CN107380932A - A kind of intelligent track car control method and system - Google Patents
A kind of intelligent track car control method and system Download PDFInfo
- Publication number
- CN107380932A CN107380932A CN201710513563.4A CN201710513563A CN107380932A CN 107380932 A CN107380932 A CN 107380932A CN 201710513563 A CN201710513563 A CN 201710513563A CN 107380932 A CN107380932 A CN 107380932A
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- China
- Prior art keywords
- railcar
- intelligent
- control method
- unit
- track
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
A kind of railcar intelligent control method, comprises the following steps：Step S1, the path that track designation car needs travel and the loaded material in railcar are laid in advance；Step S2, the good railcar of default settings need the position stopped, the parking detection unit of sense car in place are provided in the position；Step S3, railcar power switch is opened, presses start button, the route that railcar can specify according to control strategy along step S1；Step S4, railcar pass current location and current running state back by way of radio communication；Step S5, railcar reach the specified location in given step S2, you can complete parking and unloading materials.And provide a kind of railcar intelligence control system.The present invention provides the intelligent track car control method and system that a kind of automaticity is higher, transfer efficiency is higher.
Description
Technical field
The invention belongs to industrial logistics delivery technical field of automation, more particularly to a kind of intelligent track car control method and
System.
Background technology
Traditional industrial flow-line often uses the transmission means of belt, but during utilization belt transport, is needed when running into turning
Want middle transition mechanism to carry out transition, cause belt discontinuous, underaction.Modern industrial flow-line uses more and more
Railcar induction system, but existing railcar induction system is simple there is conveying circuit, and automaticity is relatively low, conveying speed
The problems such as degree is slower, and path wear is serious so that transfer efficiency is restricted, and can not meet various pahtfinder hards and modernization
Industrial use demand.
The content of the invention
In order to overcome in existing railcar induction system automaticity is low, path wear is serious, transfer efficiency is relatively low,
The deficiency of the use demand of various pahtfinder hards and modernization industry production can not be met, the present invention provides a kind of automation journey
The intelligent track car control method and system that degree is higher, transfer efficiency is higher.
The technical solution adopted for the present invention to solve the technical problems is：
A kind of railcar intelligent control method, the described method comprises the following steps：
Step S1, the path that track designation car needs travel and the loaded material in railcar are laid in advance；
Step S2, the good railcar of default settings need the position stopped, are provided for sense car in the position and arrive
The parking detection unit of position；
Step S3, railcar power switch is opened, presses start button, railcar can be according to control strategy along step S1
In the route specified；
Step S4, railcar pass current location and current running state back by way of radio communication；
Step S5, railcar reach the specified location in given step S2, you can complete parking and unloading materials.
Further, in the step S3, according to the deviation between current orbit car present position and orbit centre, draw and turn
To the control strategy of control unit.
Further, intelligent track front side is equipped with two metal detection sensors, by the two metal detection sensors
It is poor that the numerical value of gained is made, income value as railcar current location relative to orbit centre position deviation.
Further, being calculated according to deviation needs controlled quentity controlled variable to be given, and the avatar of the deviation is：Given frequency
The PWM ripples of a certain dutycycle under rate.The controlled quentity controlled variable is synthesized by three parts：First railcar does not beat controlled quentity controlled variable during angle, the
Two parts are that current departure is multiplied by a certain coefficient, and the coefficient determines after should being debugged under specific environment, and Part III is to work as
The difference of the departure of preceding departure and previous controlling cycle is multiplied by a certain coefficient, and the coefficient is determined after should being debugged under specific environment
It is fixed.
Preferably, the parking detection unit uses tongue tube magnetic control module, and the position peace that railcar needs to stop turns magnetic
Iron.It is of course also possible to use other modes.
A kind of Intelligent track vehicle control system, the system include intelligent track car system and track, the intelligent track
Car system include power supply unit, sensor detection unit, main control-processing unit, turning control cell, driving execution unit, stop
Car detection unit and wireless communication unit；Said supply unit is used to be responsible for providing intelligent vehicle system bulk supply；The sensing
Device detection unit is used to be responsible for the traveling-position of detection railcar in real time, the offset with track；The main control-processing unit
For realizing railcar control；The turning control cell is used to be responsible for providing the correct travel direction of railcar；The driving
Execution unit is used to be responsible for control railcar speed；The parking detection unit is used to detect Parking condition and under particular cases
Complete shut-down operation；The wireless communication unit is used for the transport condition for sending railcar in real time in a manner of radio communication.
Beneficial effects of the present invention are mainly manifested in：Make rail mounted automatic conveying system while ensureing safe and efficient,
The efficiency of logistics delivery is improved, saves drain on manpower and material resources.It can be widely applied to aluminum electrolysis industry, automobile processing, thing
In the supply line of the modernization industry such as stream processing.
Brief description of the drawings
Fig. 1 is the structural principle block diagram of the present invention.
Fig. 2 is the control method flow chart of the present invention.
Fig. 3 is vehicle track running signal of the present invention, wherein, 1 is track, and 2 be track centerline, and 3 be railcar.
Embodiment
The invention will be further described below in conjunction with the accompanying drawings.
1~Fig. 3 of reference picture, a kind of railcar intelligent control method, comprises the following steps：
Step S1, the path that specified railcar needs travel and the loaded material in railcar, laying are laid in advance
The material in path is common metal aluminum foil；
Step S2, the good railcar of default settings need the position stopped, are provided for sense car in the position and arrive
The parking detection unit of position, the parking detection unit, which uses, places common one piece of magnet at aluminium foil, it is of course also possible to use
Other detection modes；
Step S3, railcar power switch is opened, presses start button, railcar can be according to control strategy along step S1
In the route specified；
Step S4, railcar pass current location and current running state back by way of radio communication；
Step S5, railcar reach the specified location in given step S2, you can complete parking and unloading materials.
Further, in the step S3, according to the deviation between current orbit car present position and orbit centre, draw and turn
To the control strategy of control unit.
Further, intelligent track front side is equipped with two metal detection sensors, by the two metal detection sensors
It is poor that the numerical value of gained is made, income value as railcar current location relative to orbit centre position deviation.
Further, being calculated according to deviation needs controlled quentity controlled variable to be given, and the avatar of the deviation is：Given frequency
The PWM ripples of a certain dutycycle under rate.The controlled quentity controlled variable is synthesized by three parts：First railcar does not beat controlled quentity controlled variable during angle, the
Two parts are that current departure is multiplied by a certain coefficient, and the coefficient determines after should being debugged under specific environment, and Part III is to work as
The difference of the departure of preceding departure and previous controlling cycle is multiplied by a certain coefficient, and the coefficient is determined after should being debugged under specific environment
It is fixed.
The step S1, the metal aluminum foil width of selection is 50mm, and length is according to being actually needed into professional etiquette using path
Draw.
The step S2, the magnet of selection for ease of carrying neodymium iron boron strong magnet small column.
The step S3, the speed that can be run with manual control track intelligent vehicle.
The step S4, the running status of railcar is transmitted back to PC main frames from bluetooth serial ports communication mode.
A kind of Intelligent track vehicle control system, the system include intelligent track car system and track, the intelligent track
Car system include power supply unit, sensor detection unit, main control-processing unit, turning control cell, driving perform list
Member, parking detection unit and wireless communication unit etc..
Said supply unit is mainly responsible for providing intelligent vehicle system bulk supply.The sensor detection unit is mainly responsible for
The traveling-position of detection railcar in real time, the offset with track.It is overall that the main control-processing unit is mainly responsible for the present invention
The implementation of control program.The turning control cell is mainly responsible for providing the correct travel direction of railcar.The driving performs
Unit is mainly responsible for control railcar speed.The parking detection unit is mainly responsible for detection Parking condition, under particular cases
Complete shut-down operation.The wireless communication unit is mainly responsible in a manner of radio communication, sends the traveling shape of railcar in real time
State.Under specific circumstances, shut-down operation can be completed by way of radio communication.
The complete real-time information interaction of the present invention, the combinations of various comprehensive units cause whole railcar Transmission system compared with
Automatic running is realized under high speed, substantially increases transfer efficiency.
The present invention uses storage battery power supply, can meet the needs of material conveys under some particular surroundings.
Power supply unit described in this example, its battery use the 2000mAh batteries of Dongguan Bo Si electronics scientific technology co,
Output DC voltage is 8V.The electricity such as 5V, 3.3V are obtained by voltage stabilizing chips such as TPS7350, TPS7333, SPX1117, LM2940
Source, supply other units in intelligent track car system.
Sensor detection unit described in this example, using a kind of new metal detection sensor, car is detected by it
Relative deviation between body and track, so as to provide correct travel direction.
Main control-processing unit described in this example, using former TM (existing grace intelligence Pu semiconductor) company
Kinetis series A RM processors MK60DN512ZVLQ10, single-chip minimum system plate is built based on 3.
Turning control cell described in this example, the S3010 series steering wheels produced using double leaf FUTUBA companies, speed are
0.16s/60 °, peak torque 6.5kg/cm.
Driving execution unit used in this example, the IR2104 half-bridge driven chips produced using IR companies, driving 4
MOSFET break-make, forms " H " bridge motor-drive circuit, and velocity measuring uses 512 line two-phase photoelectric encoders.
Parking detection unit used in this example, using tongue tube magnetic control module, detection car body lower section magnetic field.Detection
To after magnetic field, tongue tube provides stop sign, and main control-processing unit control driving execution unit makes railcar stop.
The rotating direction control method that present example provides, can be according between current orbit car present position and orbit centre
Deviation, draw the control strategy of turning control cell, i.e., the angle that S3010 steering wheels should provide in turning control cell.Below
Provide the specific explanations of this control method.
A kind of computational methods of departure are provided first.Intelligent track front side passes equipped with two metal detections in this example
Sensor, by obtained by the two metal detection sensors numerical value make it is poor, income value as railcar current location relative to rail
The deviation of road center.
The specific implementation process of the control method is that being calculated according to deviation needs controlled quentity controlled variable to be given.The body of deviation
Existing form is the PWM ripples of a certain dutycycle under given frequency.The controlled quentity controlled variable is synthesized by three parts：First railcar is not beaten
Controlled quentity controlled variable during angle, Part II are that current departure is multiplied by a certain coefficient, and the coefficient is determined after should being debugged under specific environment
Fixed, Part III is that the difference of the departure of current deviation amount and previous controlling cycle is multiplied by a certain coefficient, and the coefficient should be specific
Determined after being debugged under environment.
In summary, the control method in the embodiment of the present invention can effectively control intelligent track car along particular path
Traveling process.The preferable embodiment of the present invention is the foregoing is only, but protection scope of the present invention is not limited thereto,
Any one skilled in the art is in the technical scope that the present invention provides, the conversion or replacement that can readily occur in,
It should all be included within the scope of the present invention.Therefore, protection scope of the present invention should be with the protection model of claims
Enclose and be defined.
Claims (6)
- A kind of 1. railcar intelligent control method, it is characterised in that：It the described method comprises the following steps：Step S1, the path that track designation car needs travel and the loaded material in railcar are laid in advance；Step S2, the good railcar of default settings need the position stopped, and sense car is provided in the position in place Parking detection unit；Step S3, railcar power switch is opened, presses start button, railcar can be according to control strategy along step S1 middle fingers Fixed route；Step S4, railcar pass current location and current running state back by way of radio communication；Step S5, railcar reach the specified location in given step S2, you can complete parking and unloading materials.
- A kind of 2. railcar intelligent control method as claimed in claim 1, it is characterised in that：In the step S3, according to work as Deviation between preceding railcar present position and orbit centre, draw the control strategy of turning control cell.
- A kind of 3. railcar intelligent control method as claimed in claim 2, it is characterised in that：Intelligent track front side is equipped with two Individual metal detection sensor, it is poor that the numerical value obtained by the two metal detection sensors is made, and income value is as the current of railcar Position relative to orbit centre position deviation.
- A kind of 4. railcar intelligent control method as claimed in claim 3, it is characterised in that：Needs are calculated according to deviation to give The controlled quentity controlled variable gone out, the avatar of the deviation are：The PWM ripples of a certain dutycycle under given frequency.The controlled quentity controlled variable is by three Division into：First railcar does not beat controlled quentity controlled variable during angle, and Part II is that current departure is multiplied by a certain coefficient, and this is Number determines that Part III is that the difference of the departure of current deviation amount and previous controlling cycle is multiplied by after should being debugged under specific environment A certain coefficient, the coefficient determine after should being debugged under specific environment.
- A kind of 5. railcar intelligent control method as described in one of Claims 1 to 4, it is characterised in that：The parking detection Unit uses tongue tube magnetic control module, and the position peace that railcar needs to stop turns magnet.
- A kind of 6. system that intelligent track car control method as claimed in claim 1 is realized, it is characterised in that：The system bag Include intelligent track car system and track, the intelligent track car system includes power supply unit, sensor detection unit, at main control Manage unit, turning control cell, driving execution unit, parking detection unit and wireless communication unit；Said supply unit is used for It is responsible for providing intelligent vehicle system bulk supply；The sensor detection unit is used to be responsible for the traveling position of detection railcar in real time Put, the offset with track；The main control-processing unit is used to realize railcar control；The turning control cell is used to bear Duty provides the correct travel direction of railcar；The driving execution unit is used to be responsible for control railcar speed；The parking inspection Unit is surveyed to be used to detect Parking condition and complete shut-down operation under particular cases；The wireless communication unit is used for channel radio The mode of letter sends the transport condition of railcar in real time.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710513563.4A CN107380932A (en) | 2017-06-29 | 2017-06-29 | A kind of intelligent track car control method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710513563.4A CN107380932A (en) | 2017-06-29 | 2017-06-29 | A kind of intelligent track car control method and system |
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| Publication Number | Publication Date |
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| CN107380932A true CN107380932A (en) | 2017-11-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710513563.4A Pending CN107380932A (en) | 2017-06-29 | 2017-06-29 | A kind of intelligent track car control method and system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110085119A (en) * | 2019-05-21 | 2019-08-02 | 李良杰 | From releasing type display screen |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110085119A (en) * | 2019-05-21 | 2019-08-02 | 李良杰 | From releasing type display screen |
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Application publication date: 20171124 |