CN108287551A - Based on route round-trip industrial locomotive running gear and method - Google Patents
Based on route round-trip industrial locomotive running gear and method Download PDFInfo
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- CN108287551A CN108287551A CN201810213299.7A CN201810213299A CN108287551A CN 108287551 A CN108287551 A CN 108287551A CN 201810213299 A CN201810213299 A CN 201810213299A CN 108287551 A CN108287551 A CN 108287551A
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- 238000000034 method Methods 0.000 title claims abstract description 26
- 238000004891 communication Methods 0.000 claims description 4
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- 238000005516 engineering process Methods 0.000 abstract description 3
- 230000009286 beneficial effect Effects 0.000 description 2
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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Abstract
The present invention is suitable for industrial locomotive control technology field, provides a kind of industrial locomotive running gear round-trip based on route and method, system include：Belt encoder is parallel to default walking path setting；Code reader on industrial locomotive, code reader are located at the same horizontal position with belt encoder, and in the distance of reaction of belt encoder；PLC controller is connect with each code reader wireless telecommunications, wherein code reader incudes current location address coding of the industrial locomotive along default walking path process, and the current location address coding of reading is sent to PLC controller；Destination address coding-control industrial locomotive of the PLC controller based on current location address coding and corresponding industrial locomotive is travelled to target location.The system automatically controls industrial locomotive based on the current location information that code reader is read and runs to target location, accurate positioning；Safe distance based on setting controls side's industrial locomotive parking or evacuation, avoids the problem that mutually colliding.
Description
Technical field
The invention belongs to industrial locomotive control technology fields, provide a kind of industrial machine garage round-trip based on route
Walking system and method.
Background technology
The locomotive of the reciprocal traveling of route, reaches each target job in the course of travel in domestic industrial production at present
It is all made of artificial visual operation in the operation control of point, is aided with electromagnetism limit and grating sensor confirms that position mode controls locomotive
Production control is carried out, the industrial locomotive under Traditional control pattern has the control stability of production locomotive and accurate in operation
The problem of property varies with each individual.
Invention content
The embodiment of the present invention provides a kind of industrial locomotive running gear round-trip based on route, it is intended to solve existing
The problem of control stability and accuracy of the industrial locomotive in operation vary with each individual.
The invention is realized in this way a kind of industrial locomotive running gear round-trip based on route, the system include：
Belt encoder is parallel to default walking path setting；
Code reader on industrial locomotive, code reader is located at the same horizontal position with belt encoder, and is located at belt
In the distance of reaction of encoder；
PLC controller is connect with each code reader wireless telecommunications, wherein
Code reader incudes industrial locomotive along the current location address coding for presetting walking path process, and by the current of reading
Location address coding is sent to PLC controller；
Destination address coding-control industrial locomotive of the PLC controller based on current location address coding and corresponding industrial locomotive
It travels to target location.
Further, the system also includes：
Middle control, middle control are connected with PLC controller communication, wherein
The destination address of the current location address coding of industrial locomotive and corresponding industrial locomotive is encoded and is sent by PLC controller
To middle control, middle control shows the current location and target location of each industrial locomotive.
Further, which is characterized in that the system also includes：
Input unit is communicated with middle control and is connected, wherein
Input unit is used to receive the command information of user's typing, and command information includes：Locomotive identification code and locomotive identification
The corresponding destination address of code, and command information is sent to PLC controller by middle control, so that PLC controller control is corresponding
Industrial locomotive is travelled to the destination address of typing.
The invention is realized in this way the industrial locomotive walking side based on the round-trip industrial locomotive running gear of route
Method, described method includes following steps：
S1, PLC controller receive the current location address coding that code reader is sent；
S2, PLC controller are encoded based on the destination address of current location address coding and corresponding industrial locomotive to calculate work
Distance of the industry locomotive current location far from target location；
S3, PLC controller control the speed of travel of corresponding industrial locomotive based on distance of the current location far from target location.
Further, further include after step s 3：
S4, when PLC controller detect industrial locomotive current location reach parking position when, to corresponding industrial locomotive
It sends locking travel commands and stops at target location so that corresponding industrial locomotive carries out shut-down operation.
Further, further include after step s4：
S5, when PLC controller detection industrial locomotive stops at target location, send job instruction to corresponding industrial vehicle,
So that industrial locomotive is based on job instruction and carries out related operation.
Further, in the process of walking, PLC controller controls wherein one to industrial locomotive based on the safe distance of setting
Platform industrial locomotive is avoided or is stopped.
Further, it is avoided or is stopped specific packet based on the safe distance of setting to control a wherein industrial locomotive
Include following steps：
S31, the distance between two operation industrial locomotives is calculated based on the current location address coding of operation industrial locomotive；
If the distance between S32, two industrial locomotives is less than the safe distance of setting, the travel direction of two vehicles is obtained；
If S33, two industrial locomotives are to travel in the same direction, control posterior industrial locomotive and slow down or stop traveling；
If S34, two industrial locomotives travel in opposite directions, the task order based on two industrial locomotives is come the posterior work of control task
Industry locomotive enters parking stall and is avoided.
Further, step S34 specifically comprises the following steps：
S341, it obtains from the nearest parking stall in evacuation industrial locomotive traveling front and the traveling nearest parking stall in rear；
S342, judge that the nearest parking stall in traveling front is in traveling front or the traveling rear of advance industrial locomotive；
If S343, judging that parking stall is in front of the traveling of advance industrial locomotive recently in traveling front, controls advance work
Industry locomotive stops traveling, is driven into front of traveling recently behind parking stall in control evacuation industrial locomotive, control advance industrial locomotive after
It is continuous to be travelled towards former travel direction, where advance industrial locomotive crosses evacuation industrial locomotive when parking stall, control evacuation industrial machine
Vehicle drives into default walking path, and continues to travel towards former travel direction.
Further, if judging, the nearest parking stall in traveling front is in the traveling rear of advance industrial locomotive, and control is kept away
Industrial locomotive is allowed to drive into the traveling nearest parking stall in rear, where advance industrial locomotive crosses evacuation industrial locomotive when parking stall,
Control evacuation industrial locomotive drives into default walking path, and continues to travel towards former travel direction.
The industrial locomotive running gear and method round-trip based on route provided in an embodiment of the present invention have and have as follows
Beneficial effect：
1. automatically controlling industrial locomotive based on the current location information that code reader is read runs to target location, positioning accurate
It is accurate；
2. the safe distance based on setting controls side's industrial locomotive parking or evacuation, avoid the problem that mutually colliding.
Description of the drawings
Fig. 1 is the structural representation of the industrial locomotive running gear round-trip based on route provided in an embodiment of the present invention
Figure；
Fig. 2 is the flow chart of the industrial locomotive traveling method round-trip based on route provided in an embodiment of the present invention.
Specific implementation mode
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
Fig. 1 is the structural representation of the industrial locomotive running gear round-trip based on route provided in an embodiment of the present invention
Figure, for convenience of description, only shows and the relevant part of the embodiment of the present invention.
The system includes：
Belt encoder is parallel to default walking path setting；Code reader on industrial locomotive, code reader and belt
Encoder is located at the same horizontal position, and in the distance of reaction of belt encoder；PLC controller, it is wireless with each code reader
Communication connection, wherein
Code reader incudes industrial locomotive along the current location address coding for presetting walking path process, and by the current of reading
Location address coding is sent to PLC controller；
Destination address coding-control industrial locomotive of the PLC controller based on current location address coding and corresponding industrial locomotive
It travels to target location.
In embodiments of the present invention, the system also includes：
Middle control, middle control are connected with PLC controller communication, wherein
The destination address of the current location address coding of industrial locomotive and corresponding industrial locomotive is encoded and is sent by PLC controller
To middle control, middle control shows the current location and target location of each industrial locomotive.
In embodiments of the present invention, the system also includes：
Input unit is communicated with middle control and is connected, and input unit is used to receive the command information of user's typing, command information packet
It includes：Locomotive identification code and the corresponding destination address of locomotive identification code, and command information is sent to PLC controller by middle control,
So that PLC controller controls corresponding industrial locomotive and travels to the destination address of typing.
In embodiments of the present invention, middle control is equipped with mode switch element, the control model for switching industrial locomotive, i.e.,
For the switching between automatic control mode and MANUAL CONTROL mode.
Fig. 2 is the industrial locomotive traveling method flow chart round-trip based on route provided in an embodiment of the present invention, the party
Method includes：
S1, PLC controller receive the current location address coding that code reader is sent；
S2, PLC controller are encoded based on the destination address of current location address coding and corresponding industrial locomotive to calculate work
Distance of the industry locomotive current location far from target location；
S3, PLC controller control the speed of travel of corresponding industrial locomotive based on distance of the current location far from target location.
In embodiments of the present invention, the speed of travel of industrial locomotive and current location be far from positive correlation at a distance from target location,
I.e. current location is closer far from target location, and the speed of travel of industrial locomotive is smaller, is conducive to control industrial locomotive in target location
Parking operation.
In embodiments of the present invention, further include after step s 3：
S4, when PLC controller detect industrial locomotive current location reach parking position when, to corresponding industrial locomotive
It sends locking travel commands and stops at target location so that corresponding industrial locomotive carries out shut-down operation.
In embodiments of the present invention, further include after step s4：
S5, when PLC controller detection industrial locomotive stops at target location, send job instruction to corresponding industrial vehicle,
So that industrial locomotive is based on job instruction and carries out related operation.
In embodiments of the present invention, there are the operations simultaneously of more industrial locomotives on default walking path, therefore, avoid each
The mutual collision of industrial locomotive is the problem of must take into consideration, in embodiments of the present invention, industrial locomotive in the process of walking, PLC
Controller is controlled corresponding industrial locomotive based on the safe distance of setting and is avoided or stopped, and is specifically comprised the following steps：
S31, the distance between two operation industrial locomotives is calculated based on the current location address coding of operation industrial locomotive；
If the distance between S32, two industrial locomotives is less than the safe distance of setting, the travel direction of two vehicles is obtained；
If S33, two industrial locomotives are to travel in the same direction, control posterior industrial locomotive and slow down or stop traveling；
If S34, two industrial locomotives travel in opposite directions, the task order based on two industrial locomotives is come the posterior work of control task
Industry locomotive enters parking stall and is avoided.
The parking stall is set to both sides and the starting point of default walking path.
In embodiments of the present invention, step S34 specifically comprises the following steps：
S341, it obtains from the nearest parking stall in evacuation industrial locomotive traveling front and the traveling nearest parking stall in rear；
S342, judge that the nearest parking stall in traveling front is in traveling front or the traveling rear of advance industrial locomotive；
If S343, judging that parking stall is in front of the traveling of advance industrial locomotive recently in traveling front, controls advance work
Industry locomotive stops traveling, is driven into front of traveling recently behind parking stall in control evacuation industrial locomotive, control advance industrial locomotive after
It is continuous to be travelled towards former travel direction, where advance industrial locomotive crosses evacuation industrial locomotive when parking stall, control evacuation industrial machine
Vehicle drives into default walking path, and continues to travel towards former travel direction.
If S344, judging that the nearest parking stall in traveling front is in the traveling rear of advance industrial locomotive, evacuation work is controlled
Industry locomotive drives into the traveling nearest parking stall in rear, where advance industrial locomotive crosses evacuation industrial locomotive when parking stall, control
Evacuation industrial locomotive drives into default walking path, and continues to travel towards former travel direction.
When executing step S344, if evacuation industrial locomotive when driving into the traveling nearest parking stall in rear, at traveling rear
There is also intermediate operation industrial locomotives between nearest parking stall and evacuation industrial locomotive, then control intermediate operation industrial locomotive and evacuation
Industrial locomotive drives into the traveling nearest parking stall in rear together.
Evacuation industrial locomotive is the posterior industrial locomotive of task, and advance industrial locomotive is the preceding industrial locomotive of task, should
Sequence of the industrial locomotive based on the task of execution enters default walking path and starts operation.
The industrial locomotive running gear and method round-trip based on route provided in an embodiment of the present invention have and have as follows
Beneficial effect：
1. automatically controlling industrial locomotive based on the current location information that code reader is read runs to target location, positioning accurate
It is accurate；
2. the safe distance based on setting controls side's industrial locomotive parking or evacuation, avoid the problem that mutually colliding.
The upper only presently preferred embodiments of the present invention, is not intended to limit the invention, all spirit in the present invention
With within principle made by all any modification, equivalent and improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of industrial locomotive running gear round-trip based on route, which is characterized in that the system comprises：
Belt encoder is parallel to default walking path setting；
Code reader on industrial locomotive, code reader is located at the same horizontal position with belt encoder, and is encoded positioned at belt
In the distance of reaction of device；
PLC controller is connect with each code reader wireless telecommunications, wherein
Code reader incudes industrial locomotive along the current location address coding for presetting walking path process, and by the current location of reading
Address coding is sent to PLC controller；
Destination address coding-control industrial locomotive traveling of the PLC controller based on current location address coding and corresponding industrial locomotive
To target location.
2. as described in claim 1 based on the round-trip industrial locomotive running gear of route, which is characterized in that the system
Further include：
Middle control, middle control are connected with PLC controller communication, wherein
During the destination address coding of the current location address coding of industrial locomotive and corresponding industrial locomotive is sent to by PLC controller
Control, middle control show the current location and target location of each industrial locomotive.
3. as described in claim 1 based on the round-trip industrial locomotive running gear of route, which is characterized in that the system
Further include：
Input unit is communicated with middle control and is connected, wherein
Input unit is used to receive the command information of user's typing, and command information includes：Locomotive identification code and locomotive identification code pair
The destination address answered, and command information is sent to PLC controller by middle control, so that PLC controller controls corresponding industry
Locomotive driving to typing destination address.
4. it is a kind of based on described in claims 1 to 3 any claim based on the industrial locomotive running gear that route is round-trip
Industrial locomotive traveling method, which is characterized in that described method includes following steps：
S1, PLC controller receive the current location address coding that code reader is sent；
S2, PLC controller are encoded based on the destination address of current location address coding and corresponding industrial locomotive to calculate industrial machine
Distance of the vehicle current location far from target location；
S3, PLC controller control the speed of travel of corresponding industrial locomotive based on distance of the current location far from target location.
5. as claimed in claim 4 based on the round-trip industrial locomotive traveling method of route, which is characterized in that step S3 it
After further include：
S4, when PLC controller detect industrial locomotive current location reach parking position when, to corresponding industrial locomotive send
Travel commands are locked, so that corresponding industrial locomotive carries out shut-down operation, stop at target location.
6. as claimed in claim 5 based on the round-trip industrial locomotive traveling method of route, which is characterized in that step S4 it
After further include：
S5, when PLC controller detection industrial locomotive stops at target location, send job instruction to corresponding industrial vehicle so that
Industrial locomotive is based on job instruction and carries out related operation.
7. as claimed in claim 4 based on the round-trip industrial locomotive traveling method of route, which is characterized in that industrial locomotive exists
In walking process, PLC controller is avoided or is stopped to control a wherein industrial locomotive based on the safe distance of setting.
8. as claimed in claim 7 based on the round-trip industrial locomotive traveling method of route, which is characterized in that based on setting
Safe distance specifically comprises the following steps to control a wherein industrial locomotive and be avoided or stopped：
S31, the distance between two operation industrial locomotives is calculated based on the current location address coding of operation industrial locomotive；
If the distance between S32, two industrial locomotives is less than the safe distance of setting, the travel direction of two vehicles is obtained；
If S33, two industrial locomotives are to travel in the same direction, control posterior industrial locomotive and slow down or stop traveling；
If S34, two industrial locomotives travel in opposite directions, the task order based on two industrial locomotives is come the posterior industrial machine of control task
Vehicle enters parking stall and is avoided.
9. as claimed in claim 8 based on the round-trip industrial locomotive traveling method of route, which is characterized in that step S34 tools
Body includes the following steps：
S341, it obtains from the nearest parking stall in evacuation industrial locomotive traveling front and the traveling nearest parking stall in rear；
S342, judge that the nearest parking stall in traveling front is in traveling front or the traveling rear of advance industrial locomotive；
If S343, judging that parking stall is in front of the traveling of advance industrial locomotive recently in traveling front, controls advance industrial machine
Vehicle stopping traveling being driven into control evacuation industrial locomotive in front of traveling behind nearest parking stall, and control advance industrial locomotive continues court
Former travel direction traveling, where advance industrial locomotive crosses evacuation industrial locomotive when parking stall, control evacuation industrial locomotive is sailed
Enter default walking path, and continues to travel towards former travel direction.
10. as claimed in claim 9 based on the round-trip industrial locomotive traveling method of route, which is characterized in that if judging row
Sailing front, parking stall be in the traveling rear of advance industrial locomotive recently, then controls evacuation industrial locomotive and drive into that travel rear nearest
Parking stall, where advance industrial locomotive crosses evacuation industrial locomotive when parking stall, control evacuation industrial locomotive drives into default row
Path is walked, and continues to travel towards former travel direction.
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| CN201810213299.7A CN108287551B (en) | 2018-03-15 | 2018-03-15 | Industrial locomotive traveling system and method based on fixed route round trip |
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| CN201810213299.7A CN108287551B (en) | 2018-03-15 | 2018-03-15 | Industrial locomotive traveling system and method based on fixed route round trip |
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| CN108287551B (en) | 2024-03-08 |
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