CN108287551B - Industrial locomotive traveling system and method based on fixed route round trip - Google Patents
Industrial locomotive traveling system and method based on fixed route round trip Download PDFInfo
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- CN108287551B CN108287551B CN201810213299.7A CN201810213299A CN108287551B CN 108287551 B CN108287551 B CN 108287551B CN 201810213299 A CN201810213299 A CN 201810213299A CN 108287551 B CN108287551 B CN 108287551B
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- 230000006698 induction Effects 0.000 claims abstract description 4
- 230000000875 corresponding effect Effects 0.000 description 19
- 230000001276 controlling effect Effects 0.000 description 18
- 230000009286 beneficial effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000004519 manufacturing process Methods 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 invention is suitable for the technical field of industrial locomotive control, and provides an industrial locomotive traveling system and method based on fixed route round trip, wherein the system comprises: the belt encoder is arranged parallel to a preset walking path; the code reader is arranged on the industrial locomotive, is positioned at the same horizontal position with the belt encoder and is positioned within the induction distance of the belt encoder; the PLC is in wireless communication connection with each code reader, wherein the code readers sense the current position address codes of the industrial locomotive along the preset travelling path process and send the read current position address codes to the PLC; the PLC controller controls the industrial locomotive to run to the target position based on the current position address code and the target address code of the corresponding industrial locomotive. The system automatically controls the industrial locomotive to walk to the target position based on the current position information read by the code reader, and the positioning is accurate; and controlling one industrial locomotive to stop or avoid based on the set safety distance, so as to avoid the problem of mutual collision.
Description
Technical Field
The invention belongs to the technical field of industrial locomotive control, and provides an industrial locomotive running system and method based on fixed route round trip.
Background
The locomotive which moves reciprocally in a fixed route in the current domestic industrial production adopts manual visual operation in the operation control of reaching each target operation point on the moving route, and is controlled to carry out production control by assisting in electromagnetic limit and grating sensor confirmation position mode, and the industrial locomotive in the traditional control mode has the problem that the control stability and accuracy of the production locomotive are different from person to person in the operation.
Disclosure of Invention
The embodiment of the invention provides an industrial locomotive running system based on fixed route round trip, which aims to solve the problem that the control stability and accuracy of the existing industrial locomotive in operation are different from person to person.
The invention is realized in that an industrial locomotive running system based on fixed route round trip, the system comprises:
the belt encoder is arranged parallel to a preset walking path;
the code reader is arranged on the industrial locomotive, is positioned at the same horizontal position with the belt encoder and is positioned within the induction distance of the belt encoder;
a PLC controller which is connected with each code reader in a wireless communication way, wherein,
the code reader senses the current position address code of the industrial locomotive along the preset walking path process and sends the read current position address code to the PLC;
the PLC controller controls the industrial locomotive to run to the target position based on the current position address code and the target address code of the corresponding industrial locomotive.
Further, the system further comprises:
the central control is in communication connection with the PLC controller, wherein,
the PLC controller sends the current position address code of the industrial locomotive and the target address code of the corresponding industrial locomotive to the central control, and the central control displays the current position and the target position of each industrial locomotive.
Further, the system is characterized in that the system further comprises:
an input device in communication with the central control, wherein,
the input device is used for receiving instruction information input by a user, and the instruction information comprises: the locomotive identification code and the target address corresponding to the locomotive identification code, and the command information is sent to the PLC through the central control, so that the PLC controls the corresponding industrial locomotive to run to the recorded target address.
The invention is realized in such a way that the industrial locomotive walking method based on the industrial locomotive walking system with a fixed route back and forth comprises the following steps:
s1, a PLC receives a current position address code sent by a code reader;
s2, the PLC calculates the distance between the current position of the industrial locomotive and the target position based on the current position address code and the target address code of the corresponding industrial locomotive;
and S3, the PLC controls the walking speed of the corresponding industrial locomotive based on the distance between the current position and the target position.
Further, after step S3, the method further includes:
and S4, when the PLC detects that the current position of the industrial locomotive reaches the parking position, sending a locking traveling instruction to the corresponding industrial locomotive so as to stop the corresponding industrial locomotive at the target position.
Further, after step S4, the method further includes:
and S5, when the PLC detects that the industrial locomotive stops at the target position, sending an operation command to the corresponding industrial locomotive so that the industrial locomotive performs related operation based on the operation command.
Further, during the running process of the industrial locomotives, the PLC controller controls one of the industrial locomotives to avoid or stop based on the set safe distance.
Further, controlling one of the industrial locomotives to avoid or stop based on the set safe distance specifically comprises the following steps:
s31, calculating the distance between two working industrial machine workshops based on the current position address codes of the working industrial machines;
s32, if the distance between the two industrial machines is smaller than the set safety distance, acquiring the running directions of the two vehicles;
s33, if the two industrial locomotives run in the same direction, controlling the following industrial locomotive to slow down or stop running;
and S34, if the two industrial locomotives run in opposite directions, controlling the industrial locomotives with subsequent tasks to enter a parking space for avoiding based on the task sequence of the two industrial locomotives.
Further, the step S34 specifically includes the following steps:
s341, acquiring a nearest parking space in front of and behind the avoidance of the industrial locomotive;
s342, judging whether the nearest parking space in front of the running is in front of the running of the advancing industrial locomotive or behind the running;
and S343, if the nearest parking space in front of the driving is judged to be in front of the driving of the forward industrial locomotive, controlling the forward industrial locomotive to stop driving, controlling the forward industrial locomotive to continue driving in the original driving direction after controlling the reverse industrial locomotive to enter the nearest parking space in front of the driving, and controlling the reverse industrial locomotive to enter a preset driving path and continue driving in the original driving direction when the forward industrial locomotive passes through the parking space in which the reverse industrial locomotive is positioned.
Further, if the nearest parking space in front of the driving is judged to be at the rear of the driving of the forward industrial locomotive, the avoidance industrial locomotive is controlled to drive into the nearest parking space in rear of the driving, and when the forward industrial locomotive drives through the parking space where the avoidance industrial locomotive is located, the avoidance industrial locomotive is controlled to drive into a preset running path and continue to drive towards the original running direction.
The industrial locomotive running system and method based on fixed route round trip provided by the embodiment of the invention have the following beneficial effects:
1. the industrial locomotive is automatically controlled to walk to the target position based on the current position information read by the code reader, and the positioning is accurate;
2. and controlling one industrial locomotive to stop or avoid based on the set safety distance, so as to avoid the problem of mutual collision.
Drawings
FIG. 1 is a schematic diagram of an industrial locomotive running system based on fixed route round trip according to an embodiment of the present invention;
FIG. 2 is a flow chart of an industrial locomotive traveling method based on fixed route round trip according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Fig. 1 is a schematic structural diagram of an industrial locomotive running system based on fixed route round trip according to an embodiment of the present invention, and for convenience of explanation, only the portions relevant to the embodiment of the present invention are shown.
The system comprises:
the belt encoder is arranged parallel to a preset walking path; the code reader is arranged on the industrial locomotive, is positioned at the same horizontal position with the belt encoder and is positioned within the induction distance of the belt encoder; a PLC controller which is connected with each code reader in a wireless communication way, wherein,
the code reader senses the current position address code of the industrial locomotive along the preset walking path process and sends the read current position address code to the PLC;
the PLC controller controls the industrial locomotive to run to the target position based on the current position address code and the target address code of the corresponding industrial locomotive.
In an embodiment of the present invention, the system further includes:
the central control is in communication connection with the PLC controller, wherein,
the PLC controller sends the current position address code of the industrial locomotive and the target address code of the corresponding industrial locomotive to the central control, and the central control displays the current position and the target position of each industrial locomotive.
In an embodiment of the present invention, the system further includes:
the input device is connected with the central control communication and is used for receiving instruction information input by a user, and the instruction information comprises: the locomotive identification code and the target address corresponding to the locomotive identification code, and the command information is sent to the PLC through the central control, so that the PLC controls the corresponding industrial locomotive to run to the recorded target address.
In the embodiment of the invention, the central control is provided with a mode switching unit for switching the control mode of the industrial locomotive, namely, switching between an automatic control mode and a manual control mode.
FIG. 2 is a flow chart of an industrial locomotive traveling method based on fixed route round trip, provided by an embodiment of the invention, the method comprises the following steps:
s1, a PLC receives a current position address code sent by a code reader;
s2, the PLC calculates the distance between the current position of the industrial locomotive and the target position based on the current position address code and the target address code of the corresponding industrial locomotive;
and S3, the PLC controls the walking speed of the corresponding industrial locomotive based on the distance between the current position and the target position.
In the embodiment of the invention, the walking speed of the industrial locomotive is positively correlated with the distance between the current position and the target position, namely, the closer the current position is to the target position, the smaller the walking speed of the industrial locomotive is, so that the industrial locomotive is beneficial to controlling the stopping operation of the industrial locomotive at the target position.
In the embodiment of the present invention, after step S3, the method further includes:
and S4, when the PLC detects that the current position of the industrial locomotive reaches the parking position, sending a locking traveling instruction to the corresponding industrial locomotive so as to stop the corresponding industrial locomotive at the target position.
In the embodiment of the present invention, after step S4, the method further includes:
and S5, when the PLC detects that the industrial locomotive stops at the target position, sending an operation command to the corresponding industrial locomotive so that the industrial locomotive performs related operation based on the operation command.
In the embodiment of the invention, a plurality of industrial locomotives are simultaneously operated on a preset walking path, so that the problem that mutual collision of the industrial locomotives is necessary to be considered is avoided, and in the embodiment of the invention, a PLC (programmable logic controller) controls the corresponding industrial locomotives to avoid or stop based on a set safety distance in the walking process of the industrial locomotives, and the method specifically comprises the following steps of:
s31, calculating the distance between two working industrial machine workshops based on the current position address codes of the working industrial machines;
s32, if the distance between the two industrial machines is smaller than the set safety distance, acquiring the running directions of the two vehicles;
s33, if the two industrial locomotives run in the same direction, controlling the following industrial locomotive to slow down or stop running;
and S34, if the two industrial locomotives run in opposite directions, controlling the industrial locomotives with subsequent tasks to enter a parking space for avoiding based on the task sequence of the two industrial locomotives.
The parking spaces are arranged on two sides of the preset walking path and at the starting point.
In the embodiment of the present invention, the step S34 specifically includes the following steps:
s341, acquiring a nearest parking space in front of and behind the avoidance of the industrial locomotive;
s342, judging whether the nearest parking space in front of the running is in front of the running of the advancing industrial locomotive or behind the running;
and S343, if the nearest parking space in front of the driving is judged to be in front of the driving of the forward industrial locomotive, controlling the forward industrial locomotive to stop driving, controlling the forward industrial locomotive to continue driving in the original driving direction after controlling the reverse industrial locomotive to enter the nearest parking space in front of the driving, and controlling the reverse industrial locomotive to enter a preset driving path and continue driving in the original driving direction when the forward industrial locomotive passes through the parking space in which the reverse industrial locomotive is positioned.
And S344, if the nearest parking space in front of the driving is judged to be at the rear of the driving of the forward industrial locomotive, controlling the avoidance industrial locomotive to drive into the nearest parking space in rear of the driving, and controlling the avoidance industrial locomotive to drive into a preset driving path and continue to drive in the original driving direction when the forward industrial locomotive drives through the parking space in which the avoidance industrial locomotive is positioned.
When step S344 is executed, if an intermediate work industrial locomotive is still present between the nearest parking space after traveling and the avoidance industrial locomotive when the avoidance industrial locomotive is driven into the nearest parking space after traveling, the intermediate work industrial locomotive and the avoidance industrial locomotive are controlled to be driven into the nearest parking space after traveling together.
The avoidance industrial locomotive is an industrial locomotive with a task behind, the forward industrial locomotive is an industrial locomotive with a task ahead, and the industrial locomotive enters a preset walking path to start operation based on the sequence of executing the tasks.
The industrial locomotive running system and method based on fixed route round trip provided by the embodiment of the invention have the following beneficial effects:
1. the industrial locomotive is automatically controlled to walk to the target position based on the current position information read by the code reader, and the positioning is accurate;
2. and controlling one industrial locomotive to stop or avoid based on the set safety distance, so as to avoid the problem of mutual collision.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (5)
1. An industrial locomotive traveling method based on fixed route round trip, characterized in that an industrial locomotive traveling system based on fixed route round trip comprises:
the belt encoder is arranged parallel to a preset walking path;
the code reader is arranged on the industrial locomotive, is positioned at the same horizontal position with the belt encoder and is positioned within the induction distance of the belt encoder;
a PLC controller which is connected with each code reader in a wireless communication way, wherein,
the code reader senses the current position address code of the industrial locomotive along the preset walking path process and sends the read current position address code to the PLC;
the PLC controls the industrial locomotive to run to a target position based on the current position address code and the target address code of the corresponding industrial locomotive;
the industrial locomotive traveling method based on the industrial locomotive traveling system with the fixed route comprises the following steps:
s1, a PLC receives a current position address code sent by a code reader;
s2, the PLC calculates the distance between the current position of the industrial locomotive and the target position based on the current position address code and the target address code of the corresponding industrial locomotive;
s3, the PLC controls the walking speed of the corresponding industrial locomotive based on the distance between the current position and the target position;
in the running process of the industrial locomotives, the PLC controller controls one of the industrial locomotives to avoid or stop based on the set safe distance;
the method for controlling one of the industrial locomotives to avoid or stop based on the set safe distance specifically comprises the following steps:
s31, calculating the distance between two working industrial machine workshops based on the current position address codes of the working industrial machines;
s32, if the distance between the two industrial machines is smaller than the set safety distance, acquiring the running directions of the two vehicles;
s33, if the two industrial locomotives run in the same direction, controlling the following industrial locomotive to slow down or stop running;
s34, if the two industrial locomotives run in opposite directions, controlling the industrial locomotives with the following tasks to enter a parking space for avoiding based on the task sequence of the two industrial locomotives;
the step S34 specifically includes the following steps:
s341, acquiring a nearest parking space in front of and behind the avoidance of the industrial locomotive;
s342, judging whether the nearest parking space in front of the running is in front of the running of the advancing industrial locomotive or behind the running;
s343, if the nearest parking space in front of the running is judged to be in front of the running of the forward industrial locomotive, controlling the forward industrial locomotive to stop running, controlling the forward industrial locomotive to continue running in the original running direction after controlling the reverse industrial locomotive to run into the nearest parking space in front of the running, and controlling the reverse industrial locomotive to run into a preset running path and continue running in the original running direction when the forward industrial locomotive runs through the parking space in which the reverse industrial locomotive is positioned;
if the nearest parking space in front of the running is judged to be at the rear of the running of the forward industrial locomotive, the avoidance industrial locomotive is controlled to enter the nearest parking space in the rear of the running, and when the forward industrial locomotive passes through the parking space where the avoidance industrial locomotive is located, the avoidance industrial locomotive is controlled to enter a preset running path and continue running in the original running direction.
2. The fixed route round trip based industrial locomotive walk method of claim 1, wherein the system further comprises:
the central control is in communication connection with the PLC controller, wherein,
the PLC controller sends the current position address code of the industrial locomotive and the target address code of the corresponding industrial locomotive to the central control, and the central control displays the current position and the target position of each industrial locomotive.
3. The fixed route round trip based industrial locomotive walk method of claim 1, wherein the system further comprises:
an input device in communication with the central control, wherein,
the input device is used for receiving instruction information input by a user, and the instruction information comprises: the locomotive identification code and the target address corresponding to the locomotive identification code, and the command information is sent to the PLC through the central control, so that the PLC controls the corresponding industrial locomotive to run to the recorded target address.
4. The fixed route round trip based industrial locomotive traveling method of claim 1, further comprising, after step S3:
and S4, when the PLC detects that the current position of the industrial locomotive reaches the parking position, sending a locking traveling instruction to the corresponding industrial locomotive so as to stop the corresponding industrial locomotive at the target position.
5. The fixed route round trip based industrial locomotive traveling method of claim 4, further comprising, after step S4:
and S5, when the PLC detects that the industrial locomotive stops at the target position, sending an operation command to the corresponding industrial locomotive so that the industrial locomotive performs related operation based on the operation command.
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| CN110687913A (en) * | 2019-11-14 | 2020-01-14 | 万向新元绿柱石（天津）科技有限公司 | Position measuring device |
| CN112459803A (en) * | 2020-11-13 | 2021-03-09 | 意欧斯物流科技(上海)有限公司 | Control method for avoiding obstacles by multiple vehicles in same roadway |
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Address after: 243003 8 Jiuhua Road, Yushan, Ma'anshan, Anhui Applicant after: MAANSHAN IRON & STEEL Co.,Ltd. Address before: 243003 Intellectual Property Department, Technical Center No. 8, Hunan West Road, Yushan District, Ma'anshan City, Anhui Province Applicant before: MAANSHAN IRON & STEEL Co.,Ltd. |
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