark that plane is arranged contraposition goods and coordinates of targets and figure is treated described in described image display module display.
Further improve as the present invention, the jacking of described heavy engineering transport trainset adopts load sensitive system, servo-valve and high precision feedback transducer, and the driving of described heavy engineering transport trainset adopts controllable variable pump and variable displacement motor.
Further improve as the present invention, described heavy engineering transport trainset also comprises non-displacement device.
Present invention also offers a kind of control method of heavy engineering vehicle accurate aligning device, it is characterized in that, comprise the following steps:
Step 1, by measuring instrument measuring basis goods and the physical location treating contraposition goods, in conjunction with described benchmark goods and the described three-dimensional model basic parameter preset treating contraposition goods, carry out simulation contraposition by the computation analysis module in described host computer, described in determining, treat the target location of contraposition goods;
Step 2, described measuring instrument measured in real time by described measuring basis described in treat the actual coordinate information of the datum mark that plane is arranged contraposition goods, and send to described host computer by wireless network;
Step 3, described host computer receives the actual coordinate information of described datum mark, carries according to simulation the coordinates of targets information that data calculate described datum mark;
Step 4, the actual coordinate information of described datum mark and coordinates of targets information are sent to described control device by wireless network by described host computer;
Step 5, automatic control module in described control device receives actual coordinate information and the coordinates of targets information of described datum mark, according to the kinematics character of heavy engineering haulage vehicle, plan the operating path of described heavy engineering transport trainset, described precision controlling module executive component action control, realizes automatic rapid-aligning.
Further improve as the present invention, step 5 comprises:
Step 501, is elevated described heavy engineering transport trainset by single-point, regulates the coordinate figure of datum mark vertical direction, treats that contraposition goods is consistent with described benchmark goods vertical direction described in making;
Step 502, turns to and drives described heavy engineering transport trainset, regulates the coordinate figure of datum mark horizontal direction, makes to treat that contraposition goods is consistent with described benchmark goods horizontal coordinate.
Further improve as the present invention, described datum mark is four, treats the single-point lift points that on contraposition goods, plane is corresponding with described heavy engineering transport trainset described in being separately positioned on.
Beneficial effect of the present invention is:
1, greatly shorten closure time, process simplification, raise the efficiency, reduce costs.
2, measuring accuracy is high, and measurement range is wide, can Real-time Feedback metrical information.
3, increase host computer computation analysis module, model contraposition can be carried out in advance, find prevention operation process problem in advance, raise the efficiency, avoid repetitive process.
4, wireless communication mode is adopted to simplify trace arrangements, convenient and swift.
5, precision controlling module and automatic aligning module can solve manual operation low precision, and burden is heavy, needs the problem repeatedly regulated.
Accompanying drawing explanation
Fig. 1 is the structured flowchart of a kind of heavy engineering vehicle accurate aligning device described in the embodiment of the present invention;
Fig. 2 is embodiment of the present invention application schematic diagram;
Fig. 3 is the analysis schematic diagram of datum mark in Fig. 2.
In figure,
1, contraposition goods is treated; 2, heavy engineering transport trainset; 3, host computer; 41, measuring basis; 42, measuring instrument; 5, benchmark goods; 6, target fiducials face; 7, reference face.
Embodiment
Also by reference to the accompanying drawings the present invention is described in further detail below by specific embodiment.
As shown in Figure 1-2, a kind of heavy engineering vehicle accurate aligning device described in the embodiment of the present invention, comprises host computer 3, measurement mechanism and control device, measurement mechanism, is connected by wireless network signal between host computer 3 and control device.
Measurement mechanism comprises measuring instrument 42 and measuring basis 41, for measuring the position for the treatment of contraposition goods 1 and benchmark goods 5.When transporting cargo is very large, a measuring instrument possibly cannot monitor multiple point, realizes three-dimensional localization, so during large cargo transport, two measuring instruments can be adopted to measure respectively in transporting cargo both sides.In freight transportation process may there is larger change in position, if measuring instrument is fixed on the overall process that same position possibly cannot monitor the change of transport contraposition cargo location always, for addressing this problem, one or more measuring basis is generally set, by matching measurement benchmark and goods datum mark, can the absolute displacement of real-time follow-up large cargo.The measuring accuracy of measurement mechanism can reach 0.5mm, and measurement result is represented by three-dimensional coordinate.
Computation analysis module and image display module is provided with, for computational analysis and display benchmark goods 5 and the positional information treating contraposition goods 1 in host computer 3.For improving contraposition efficiency, first transport carries out simulation contraposition before closing up, and can complete this work by computation analysis module.First by the position of measurement mechanism measuring basis goods 5, then the position for the treatment of contraposition goods 1 is measured, in conjunction with benchmark goods 5 and the three-dimensional model basic parameter treating contraposition goods 1, to exactitude position process simulation, the target location for the treatment of contraposition goods 1 can be determined.Host computer 3 receives the metrical information of measurement mechanism by wireless network, and the target information after computational analysis is sent to control device.For the ease of measuring and rapid-aligning, must in conjunction with the kinematics transporting actual condition and heavy engineering haulage vehicle when measuring and analyze.Generally treating that the upper plane of contraposition goods 1 chooses four reference points during real-time measurement, the corresponding vehicle in position of four reference points or car group platform single-point lift points.The displacement of goods vertical direction can be directly adjusted like this, by turning to and drive the displacement of function point analysis horizontal direction by the elevating function of vehicle.For the ease of observation directly perceived, in contraposition process, image display module can show benchmark goods 5 in real time and treat the actual attitude of contraposition goods 1 three-dimensional model.Analyzing the target three-dimensional coordinate that the target data obtained is four reference points, during transmission, coordinates of targets information and actual coordinate information being sent to control device with sending.The image display module of host computer 3 can show the benchmark goods 5 of similar Fig. 2 and the real time position image treating contraposition goods 1, and also can show the actual coordinate information of the datum mark of similar Fig. 3 and coordinates of targets and figure, handled easily personnel observe.
Control device comprises precision controlling module and automatic control module, for controlling the motion path of heavy engineering transport trainset 2.Precision controlling module can accurately control vehicle traction, rising or falling speed and step-length, controls accurately can reach 1mm.In order to reach control accuracy, comparing traditional heavy engineering vehicle electrohydraulic system needs to carry out upgrading, and jacking adopts load sensitive system, servo-valve and high precision feedback transducer, drives and adopts controllable variable pump and variable displacement motor.Due to squeegee action, general heavy engineering vehicle has certain displacement when turning to or turn to return, in order to closed loop vehicle movement is on the impact of goods displacement, must installs non-displacement device additional and adopt special course changing control strategy.Automatic control module receives reference point actual coordinate and the coordinates of targets information of host computer transmission, carries out analytical calculation, according to vehicle kinematics feature, and the contraposition path of planning heavy engineering vehicle group 2.First regulated the coordinate figure of reference point vertical direction (z) by the single-point elevating function of heavy engineering vehicle group 2, make to treat that contraposition goods 1 is consistent with benchmark goods 5 vertical direction.Then by turning to and drive function to make to treat that contraposition goods 1 is consistent with benchmark goods 5 horizontal coordinate (x, y).Automatic control module according to benchmark list coordinate difference size automatic control and adjustment responsiveness, when horizontal coordinate regulates, can calculate optimal correction route according to actual conditions, realizes putting in place fast.
Benchmark goods 5 is placed on supporting seat, and attitude is fixed.Treat that contraposition goods 1 is transported and benchmark goods 5 contraposition by heavy engineering transport trainset 2.Heavy engineering transport trainset 2 is made up of four transport vehicles, is connected, synthetic operation between vehicle by communication cable.
Present invention also offers a kind of control method of heavy engineering vehicle accurate aligning device, comprising:
Before transport, by measuring instrument 42 measuring basis goods 5 and the physical location treating contraposition goods 1, in conjunction with benchmark goods 5 and the three-dimensional model basic parameter preset treating contraposition goods 1, carry out simulation contraposition by the computation analysis module in host computer 3, determine the target location for the treatment of contraposition goods 1.During actual shipment, the actual coordinate information treating the datum mark that plane is arranged contraposition goods 1 measured in real time by measuring instrument 42 by measuring basis 41, and send to host computer 3 by wireless network.Datum mark choose treat contraposition goods 1 upper surface a ', b ', c ', d ' tetra-points, the single-point lift points corresponding with described heavy engineering transport trainset 2.Host computer 3 receives the actual coordinate information of datum mark, carries the coordinates of targets information of data computation and measurement reference point according to simulation.The actual coordinate information of datum mark and coordinates of targets information are sent to control device by wireless network by host computer 3.Automatic control module in control device receives actual coordinate information and the coordinates of targets information of datum mark, according to the kinematics character of heavy engineering haulage vehicle, the operating path of planning heavy engineering transport trainset 2, by single-point lifting heavy engineering transport trainset 2, regulate the coordinate figure of datum mark vertical direction, make to treat that contraposition goods 1 is consistent with benchmark goods 5 vertical direction, turn to and drive heavy engineering transport trainset 2, regulate the coordinate figure of datum mark horizontal direction, make to treat that contraposition goods 1 is consistent with benchmark goods 5 horizontal coordinate, precision controlling module executive component action control, realize automatic rapid-aligning.
Wherein, Fig. 3 is the analysis schematic diagram of datum mark, and reference face 7 is the physical location of datum mark, comprises four reference point actual coordinate information, target fiducials face is the coordinates of targets information of the datum mark after host computer 3 analytical calculation, comprises four reference point coordinates of targets information.The wherein corresponding vertical direction of Z axis, the corresponding vehicle forward direction of X-axis.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for a person skilled in the art, the present invention can have various modifications and variations.Within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (7)
1. a heavy engineering vehicle accurate aligning device, it is characterized in that, comprise host computer (3), measurement mechanism and control device, described measurement mechanism, to be connected by wireless network signal between described host computer (3) and described control device;
Wherein, described measurement mechanism comprises two measuring instruments (42) and at least one measuring basis (41), for measuring the position for the treatment of contraposition goods (1) and benchmark goods (5);
Described host computer is provided with computation analysis module and image display module in (3), for computational analysis and the described benchmark goods (5) of display and the described location coordinate information treating contraposition goods (1);
Described control device comprises precision controlling module and automatic control module, for controlling the motion path of heavy engineering transport trainset (2).
2. heavy engineering vehicle accurate aligning device according to claim 1, is characterized in that,
Benchmark goods (5) described in described image display module display and the described real time position image treating contraposition goods (1); Or,
The actual coordinate information of the datum mark that the upper plane of contraposition goods (1) is arranged and coordinates of targets information and figure is treated described in described image display module display.
3. heavy engineering vehicle accurate aligning device according to claim 1, it is characterized in that, the jacking of described heavy engineering transport trainset (2) adopts load sensitive system, servo-valve and high precision feedback transducer, and the driving of described heavy engineering transport trainset (2) adopts controllable variable pump and variable displacement motor.
4. heavy engineering vehicle accurate aligning device according to claim 3, is characterized in that, described heavy engineering transport trainset (2) also comprises non-displacement device.
5. a control method for heavy engineering vehicle accurate aligning device as claimed in claim 1, is characterized in that, comprise the following steps:
Step 1, by measuring instrument (42) measuring basis goods (5) and the physical location treating contraposition goods (1), in conjunction with described benchmark goods (5) and the described three-dimensional model basic parameter preset treating contraposition goods (1), carry out simulation contraposition by the computation analysis module in described host computer (3), described in determining, treat the coordinates of targets of contraposition goods (1);
Step 2, the actual coordinate information of the datum mark that the upper plane of contraposition goods (1) is arranged treated in real time by described measuring instrument (42) described in measurement by described measuring basis (41), and send to described host computer (3) by wireless network;
Step 3, described host computer (3) receives the actual coordinate information of described datum mark, carries according to simulation the coordinates of targets information that data calculate described datum mark;
Step 4, the actual coordinate information of described datum mark and coordinates of targets information are sent to described control device by wireless network by described host computer (3);
Step 5, automatic control module in described control device receives actual coordinate information and the coordinates of targets information of described datum mark, according to the kinematics character of heavy engineering haulage vehicle, plan the operating path of described heavy engineering transport trainset (2), described precision controlling module executive component action control, realizes automatic rapid-aligning.
6. control method according to claim 5, is characterized in that, step 5 comprises:
Step 501, is elevated described heavy engineering transport trainset (2) by single-point, regulates the coordinate figure of datum mark vertical direction, treats that contraposition goods (1) is consistent with described benchmark goods (5) vertical direction described in making;
Step 502, turns to and drives described heavy engineering transport trainset (2), regulates the coordinate figure of datum mark horizontal direction, makes to treat that contraposition goods (1) is consistent with described benchmark goods (5) horizontal coordinate.
7. control method according to claim 5, is characterized in that, described datum mark is four, treats the single-point lift points that the upper plane of contraposition goods (1) is corresponding with described heavy engineering transport trainset (2) described in being separately positioned on.
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Application publication date: 20150923 |