CN107194441B

CN107194441B - Method for continuously detecting and searching position of material port

Info

Publication number: CN107194441B
Application number: CN201710323814.2A
Authority: CN
Inventors: 蔡海安
Original assignee: ZHEJIANG JOINT TECHNOLOGY CO LTD
Current assignee: ZHEJIANG JOINT TECHNOLOGY CO LTD
Priority date: 2017-05-09
Filing date: 2017-05-09
Publication date: 2022-05-20
Anticipated expiration: 2037-05-09
Also published as: CN107194441A

Abstract

The invention discloses a method for continuously detecting and searching the position of a material port, which comprises the following steps: step one, a material port identifier is arranged on a material port, and a plurality of radio frequency tags are mounted on the material port identifier; selecting a split type position collector, and arranging the split type position collector on the skip car; setting an allowable relative error value in the upper computer through an external remote or a local connection position collector; and fourthly, reading the IDs and the RSSI values of the radio frequency tags on the material port identifier by using the position collector. According to the method for continuously detecting and searching the position of the material opening, the label can be effectively installed on the material opening through the arrangement of the first step, the second step, the third step and the fourth step, meanwhile, the label can be well detected by the position collector on the skip car, the position of the material opening is determined, and therefore the skip car can be positioned and fed by utilizing a radio frequency technology.

Description

Method for continuously detecting and searching position of material port

Technical Field

The invention relates to a searching method, in particular to a method for continuously detecting and searching the position of a material opening.

Background

The loading and unloading factory building for bulk materials in heavy industry such as metallurgy, coking, mine, cement and the like has the disadvantages of large dust, large interference and relatively crude environment and severe environment. Several non-contact displacement detection technologies commonly used at present cannot be sufficient to realize displacement detection of absolute positions. Such as laser displacement detection, ultrasonic displacement detection and proximity switch displacement detection based on reflection or correlation principles, have high requirements on media. The rough machining skip car has larger running left-right deflection tolerance, and the detection length of the loading and unloading rail is more than 100 meters or even hundreds of meters, so that the magnetic ruler displacement detection is not suitable for the displacement detection of the loading and unloading trolley.

Gray bus displacement detects the continuous location that can realize millimeter level error, but Gray bus displacement detects needs to mat formation at the track with the Gray bus cable of length, and the input cost is high, and installation cost is high, and for guaranteeing to detect the precision, Gray bus cable does not allow to have the joint, and later maintenance cost is also high, and rough machining displacement detects the interval position tolerance 10 centimetres of material mouthful, and the general tolerance 2-3 centimetres requirements of material mouth, and the precision has some wastes.

At present, the RFID radio frequency displacement detection is realized, ID numbers are bound to each material port and each interval independently, no association exists, the early cost and the maintenance cost are low, and the technical advantage is high. But the radio frequency reads apart from the scope not good control, if label installation interval distance is too little, leads to once reading a plurality of labels, can not realize ID number and absolute position's correspondence, if label installation interval distance is too big, leads to continuous displacement to detect the blind area that appears, and radio frequency technology identification precision is low can not satisfy the production precision requirement of centimeter level such as rough machining is unloaded, is hoisted.

At present, the technology of reading a label by using a single or multiple readers is utilized, three-dimensional or certain one-dimensional data of a target label is judged according to an RSSI value algorithm, the technology is also limited by the large RSSI value drift of a radio frequency technology, the larger the distance between a reader antenna and the label is, the larger the environmental interference is, the larger the RSSI value deviation is, and the identification of centimeter-level points of track displacement cannot be met. The technology also has the problem of time efficiency synchronism, data needs to be transmitted to a different place for processing after being collected, data collection of a plurality of read-write devices is asynchronous, the technology is a technology for judging an area by data afterwards, and the technology cannot be used for connecting a PLC (programmable logic controller) to control the track to run.

Limited by the disadvantages, the popularization and the application of the RFID technology in the rail displacement detection are always restricted.

The bulk material loading unloading system of heavy industry such as metallurgy, coking, mine and cement at present need realize the positive node position centimetre level accurate detection of material mouth urgently, and the displacement detection of the decimetre level of other interval positions, adverse circumstances operation stability, installation are simple, earlier stage later stage with low costs can detect in succession and search the displacement detection technique of interval position and positive node position.

Disclosure of Invention

Aiming at the defects in the prior art, the invention aims to provide a method for continuously detecting and searching the interval position and the positive node position of a material port, which has the advantages of low cost, stable operation and capability of well realizing the positioning of the material port.

In order to achieve the purpose, the invention provides the following technical scheme: a method for continuously detecting and searching the position of a material port comprises the following steps:

step one, a material port identifier is arranged on a material port, a plurality of radio frequency tags are installed on the material port identifier, each radio frequency tag EPCID consists of a radio frequency tag position type and a material port number, EPCID '11 NN' represents a left interval radio frequency tag ID, EPCID '10 NN' represents a middle positive node radio frequency tag ID, EPCID '12 NN' and EPCID '14 NN' respectively represent a node left auxiliary point radio frequency tag ID and a node right auxiliary point radio frequency tag ID, EPCID '13 NN' represents a right interval radio frequency tag ID, and NN represents a material port number;

selecting a split type position collector, arranging the split type position collector on the skip car, and wirelessly connecting an internetwork connector, wherein the internetwork connector is connected with a PLC (programmable logic controller) for operation control through a DP (data processing) network bridge, so that the position collector is connected with the skip car PLC, and an RFID (radio frequency identification) antenna of the split type position collector is opposite to a material port identifier;

setting allowable relative error values and various working parameters in an upper computer through an external remote or a local connecting position collector;

and fourthly, reading the ID numbers and RSSI values of a plurality of radio frequency tags on the material port identifier by the position collector, respectively deriving 4 position IDs and 6 abnormal IDs of a left interval ID, a middle interval ID, a right interval ID, a positive node ID, and respectively taking the left interval ID, the right interval ID, the middle interval ID and the positive node ID as deceleration and stop signals in the PLC to control the operation of the skip car.

As a further improvement of the invention: the first step also comprises a step of writing EPCID again, which comprises the following steps:

step one, rewriting the radio frequency tag IDs of the 5 tags in sequence, and writing the 5 tag IDs into '11 NN', '12 NN', '10 NN', '14 NN' and '13 NN', respectively.

As a further improvement of the invention: and the split position collector in the second step is also internally provided with an RFID antenna, wherein the RFID antenna, the material port identifier and the interval identifier are positioned on the same horizontal line, the position collector is internally provided with a communication module, the communication module is in wireless communication connection with an internetwork connector, and the communication module is communicated with an external upper computer and a PLC (programmable logic controller) through the internetwork connector to realize data exchange.

As a further improvement of the invention: the step of reading the radio frequency tag in the fourth step includes steps of detecting and searching a left interval position, a right interval position, a middle interval position and a positive node position, wherein the step of detecting and searching the positive node position includes the steps of:

(1) when the device approaches to or is positioned at the left interval position of the material port from the left side, the position collector can read the ID numbers and the RSSI values of 1 to 5 radio frequency tags, the RSSI values of the radio frequency tags present the characteristics of high left and low right, and the position collector reports the ID of '11 NN'; when the equipment is close to or at the position of the right interval of the material opening, the RSSI value of the radio frequency tag presents the characteristics of low left and high right, the position collector reports the ID of '13 NN', and the control system can take the position ID of the interval as a deceleration signal;

(2) when the equipment is positioned in the material port middle area position and is infinitely close to the positive node position, the RSSI value of the node radio frequency tag is the largest, when the absolute value of the RSSI value difference of the middle area radio frequency tag which is symmetrical left and right is larger than the set allowable relative error value, the ID of '12 NN' is reported, when the absolute value is smaller than or equal to the set allowable relative error value difference, the ID of '10 NN' is reported, and the control system takes a plurality of continuous middle area position IDs or positive node IDs as stop signals;

(3) when the equipment stops at the position of the material port, if the equipment is over against the material port or is in an allowed deviation range, the position collector can continuously read data of 5 radio frequency tags, the RSSI value of a radio frequency 10NN tag of a positive node is maximum, the RSSI value difference of a radio frequency tag 12NN, a radio frequency tag 14NN, a radio frequency tag 11NN, a radio frequency tag 13NN of a left interval and a right interval is smaller than or equal to a set relative error value, the position collector reports an ID of '10 NN', and the ID of the positive node is used as a signal for checking and proofreading; wherein, 2 adjacent material ports select ID of the material port which is relatively close to report through comparison of RSSI values;

(4) and arranging a position identifier with an EPCID number of '15 NN' between material ports with larger distance, reporting the '15 NN' position identifier to a '12 NN' ID number to represent an interval ID when reading the position identifier, and reporting 3000 to represent that the system is normal when not reading the position identifier.

The invention has the advantages that through the setting of the first step, the material port markers can be arranged on the material port, the EPCID is written on the tags, meanwhile, the position markers are arranged at the corresponding positions between the material ports with larger distance, and the EPCID writing is carried out on the position markers, so that a basis is provided for the reading of the position collector at the back and the calculation of an algorithm, through the setting of the second step, the position collector can be fixed on the skip car and synchronously moves along with the skip car, so that the reading of the material port markers by the position collector is realized, through the setting of the third step, the setting of the allowable error value and various working parameters of the position collector can be realized, the position collector can detect and search the position of the material port according to the precision requirement and the working efficiency of the site, through the setting of the fourth step, the data can be sent to the PLC for controlling the operation of the skip car by the left section ID, the middle section ID, the right section ID and the positive node ID, and then realize that the skip can be fine seek the position of finding the material mouth and park, the algorithm of utilizing a plurality of labels that just so can be fine realizes the accurate search to material mouth position, compares in prior art's gray generating line, its cost greatly reduced, and compares in other implementation modes such as light sense, the interference killing feature is stronger, can be fine apply to the bad material loading and unloading system that looses of environment such as metallurgy, cement and petrochemical industry.

Drawings

FIG. 1 is a schematic diagram of the position relationship of each label at a search gate according to the method of the present invention;

fig. 2 is a schematic diagram illustrating a trend relationship between RSSI values of tags when searching for a material port position.

Detailed Description

The invention will be further described in detail with reference to the following examples, which are given in the accompanying drawings.

Referring to fig. 1 to 2, a method for continuously detecting and searching for a position of a material opening of the present embodiment includes the following steps:

selecting a split type position collector, arranging the split type position collector on the skip car, and connecting the split type position collector with an internetwork connector in a wireless manner, wherein the internetwork connector is connected with a PLC (programmable logic controller) for operation control through a DP (data processing) network bridge, so that the position collector is connected with the skip car PLC, and an RFID (radio frequency identification) antenna of the split type position collector is over against the material port identifier;

step four, the position collector reads ID numbers and RSSI values of a plurality of radio frequency tags on the material port identifier, 4 position IDs and 5 abnormal IDs are respectively derived, the left section ID, the middle section ID, the right section ID, the positive node ID and the 5 abnormal IDs are respectively derived, the PLC respectively takes the left section ID, the right section ID, the middle section ID and the positive node ID as deceleration and stop signals to control the operation of the skip car, in the process of identifying the material port by using the method of the embodiment, firstly, the tags are set through the step one, after the tags are set, the section tags are installed between the material ports with larger distance, the requirement of continuous positioning is realized, the section tags ID are written into '15 NN', the algorithm processing is convenient, then, the position collector is set through the step two, then, the relative error is determined through the step three, and finally, the mode of collecting the ID numbers of the tags by using the position collector can be realized through the setting of the algorithm of the step four, the skip car can be well stopped at the position of the material opening, wherein the position collector used in the embodiment is a reader-writer with an RFID reading function, the left interval ID, the middle interval ID, the right interval ID and the positive node ID are obtained through an algorithm, the process of primary positioning and then accurate positioning can be realized, and the material opening searching function of the skip car is realized by utilizing the RFID.

As a specific embodiment of the improvement, the step one further includes a step of writing the EPCID again, and the steps include the following steps:

step one, writing 5 radio frequency tags EPCID into '11 NN', '12 NN', '10 NN', '14 NN' and '13 NN', writing an interval identifier EPCID into '15 NN', and synchronously writing the ID numbers of the 5 tags at one time by the way of writing the EPCID, so that when a certain material port tag is damaged in the later period, only the material port tag needs to be replaced, and then the five tags are rewritten one by the steps, so that the ID of the actual tag is not strictly limited, the maintenance cost of a customer can be greatly reduced, and meanwhile, the node tag and the interval tag can be effectively distinguished.

As a specific implementation manner of improvement, the split position collector in the second step is further connected with a split position collector

RFID antenna, wherein, RFID antenna and material mouth marker, interval marker are just right and keep certain distance, communication module has in the position collector, and this communication module wireless communication realizes being connected with the internetwork connector, through internetwork connector and outside host computer and PLC machine communication, realizes data interchange, adopts the mode of same water flat line, and the distance between the RFID antenna in the position collector and the label is most suitable, can guarantee the in-process that advances at the skip, and the position collector can be accurate effectual read ID number and the RSSI value of label.

As an improved specific implementation manner, the step of reading the radio frequency tag in the fourth step has a step of detecting and searching a left interval position, a right interval position, a middle interval position and a positive node position, and the step of detecting and searching the positive node position includes:

(1) when the device approaches to or is positioned at the left interval position of the material port from the left side, the position collector can read the ID numbers and the RSSI values of 1 to 5 radio frequency tags, the RSSI values of the radio frequency tags present the characteristics of high left and low right, and the position collector reports the ID of '11 NN'; when the equipment is close to or at the position of the right interval of the material opening, the RSSI value of the radio frequency tag presents the characteristics of low left and high right, the position collector reports the ID of '13 NN', and the control system can take the interval position ID as a deceleration signal to realize that the equipment detects the position of a positive node in advance and performs early deceleration, thereby avoiding the problem that the equipment cannot be stopped immediately after the equipment arrives at the material opening and is parked at the corresponding position of the material opening; (2) when the equipment is positioned in the material port middle area position and is infinitely close to the positive node position, the RSSI value of the node radio frequency tag is the largest, when the absolute value of the RSSI value difference of the middle area radio frequency tag which is symmetrical left and right is larger than the set allowable relative error value, a '12 NN' ID is reported, when the absolute value of the RSSI value difference is smaller than or equal to the set allowable relative error value, a '10 NN' ID is reported, and a control system takes a plurality of continuous middle area position IDs or positive node IDs as stop signals, so that the equipment which starts to be pre-decelerated can be further stopped, and the equipment can be ensured to be accurately stopped at the node position;

(3) when the equipment stops at the position of the material port, if the equipment is over against the material port or is in an allowed deviation range, the position collector can continuously read data of 5 radio frequency tags, the RSSI value of a radio frequency 10NN tag of a positive node is maximum, the RSSI value difference of a radio frequency tag 12NN, a radio frequency tag 14NN, a radio frequency tag 11NN, a radio frequency tag 13NN of a left interval and a right interval is smaller than or equal to a set relative error value, the position collector reports an ID of '10 NN', and the ID of the positive node is used as a signal for checking and proofreading; the 2 adjacent material ports select the ID of the material port which is relatively close to report through the comparison of RSSI values, so that the position of the equipment after stopping can be rechecked, and the material port which is moved to the next position by the equipment is used as an accurate basic reference, so that the material port which is moved to the next position by the equipment is more accurate;

(4) arranging a position identifier with an EPCID number of 15NN between material openings with larger intervals, reporting the position identifier with the '15 NN' to a '12 NN' ID number to represent an interval ID when reading the position identifier, reporting 3000 to represent that the system is normal when not reading the position identifier, wherein the above 3 states well represent all states between the material trolley and the label in the running process, thus each state in the running process of the material trolley can be effectively processed through the setting of the steps (1), (2) and (3), the material trolley can better find the position of the material opening, the material can be accurately fed, the effect of collecting the position of the material opening can be further realized, meanwhile, arranging a position identifier between the material openings with larger intervals effectively through the setting of the step (4), and the position identifier is represented as the interval ID number when reading the position identifier in the collecting process, if the numerical value is not read, the numerical value of 3000 is reported, the system is normal, and therefore the effect of position acquisition among material ports with large intervals can be well achieved.

In conclusion, the skip car can find the position of the material port and accurately discharge materials by the aid of the arrangement of the first step, the second step, the third step and the fourth step through cooperation of the RFID tag and the position collector in an algorithm mode.

The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may occur to those skilled in the art without departing from the principle of the invention, and are considered to be within the scope of the invention.

Claims

1. A method for continuously detecting and searching the position of a material opening is characterized in that: the method comprises the following steps:

step one, a material port identifier is arranged on a material port, a plurality of radio frequency tags are installed on the material port identifier, each radio frequency tag EPCID consists of a radio frequency tag position category and a material port number, EPCID '11 NN' represents a left interval radio frequency tag ID, EPCID '10 NN' represents a middle node radio frequency tag ID, EPCID '12 NN' and EPCID '14 NN' respectively represent a right auxiliary point radio frequency tag ID and a left auxiliary point radio frequency tag ID of a positive node, EPCID '13 NN' represents a right interval radio frequency tag ID, and NN represents a material port number;

reading ID numbers and RSSI values of a plurality of radio frequency tags on the material port identifier by the position collector, respectively deriving 4 position IDs and 6 abnormal IDs of a left interval ID, a middle interval ID, a right interval ID, a positive node ID, and respectively using the left interval ID, the right interval ID, the middle interval ID and the positive node ID as deceleration and stop signals in the PLC to control the operation of the skip car;

the first step also comprises a step of writing EPCID again, which comprises the following steps:

step one, rewriting the radio frequency tag IDs of 5 tags in sequence, and writing the 5 tag IDs into '11 NN', '12 NN', '10 NN', '14 NN' and '13 NN' respectively;

the step of reading the radio frequency tag in the fourth step includes steps of detecting and searching a left interval position, a right interval position, a middle interval position and a positive node position, wherein the step of detecting and searching the positive node position includes the steps of:

(1) when the device approaches to or is positioned at the position of the left interval of the material port from the left, the position collector can read the ID numbers and the RSSI values of 1 to 5 radio frequency tags, the RSSI values of the radio frequency tags present the characteristics of high left and low right, and the position collector reports the ID of '11 NN'; when the equipment is close to or at the position of the material port right interval, the RSSI value of the radio frequency tag presents the characteristics of low left and high right, the position collector reports '13 NN' ID, and the control system can take the interval position ID as a deceleration signal;

(2) when the equipment is positioned in the material port middle area position and is infinitely close to the positive node position, the RSSI value of the positive node radio frequency tag is the largest, when the absolute value of the RSSI value difference of the middle area radio frequency tag which is symmetrical left and right is larger than the set allowable relative error value, the '12 NN' ID is reported, when the absolute value is smaller than or equal to the set allowable relative error value difference, the '10 NN' ID is reported, and the control system takes a plurality of continuous middle area position IDs or positive node IDs as stop signals;

2. The method of claim 1, wherein the step of continuously detecting and searching for the position of the feed opening comprises the steps of: and the split position collector in the second step is also internally provided with an RFID antenna, wherein the RFID antenna, the material port identifier and the interval identifier are positioned on the same horizontal line, the position collector is internally provided with a communication module, the communication module is in wireless communication connection with an internetwork connector, and the communication module is communicated with an external upper computer and a PLC (programmable logic controller) through the internetwork connector to realize data exchange.