CN107247439A - The control method of driving long-distance intelligent automatic running based on virtual reality - Google Patents
The control method of driving long-distance intelligent automatic running based on virtual reality Download PDFInfo
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- CN107247439A CN107247439A CN201710320709.3A CN201710320709A CN107247439A CN 107247439 A CN107247439 A CN 107247439A CN 201710320709 A CN201710320709 A CN 201710320709A CN 107247439 A CN107247439 A CN 107247439A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
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Abstract
The invention discloses a kind of control method of the driving long-distance intelligent automatic running based on virtual reality, a kind of driving autocontrol method of category, this method includes：Step A, host computer call 3 D monitoring software according to live building size, and threedimensional model is set up at the scene to driving and driving；Step B, when drive a vehicle running in touch travel switch when, current signal in place is transmitted to steps such as programmable logic controller (PLC)s by travel switch；Three-dimensional modeling in virtual reality is introduced into the monitor mode as driving operation, driving running status is automatically controlled with reference to programmable logic controller (PLC), the accuracy of driving operation control is not only improved, moreover it is possible to which the state to driving operation carries out conduct monitoring at all levels.And danger area is effectively avoided, so as to avoid the safety and healthy hidden danger thus brought to operator's person；Based on operator is changed into monitoring from the working method based on operation, so as to reduce the labor intensity of operator.
Description
Technical field
The present invention relates to one kind driving autocontrol method, in particular, the invention mainly relates to one kind based on virtual
The control method of the driving long-distance intelligent automatic running of reality.
Background technology
Country's dangerous waste incineration is processed as capturing waste from reservoir in input cast hopper at present, and operation needs special
Road operators driving room by artificially observing or being operated by monitor video driving.Foregoing driving room is usually located at useless
The top of thing reservoir, operator observes reservoir by operating room glass and operated, because the dangerous waste deposited in reservoir can be produced
Poisonous flammable explosive gas, once occurring burning or exploding, very big security incident will be caused to moving operation room, jeopardizes operation
Member's life security and equipment property loss, do not meet Security Administration.The dangerous waste thing deposited simultaneously in reservoir can produce poisonous
Harmful volatile organic compoundses, for a long time in this environmental work, healthy for road operators will also result in harmful effect,
Violate related occupation healthy security management regulation.Foregoing another way is to observe scene to operate row by monitor video
Car, long-term annotation monitoring screen can make operator to produce visual fatigue quickly, dazzling, and operation is easily made a fault；And it is existing
Field video is disliked in material hole in the environment of summary, and lens articulation can decline, and due to the delay phenomenon of communication transfer so that video
The even delay of more than ten seconds in several seconds occurs in situation about monitoring relative to scene, easily therefore occurs grab bucket and the safe thing such as rushes to summit
Therefore.Thus it is necessary to be studied and improved for the control mode that dangerous waste incineration handles middle rolling car operation.
The content of the invention
An object of the present invention is to solve to be directed to deficiency there is provided a kind of driving long-distance intelligent based on virtual reality certainly
The control method of dynamic operation, controls driving easily to pacify because of hazardous gas at the scene to expect to solve operator in the prior art
Full accident, and health is on the hazard, and checks that field condition controls driving to be easily caused visual fatigue by monitor video, and because of video
Signal delay and occur the technical problems such as security incident.
To solve above-mentioned technical problem, the present invention uses following technical scheme：
A kind of control method of driving long-distance intelligent automatic running based on virtual reality provided by the present invention, described method
Including：
Step A, host computer call 3 D monitoring software according to live building size, and three-dimensional is set up at the scene to driving and driving
Model；
Step B, when touching travel switch in running of driving a vehicle, current signal in place is transmitted to can by travel switch
Programmed logic controller, as position of the programmable logic controller (PLC) according to where the current travel switch of transmission signal, is calculated
Position coordinates where current driving；The lap signal for each upper bearing rotary of driving a vehicle is transmitted to programmable by encoder again and patrolled
Controller is collected, by programmable logic controller (PLC) according to current lap signal, the position coordinates where current driving is calculated；
Step C, programmable logic controller (PLC) are instructed according to target location, are recalled target location and are instructed corresponding detailed coordinate, with
The coordinate of the driving position calculated by the signal in place and the lap signal is compared, according to comparing
As a result instructed to frequency converter output control, then rotating speed and the rotating of variable-frequency motor are controlled according to control instruction by frequency converter, from
And control advance and the stroke retreated and the speed of operation of driving；
The real-time location coordinates of driving are transmitted through the network to host computer by step D, programmable logic controller (PLC), by host computer root
According to the real-time location coordinates of driving, the real time position of threedimensional model middle rolling car is adjusted, makes the road location in threedimensional model with showing
The situation of field keeps synchronous.
Preferably, further technical scheme：Threedimensional model in the step A be by modeling software will drive a vehicle and
Site space where driving is according to 1:1 ratio is really reflected into three-dimensional scenic.
Further technical scheme：Travel switch in the step B is multiple, and is fixedly installed in driving respectively
Cart and the relevant position by trolley track.
Further technical scheme：Encoder in the step B is multiple, and is respectively arranged in the cart car of driving
Wheel bearing, car wheel bearing and grab bucket motor bearings on, for bearing synchronous rotary.
Further technical scheme：Encoder in the step B passes lap signal by way of DP is communicated
Transport to programmable logic controller (PLC)；Programmable logic controller (PLC) is transmitted also by DP communication modes to frequency converter in the step C
Control instruction.
Further technical scheme：Target location instruction in the step C is transmitted through the network to for host computer can
Programmed logic controller, and target location is the optional position in threedimensional model middle rolling car stroke.
Further technical scheme：Also include in the step C, default danger is passed through by programmable logic controller (PLC)
Area coordinate threshold range, control driving makes it cannot be introduced into danger zone, or when driving enters the danger zone coordinate
After in threshold range, to host computer feedback alarm information.
Further technical scheme：Multilayered security protection coordinate threshold value has also been preset in the programmable logic controller (PLC)
Scope, the Multilayered security protection coordinate threshold range is placed in the front end of danger zone coordinate threshold range, when driving enters institute
State after Multilayered security protection coordinate threshold range, from programmable controller to host computer feedback alerts information.
Further technical scheme：Programmable logic controller (PLC) is instructed to frequency converter output control in the step C, from
And control the mode of the variable-frequency motor speed of service to be：Run at least 10 seconds with low frequency, then switch to high-frequency operation, work as row
When truck position is close to 2 to 4 meters of target location, the speed of service is switched to low frequency by high-frequency and run.
Compared with prior art, one of beneficial effects of the present invention are：
1）By the way that driving and its place field condition are carried out into three-dimensional modeling so that operator drives a vehicle without operating at the scene again,
And for the mode of video monitoring, the observation visual angle in three-dimensional scenic is more three-dimensional, observation that can be comprehensive is driven a vehicle
Running situation, danger area is effectively avoided, so as to avoid the safety and healthy hidden danger thus brought to operator's person；
2）By programmable controller according to travel switch and the signal of encoder feedback, the running status of variable-frequency motor is controlled,
The automatic operating of driving is realized, without the driving of operator's frequent operation, working method of the operator based on the operation is become
Based on monitoring, so as to reduce the labor intensity of operator；
3）Using the communication transfer mode of technical grade, the lag issues of road location are efficiently solved, and by FPGA
Controller controls driving to be run according to predetermined route according to control program, and misuse rate is relatively low, so as to reduce because of maloperation
Caused by equipment safety accident, make driving operation it is more safe and reliable；
4）Three-dimensional modeling in virtual reality is introduced into the monitor mode as driving operation, with reference to programmable logic controller (PLC) certainly
Dynamic control driving running status, not only improves the accuracy that driving runs control, moreover it is possible to which the state to driving operation is carried out entirely
Orientation is monitored.
Brief description of the drawings
Fig. 1 is the method logical flow chart for illustrating one embodiment of the invention.
Fig. 2 is the Control system architecture schematic block diagram for illustrating to use in one embodiment of the invention；
Embodiment
The present invention is further elaborated below in conjunction with the accompanying drawings.
One embodiment of the present of invention is a kind of control method of the driving long-distance intelligent automatic running based on virtual reality,
Go out as shown in Figure 2, this method is realized and needed to use mainly by host computer, slave computer（That is programmable logic controller (PLC),
PLC shown in Fig. 2）, travel switch, encoder, frequency converter and variable-frequency motor composition automatic running system；Wherein, it is upper
Machine passes through network insertion programmable logic controller (PLC)；Programmable logic controller (PLC) is respectively connected to travel switch and encoder；Frequency conversion
Motor accesses programmable logic controller (PLC) by frequency converter；System based on aforementioned structure, this method is preferably in accordance with the following steps
Perform：
Step S1, by host computer 3 D monitoring software called according to live building size, driving and driving are set up at the scene
Threedimensional model；Threedimensional model in this step can be directly by the modeling software of main flow on the market by where driving and driving
Site space is according to 1:1 ratio is really reflected into three-dimensional scenic；Driving and driving threedimensional model at the scene remote
Shown in the host computer at end, so that operating personnel are monitored and operated to driving scene；
Step S2, when drive a vehicle running in touch travel switch when, current signal in place is transmitted to FPGA
Controller, as position of the programmable logic controller (PLC) according to where the current travel switch of transmission signal, calculates current driving
The position coordinates at place；And transmitted the lap signal for each upper bearing rotary of driving a vehicle to Programmable logical controller by encoder
Device, by programmable logic controller (PLC) according to current lap signal, calculates the position coordinates where current driving；It is used as system
Core, the automatic running system described in the present embodiment can be built based on Siemens S7-1200 PLC；
Step S3, this step are the core operation step of this method, with reference to shown in Fig. 1, and specific executive mode is patrolled to be programmable
Volume controller is instructed according to target location, is recalled target location and is instructed corresponding detailed coordinate, with by the signal in place with
And the coordinate of driving position that the lap signal is calculated is compared, is exported and controlled to frequency converter according to comparative result
System instruction, then by frequency converter according to control instruction control variable-frequency motor rotating speed and rotating so that control driving advance with
The stroke of retrogressing and the speed of operation, make driving be stopped in specified target location；
As mentioned here above, host computer is by network insertion programmable logic controller (PLC), thus may also include in step S3：
Step S31, target location instruction are transmitted through the network to programmable logic controller (PLC) by host computer, and target location is three
Optional position in dimension module middle rolling car stroke；
It is configured in the threedimensional model that above-mentioned target location can be presented by operating personnel on host computer, upper after being provided with
The foregoing target location instruction of stroke in the machine of position；The coordinate of preceding aim position is the position in the position residing for the scene of driving room
Put, by actual measurement gained, and be written in the program performed by programmable logic controller (PLC)；
In addition, the tool that the coordinate of target location and driving position is compared by the programmable logic controller (PLC) in step S3
Body mode is：When the coordinate of driving position is more than target location coordinate, illustrate driving in front of target, now may be programmed and patrol
Collect controller and send toggling command to frequency converter, transducer drive variable-frequency motor reversion, driving is backed to up to target location coordinate
Or stop when encountering the travel switch of target location；When the coordinate of driving position is less than target location coordinate, illustrate driving
At target rear, programmable logic controller (PLC) sends rotating forward instruction to frequency converter, and transducer drive variable-frequency motor is rotated forward, before driving
Enter to move to reach target location coordinate or stop when encountering target location travel switch；
The real-time location coordinates of driving are transmitted through the network to host computer by step S4, programmable logic controller (PLC), by host computer
According to the real-time location coordinates of driving, adjust the real time position of threedimensional model middle rolling car, make road location in threedimensional model with
The situation at scene keeps synchronous.
In the present embodiment, the three-dimensional modeling in virtual reality is introduced to the monitor mode run as driving, with reference to can
Programmed logic controller automatically controls driving running status, not only improves the accuracy of driving operation control, moreover it is possible to driving
The state of operation carries out conduct monitoring at all levels；And by the way that driving and its place field condition are carried out into three-dimensional modeling so that operator
Without operation driving, and for the mode of video monitoring, the observation visual angle in three-dimensional scenic is more vertical at the scene again
Body, the running situation of observation driving that can be comprehensive, effectively avoids danger area, so as to avoid thus giving operator personal band
The safety and healthy hidden danger come；Simultaneously by programmable controller according to travel switch and the signal of encoder feedback, control becomes
The running status of frequency motor, realizes the automatic operating of driving, without the driving of operator's frequent operation, by operator by operating
Based on working method be changed into based on monitoring, so as to reduce the labor intensity of operator；In addition, by programmable logic controller (PLC)
Driving is controlled to be run according to predetermined route according to control program, misuse rate is relatively low, so that reduce causes because of maloperation
Equipment safety accident, make driving operation it is more safe and reliable；
The accuracy detected for lifting driving shift position, can be using the travel switch and encoder in step S2 as sensing device
Be disposed as it is multiple, in this way, multiple travel switches just can be respectively arranged in the corresponding positions by the cart of driving and trolley track
Put；Multiple encoders are respectively arranged on the cart wheel bearing of driving, car wheel bearing and grab bucket motor bearings, used
In with bearing synchronous rotary；Bearing, which is rotated, during driving motion drives decoders-Synchronous motion, the number of turns and encoder of vehicle wheel rotation
The number of turns of rotation is consistent, and encoder rotates a circle the distance of the sub- girth of movable pulley, and then the above-mentioned lap signal of stroke of driving a vehicle.
Further, for solve road location it is delayed the problem of, can use technical grade communication transfer mode, be specially
Above-mentioned encoder is transmitted lap signal to programmable logic controller (PLC) by way of DP is communicated；Accordingly, it may be programmed
Logic controller also can by DP communication modes to frequency converter transmit control instruction.
, can in the scene run for driving in the present invention for solving in the more preferred one embodiment of technical problem
There can be the region easily collided, be the security of lifting system control driving operation, the coordinate set that can be at the scene moved in driving
Dangerous coordinate cluster is set in group, is written in the program performed by programmable logic controller (PLC)；I.e. by foregoing dangerous coordinate
Collection is defaulted in programmable logic controller (PLC) as group danger zone coordinate threshold range, i.e., in above-described embodiment methods described base
On plinth, following steps are increased after step S31：
Step S33, programmable logic controller (PLC) make it cannot be introduced into danger by the danger zone coordinate threshold range, control driving
Danger zone domain, or after driving enters in the danger zone coordinate threshold range, to host computer feedback alarm information；
Further, to make driving be not easily accessible foregoing danger zone, and prevent warning message from frequently occurring, can compile again
Multilayered security protection coordinate threshold range is also preset in journey logic controller, the Multilayered security protection coordinate threshold range is placed in
The front end of danger zone coordinate threshold range；I.e. before above-mentioned steps S33, in increase following steps after step S31：
Step S32, when driving enter the Multilayered security protection coordinate threshold range after, it is anti-from programmable controller to host computer
Warning message is presented, and then is easy to operator and makes operation, prevents driving from continuing to move to enter danger zone.
For lifting driving traveling comfort, programmable logic controller (PLC) in step S3 can also be exported to frequency converter again and controlled
System instruction, so as to control the mode of the variable-frequency motor speed of service to be set to run at least 10 seconds with low frequency, then switches to height
Frequency is run, to reach the purpose of gentle start, and prevents grab bucket from swinging；When road location is close to 2 to 4 meters of target location,
The speed of service is switched to low frequency operation by high-frequency, when reaching target location, and driving stops, to reach the mesh steadily stopped
's.
It is of the invention that 3 D monitoring software is called using host computer as the above embodiments are previously mentioned, respectively to driving
And threedimensional model is set up in driving at the scene.Host computer is carried out by Ethernet and as the programmable logic controller (PLC) of slave computer
Data exchange, the road location coordinate that slave computer is treated sends monitored picture to, reaches accurate real-time on monitored picture
Show the purpose of road location.
Than that described above, in addition it is also necessary to which explanation is " one embodiment ", " another implementation spoken of in this manual
Example ", " embodiment " etc., refer to that the specific features, structure or the feature that combine embodiment description are included in the application summary
Property description at least one embodiment in.It is not necessarily to refer to same reality that statement of the same race, which occur, in multiple places in the description
Apply example.Furthermore, it is understood that when describing a specific features, structure or feature with reference to any embodiment, what is advocated is knot
Other embodiment is closed to realize that this feature, structure or feature are also fallen within the scope of the present invention.
Although reference be made herein to invention has been described for multiple explanatory embodiments of the invention, however, it is to be understood that
Those skilled in the art can be designed that a lot of other modification and embodiment, and these modifications and embodiment will fall in this Shen
Please be within disclosed spirit and spirit.More specifically, can in the range of disclosure, drawings and claims
A variety of variations and modifications are carried out with the building block to theme composite configuration and/or layout.Except to building block and/or layout
Outside the variations and modifications of progress, to those skilled in the art, other purposes also will be apparent.
Claims (9)
1. a kind of control method of the driving long-distance intelligent automatic running based on virtual reality, it is characterised in that described method bag
Include：
Step A, host computer call 3 D monitoring software according to live building size, and three-dimensional is set up at the scene to driving and driving
Model；
Step B, when touching travel switch in running of driving a vehicle, current signal in place is transmitted to can by travel switch
Programmed logic controller, as position of the programmable logic controller (PLC) according to where the current travel switch of transmission signal, is calculated
Position coordinates where current driving；The lap signal for each upper bearing rotary of driving a vehicle is transmitted to programmable by encoder again and patrolled
Controller is collected, by programmable logic controller (PLC) according to current lap signal, the position coordinates where current driving is calculated；
Step C, programmable logic controller (PLC) are instructed according to target location, are recalled target location and are instructed corresponding detailed coordinate, with
The coordinate of the driving position calculated by the signal in place and the lap signal is compared, according to comparing
As a result instructed to frequency converter output control, then rotating speed and the rotating of variable-frequency motor are controlled according to control instruction by frequency converter, from
And control advance and the stroke retreated and the speed of operation of driving；
The real-time location coordinates of driving are transmitted through the network to host computer by step D, programmable logic controller (PLC), by host computer root
According to the real-time location coordinates of driving, the real time position of threedimensional model middle rolling car is adjusted, makes the road location in threedimensional model with showing
The situation of field keeps synchronous.
2. the control method of the driving long-distance intelligent automatic running according to claim 1 based on virtual reality, its feature
It is：Threedimensional model in the step A is according to 1 by modeling software by the site space where driving and driving:1 ratio
Example is really reflected into three-dimensional scenic.
3. the control method of the driving long-distance intelligent automatic running according to claim 1 based on virtual reality, its feature
It is：Travel switch in the step B is multiple, and it is corresponding to by trolley track to be fixedly installed in the cart of driving respectively
Position.
4. the control method of the driving long-distance intelligent automatic running based on virtual reality according to claim 1 or 3, it is special
Levy and be：Encoder in the step B is multiple, and is respectively arranged in the cart wheel bearing of driving, car wheel bearing
And grab bucket motor bearings on, for bearing synchronous rotary.
5. the control method of the driving long-distance intelligent automatic running according to claim 4 based on virtual reality, its feature
It is：Encoder in the step B transmits lap signal to programmable logic controller (PLC) by way of DP is communicated；Institute
State programmable logic controller (PLC) in step C and transmit control instruction to frequency converter also by DP communication modes.
6. the control method of the driving long-distance intelligent automatic running according to claim 1 based on virtual reality, its feature
It is：Target location instruction in the step C is transmitted through the network to programmable logic controller (PLC), and target position for host computer
It is set to the optional position in threedimensional model middle rolling car stroke.
7. the control method of the driving long-distance intelligent automatic running according to claim 1 based on virtual reality, its feature
It is：Also include in the step C, default danger zone coordinate threshold range, control are passed through by programmable logic controller (PLC)
Driving makes it cannot be introduced into danger zone, or after driving enters in the danger zone coordinate threshold range, to host computer
Feedback alarm information.
8. the control method of the driving long-distance intelligent automatic running according to claim 7 based on virtual reality, its feature
It is：Multilayered security protection coordinate threshold range, the Multilayered security protection have also been preset in the programmable logic controller (PLC)
Coordinate threshold range is placed in the front end of danger zone coordinate threshold range, when driving enters the Multilayered security protection coordinate threshold value
After scope, from programmable controller to host computer feedback alerts information.
9. the control method of the driving long-distance intelligent automatic running according to claim 1 based on virtual reality, its feature
It is：Programmable logic controller (PLC) is instructed to frequency converter output control in the step C, so as to control the variable-frequency motor speed of service
Mode be：Run at least 10 seconds with low frequency, then switch to high-frequency operation, when road location is close to target location 2 to 4
Meter Shi, the speed of service is switched to low frequency by high-frequency and run.
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| CN201710320709.3A CN107247439A (en) | 2017-05-09 | 2017-05-09 | The control method of driving long-distance intelligent automatic running based on virtual reality |
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| CN201710320709.3A CN107247439A (en) | 2017-05-09 | 2017-05-09 | The control method of driving long-distance intelligent automatic running based on virtual reality |
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Application publication date: 20171013 |