CN109696905A - A kind of orbit tourist car control system and method - Google Patents
A kind of orbit tourist car control system and method Download PDFInfo
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- CN109696905A CN109696905A CN201811598112.6A CN201811598112A CN109696905A CN 109696905 A CN109696905 A CN 109696905A CN 201811598112 A CN201811598112 A CN 201811598112A CN 109696905 A CN109696905 A CN 109696905A
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- vehicle
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- control
- railway station
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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
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
- G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Train Traffic Observation, Control, And Security (AREA)
Abstract
The invention discloses a kind of orbit tourist car control systems, comprising: middle control unit, control unit for vehicle, control unit and the bus communication unit of control unit for vehicle data communication, the website vehicle recognition unit for completing urban railway station and vehicle bidirectional recognition in completion complete the traveling control unit of vehicle traction and pose adjustment and complete audiovisual materials to play and the audio-visual control unit of stopping；The output end of the website vehicle recognition unit and the input terminal of control unit for vehicle connect, the output end of the control terminal and control unit for vehicle that travel control unit connects, and the data communication end of control unit for vehicle is connect through bus communication unit with the communication ends of middle control unit；The output end of middle control unit is connect with the control terminal of audio-visual control unit.A kind of orbit tourist car control method is also disclosed, site sensor is by controlling computer bus in the access of bus input/output module, and wiring is simple, and exploitativeness is good, and expansion is good.
Description
Technical field
The present invention relates to a kind of orbit tourist car control technology, especially a kind of orbit tourist car of 3D video-see
Control system and method.
Background technique
3D track of video visit trolley provides a kind of visit experience of immersion, and passenger wears 3D glasses and rides in trolley
On, it is visited along track, when reaching specified sites, large screen plays 3D screen.It is regarded by setting, model, light and 3D
Frequency mating reaction provides good visit to passenger and experiences.
Existing 3D video goes sight-seeing trolley scheme, generally uses LAWN local area wireless network networking, and all trolleies and middle control computer connect
Enter the same local area network, trolley is controlled by the transmitting-receiving of the network information and goes sight-seeing process.For each website then using the biography of response
Sensor, sensor all access in control computer.
Existing scheme has following problems:
In the enclosure space full of model and setting, LAWN local area wireless network communication is highly prone to interfere, and influences trolley travelling
Stability.
Site sensor is all directly accessed central control system, and wiring is various, and cable is too long to will affect electric signal, overhauls simultaneously
It is inconvenient.For track overall length close to 120 meters, detection sensor is distributed across each experience region of track, to the distance ratio of Central Control Room
Farther out, if 30 sensors of this 10 websites are directly accessed Central Control Room, number of wires is big, and cable run distance is long, too long
Transmission cable can have an impact to sensor signal.
Summary of the invention
The object of the present invention is to provide a kind of orbit tourist car control system and methods, and wiring is simple, and communication signal is steady
It is fixed reliable, reduce hardware cost, favorable expandability.
To achieve the above object, the present invention adopts the following technical solutions:
First aspect present invention provides a kind of orbit tourist car control system, comprising: middle control unit, vehicle control list
Control unit and the bus communication unit of control unit for vehicle data communication, completion urban railway station and the two-way knowledge of vehicle in member, completion
Other website vehicle recognition unit, complete vehicle traction and pose adjustment traveling control unit and complete audiovisual materials play and
The audio-visual control unit stopped；
The output end of the website vehicle recognition unit is connect with the input terminal of middle control unit, travels the control of control unit
End is connect with the output end of control unit for vehicle, and the data communication end of control unit for vehicle is through bus communication unit and middle control unit
Communication ends connection；The output end of middle control unit is connect with the control terminal of audio-visual control unit.
With reference to first aspect, in a first possible implementation of that first aspect, the bus communication unit includes total
Line traffic control fabrication and bus input/output module；The data communication end of the control unit for vehicle and bus input/output module connect
It connects, by EtherCAT bus series connection access bus controller card, bus controller card and middle control unit connect bus input/output module
It connects.
With reference to first aspect, in a second possible implementation of that first aspect, the website vehicle recognition unit packet
Include urban railway station identification module and vehicle identification module；The urban railway station identification module is set to vehicle bottom, completes vehicle
Identification to urban railway station, the output end of the urban railway station identification module and the input terminal of control unit for vehicle connect；It is described
Vehicle identification module is set at urban railway station, completes identification of the urban railway station to vehicle, the output of the vehicle identification module
End is connect by bus communication unit with middle control unit.
With reference to first aspect, in first aspect in the third possible implementation, the urban railway station identification module packet
The vehicle proximity sensor arrays for being set to each visit vehicle bottom are included, vehicle proximity sensor arrays include four and pacify side by side
The tag block of the proximity sensor of dress, every proximity sensor detection urban railway station completes the identification to urban railway station.
With reference to first aspect, in the 4th kind of possible implementation of first aspect, the vehicle identification module includes setting
The website proximity sensor arrays being placed at the urban railway station of everywhere, the website proximity sensor arrays include three and pacify side by side
The proximity sensor of dress, every sensor detection are installed on the tag block of vehicle bottom, complete the identification to vehicle.
With reference to first aspect, in the 5th kind of possible implementation of first aspect, the traveling control unit includes vehicle
Traction electric machine module and vehicle attitude adjust motor module, the control terminal of vehicle traction electric machine module and control unit for vehicle
Output end connection, vehicle attitude adjusts the control terminal of motor module and the output end of control unit for vehicle connects.
With reference to first aspect, in the 6th kind of possible implementation of first aspect, the audio-visual control unit has included
Video server, the audio-visual display module of LED for playing or stopping at audiovisual materials；The video server passes through network and middle control
Unit remotely connects；The output end of video server is connect with the input terminal of the audio-visual display module of LED.
Second aspect of the present invention provides a kind of orbit tourist car control method, comprising the following steps:
S1, after dispatching a car, vehicle traction electric machine module control vehicle along track advance travel；Vehicle identification reaches urban railway station
Afterwards, vehicle traction electric machine module stops vehicle traction, and vehicle attitude adjusts motor module and completes vehicle attitude adjustment, so that passenger
The audio-visual display module of face LED；
The information of vehicles of identification is sent to middle control unit by bus communication unit by S2, vehicle identification module, and middle control is single
Member sends control information to video server, and video server controls the audio-visual display module of LED and plays audiovisual materials；
After S3, audiovisual materials finish playing, vehicle attitude adjusts motor module and completes vehicle attitude adjustment so that passenger face
Towards rail running direction of advance, vehicle traction electric machine module continues towing vehicle along rail running until next urban railway station,
And judge whether it is the last one urban railway station, if so, stopping；If not, going to step S1.
The effect provided in summary of the invention is only the effect of embodiment, rather than invents all whole effects, above-mentioned
A technical solution in technical solution have the following advantages that or the utility model has the advantages that
1, bus input/output module of the present invention is by EtherCAT bus series connection access bus controller card, then controls in accessing
Computer.Bus communication is used between middle control computer and agv controller, it is reliable and stable.
2, site sensor of the present invention is directly accessed bus input/output module, and each website has 4 sensors.Middle control electricity
Brain uses 2 scale coding formats and trolley communication control, confirmation trolley number.Site sensor is given using 2 scale coding formats
Middle control computer transmission signal identifies site number.Save number of sensors and hardware cost.
3, site sensor of the present invention is acquired using bus type input/output module, reduces number of cables.Bus
The expansion of formula sensor acquisition mode is good, when needing to increase website, need to only increase input/output module and site sensor.
Detailed description of the invention
Fig. 1 is system structure diagram of the embodiment of the present invention；
Fig. 2 is 3D video system schematic diagram of the embodiment of the present invention；
Fig. 3 is control method flow chart of the embodiment of the present invention.
Specific embodiment
In order to clarify the technical characteristics of the invention, below by specific embodiment, and its attached drawing is combined, to this hair
It is bright to be described in detail.Following disclosure provides many different embodiments or example is used to realize different knots of the invention
Structure.In order to simplify disclosure of the invention, hereinafter the component of specific examples and setting are described.In addition, the present invention can be with
Repeat reference numerals and/or letter in different examples.This repetition is that for purposes of simplicity and clarity, itself is not indicated
Relationship between various embodiments and/or setting is discussed.It should be noted that illustrated component is not necessarily to scale in the accompanying drawings
It draws.Present invention omits the descriptions to known assemblies and treatment technology and process to avoid the present invention is unnecessarily limiting.
Orbit tourist car control system is by middle control computer, bus controller card, bus input/output module, busbar, small
Vehicle controller, video server, 3D video sending card, site sensor and website label composition.Bus input/output module is logical
EtherCAT bus series connection access bus controller card is crossed, then controls computer in accessing.Agv controller is defeated by busbar and bus
Enter output module connection, using bus controller card access in control computer.Busbar is enclosed along track laying one, is shared 16 and is led
Electricity row.Middle control computer is connect by network interface with video server, and video server is connect with 3D video sending card, control
LED screen.Site sensor is directly accessed bus input/output module, and each website has 3 sensors to be used to detect trolley volume
Number.
In entirely visit experience of the process, each region from getting on the bus to experiencing, then to getting off, the triggering of all events is all
The fixation position of track is relied on, therefore the positioning on track is the input signal of middle control with trolley control.Each track
Vehicle needs the position stopped, and a referred to as website, a complete experience of the process, one shares 10 websites.In the every of track
A site location is furnished with sensor array, and there are three proximity sensor, model Omron E2B-M18KN16- for each website cloth
WZ-C1, three sensors are mounted side by side, fast for detecting label below trolley, after trolley is accommodated to website, three sensors
In, it senses the meeting triggering of trolley tag block, " 1 " can be denoted as, do not sense that the sensor of trolley tag block will not trigger,
It is denoted as " 0 ", binary trolley number, the label on matching track trolley can be read after combination, central control system passes through
Detection sensor signal can learn the trolley number and site number for reaching website.
Likewise, trolley is also required to know reached site number, this needs installs sensor array on trolley, often
A trolley bottom is furnished with 4 proximity sensors, model Omron
E2B-M18KN16-WZ-C1,4 sensors are mounted side by side, and for detecting, the label of website is fast on track, and trolley stops
After coming to website, in 4 sensors, senses the meeting triggering of track labeling block, " 1 " can be denoted as, do not sense track mark
The sensor of note block will not trigger, and be denoted as " 0 ", binary site number can be read after combination, so, every
A website, trolley can identify site number by sensor, and website can identify trolley number by sensor.Different
Website uses different labels.Different website labels are as shown in table 1 below, and each website indicates there is tag block table fastly with 4 labels
Show 1, unmarked piece indicates 0.
| Website | Number |
| It gets on the bus area | 0001 |
| No. 1 website | 0010 |
| No. 2 websites | 0011 |
| No. 3 websites | 0100 |
| No. 4 websites | 0101 |
| No. 5 websites | 0110 |
| No. 6 websites | 0111 |
| No. 7 websites | 1000 |
| No. 8 websites | 1001 |
| It gets off area | 1010 |
1 urban railway station of table label
Track overall length is close to 120 meters, and detection sensor is distributed across each experience region of track, to the distance of Central Control Room
Distant, if 30 sensors of this 10 websites are directly accessed Central Control Room, number of wires is big, and cable run distance is long, too long
Transmission cable can have an impact to sensor signal.This programme uses distributed bus input/output module, in each website
Nearest acquisition process sensor signal, passes through EtherCAT bus transfer to central control computer.EtherCAT is as industrial ether
Network bus, in distributed AC servo system and motion control field using very extensive, transmission rate is reliable and stable up to 100M.
Central control system master controller, which has been selected, grinds magnificent industrial personal computer ARK-5261, uses industrial personal computer as the master control of central control system
Device processed, it is reliable and stable, the total line traffic control of EtherCAT can also can be extended by PCI slot with NS software piece source computer
Fabrication.The EtherCAT bus controller card model DMC-E3032 that central control system uses, can be inserted on industrial personal computer PCI slot,
One piece of board at most can 32 nodes of band, farthest transmission range is 100 meters between two nodes.Bus input/output module model
For EM32DX-E1, I O point quantity enters 16 for 16 and goes out.As shown in Figure 1.
Track and sensing system ensure that the correct of trolley is stopped and operation and the scheduling of trolley, after trolley is stopped
The 3D audio-video system of website is then the emphasis of experience.Led audio-video system be furnished with a video server, be responsible for film source broadcasting with
Video-splicing control, central control system can access video server by network remote, control the broadcasting and stopping of film.Led
The video server of screen audio-video system is connected with the industrial personal computer of central control system by cable.The parameter of Led screen is taken by video
Business device is set in advance, and central control system is responsible for controlling movie playback after trolley arrives at a station.
3D video scheme has equally used an industrial personal computer as video server, and industrial personal computer model grinds magnificent IPC-
610L.It is configured with one piece of multi-screen video card in video server, is exported with four road DVI.The core of 3D video is that 3D video is sent
Card, this programme have used 3 pieces of super master controls of Ka Laite Z6 as 3D video sending card, 5A-75E are cooperated to receive card, realize 3D view
The broadcasting of screen.3D video system one shares 6 pieces of LED large screens, is spliced using all-colour LED mould group in the room P4.Every piece of LED is big
On screen, one piece of 5A-75E receives card 16 P4 mould groups of connection, every public 5V Switching Power Supply power supply of 6 P4 mould group.Spectators
3D video could be watched by then needing to take 3D glasses.As shown in Figure 2.
In small rail car system, one shares 6 trolleies, operates on 120 meters of track, trolley similar with site number
Also there is respective number.Sensor on trolley can detecte website label, and the sensor of website can detecte trolley label, such as
This can realize being mutually distinguishable for trolley and website.There are two freedom degrees for small rail car, by two motor drivens, traction electric machine
Trolley can be driven to advance along track, rotating electric machine can drive trolley cockpit to rotate.
Trolley traction electric machine uses DC brushless motor, and 48V, 1.5kw are furnished with Hall sensor, use direct current tune
Fast device driving, driving signal are 0-5V analog signals.Trolley traction electric machine is DC servo motor, and 48V, 750W are furnished with 1:
20 planetary reduction gear, direct current servo driver are controlled by pulse direction, are realized and are accurately positioned.The master controller of trolley makes
With an Omron PLC, model CP1E-NA20DT-D, PLC are exported from tape pulse and analog output, can be used for leading
Draw the control of motor and rotating electric machine.
Small rail car has two rows of seats, can at most take 6 passengers, is furnished with two sets of speakers and 6 earphones, matches before seat
There is safety locking compression bar, it is automatic locking after dispatching a car, reach automatic unlocking behind area of getting off.Be mounted on before and after trolley optoelectronic switch with
Anticollision item detects meeting automatic stopping after obstacle.16 busbars are equipped with along guide rail, the effect of these busbars is
It powers to trolley, and for being communicated between trolley and middle control computer.
As shown in figure 3, a kind of orbit tourist car control method, comprising the following steps:
S1, after dispatching a car, vehicle traction electric machine module control vehicle along track advance travel；Vehicle identification reaches urban railway station
Afterwards, vehicle traction electric machine module stops vehicle traction, and vehicle attitude adjusts motor module and completes vehicle attitude adjustment, so that passenger
The audio-visual display module of face LED；
The information of vehicles of identification is sent to middle control unit by bus communication unit by S2, vehicle identification module, and middle control is single
Member sends control information to video server, and video server controls the audio-visual display module of LED and plays audiovisual materials；
After S3, audiovisual materials finish playing, vehicle attitude adjusts motor module and completes vehicle attitude adjustment so that passenger face
Towards rail running direction of advance, vehicle traction electric machine module continues towing vehicle along rail running until next urban railway station,
And judge whether it is the last one urban railway station, if so, stopping；If not, going to step S1.
Above-mentioned, although the foregoing specific embodiments of the present invention is described with reference to the accompanying drawings, not protects model to the present invention
The limitation enclosed, those skilled in the art should understand that, based on the technical solutions of the present invention, those skilled in the art are not
Need to make the creative labor the various modifications or changes that can be made still within protection scope of the present invention.
Claims (8)
1. a kind of orbit tourist car control system, characterized in that include: middle control unit, control unit for vehicle, control in completion it is single
The website vehicle knowledge of member and the bus communication unit, completion urban railway station and vehicle bidirectional recognition of control unit for vehicle data communication
Other unit, the traveling control unit for completing vehicle traction and pose adjustment and the audio-visual control completing audiovisual materials broadcasting and stopping
Unit；
The output end of the website vehicle recognition unit with it is middle control unit input terminal connect, travel control unit control terminal and
The output end of control unit for vehicle connects, and the logical of unit is controlled with middle through bus communication unit in the data communication end of control unit for vehicle
Believe end connection；The output end of middle control unit is connect with the control terminal of audio-visual control unit.
2. orbit tourist car control system as described in claim 1, characterized in that the bus communication unit includes bus
Control card and bus input/output module；The data communication end of the control unit for vehicle is connect with bus input/output module,
Bus input/output module is connect by EtherCAT bus series connection access bus controller card, bus controller card with middle control unit.
3. orbit tourist car control system as described in claim 1, characterized in that the website vehicle recognition unit includes
Urban railway station identification module and vehicle identification module；The urban railway station identification module is set to vehicle bottom, completes vehicle pair
The identification of urban railway station, the output end of the urban railway station identification module and the input terminal of control unit for vehicle connect；The vehicle
Identification module is set at urban railway station, completes identification of the urban railway station to vehicle, the output end of the vehicle identification module
It is connect by bus communication unit with middle control unit.
4. orbit tourist car control system as claimed in claim 3, characterized in that the urban railway station identification module includes
The vehicle proximity sensor arrays of each visit vehicle bottom are set to, vehicle proximity sensor arrays include four and are mounted side by side
Proximity sensor, the tag block of every proximity sensor detection urban railway station completes the identification to urban railway station.
5. orbit tourist car control system as claimed in claim 3, characterized in that the vehicle identification module includes setting
Website proximity sensor arrays at the urban railway station of everywhere, the website proximity sensor arrays include three and are mounted side by side
Proximity sensor, the detection of every sensor is installed on the tag block of vehicle bottom, completes the identification to vehicle.
6. orbit tourist car control system as described in claim 1, characterized in that the traveling control unit includes vehicle
Traction electric machine module and vehicle attitude adjust motor module, the control terminal of vehicle traction electric machine module and control unit for vehicle it is defeated
Outlet connection, vehicle attitude adjusts the control terminal of motor module and the output end of control unit for vehicle connects.
7. orbit tourist car control system as described in claim 1, characterized in that the audio-visual control unit includes completing
Video server, the audio-visual display module of LED that audiovisual materials play or stop；The video server is single by network and middle control
First long-range connection；The output end of video server is connect with the input terminal of the audio-visual display module of LED.
8. a kind of orbit tourist car control method, characterized in that the following steps are included:
S1, after dispatching a car, vehicle traction electric machine module control vehicle along track advance travel；After vehicle identification reaches urban railway station,
Vehicle traction electric machine module stops vehicle traction, and vehicle attitude adjusts motor module and completes vehicle attitude adjustment, so that passenger is just
To the audio-visual display module of LED；
The information of vehicles of identification is sent to middle control unit, middle control unit hair by bus communication unit by S2, vehicle identification module
Send control information to video server, the audio-visual display module broadcasting audiovisual materials of video server control LED；
After S3, audiovisual materials finish playing, vehicle attitude adjusts motor module and completes vehicle attitude adjustment so that passenger faces rail
Road travels direction of advance, and vehicle traction electric machine module continues towing vehicle along rail running until next urban railway station, and sentences
Whether disconnected is the last one urban railway station, if so, stopping；If not, going to step S1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811598112.6A CN109696905A (en) | 2018-12-26 | 2018-12-26 | A kind of orbit tourist car control system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811598112.6A CN109696905A (en) | 2018-12-26 | 2018-12-26 | A kind of orbit tourist car control system and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109696905A true CN109696905A (en) | 2019-04-30 |
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ID=66232851
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811598112.6A Pending CN109696905A (en) | 2018-12-26 | 2018-12-26 | A kind of orbit tourist car control system and method |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1672996A (en) * | 2004-03-24 | 2005-09-28 | 因诺瓦专利有限责任公司 | Tram with gravity driven vehicles and method for controlling the operation of the tram |
| JP2010218244A (en) * | 2009-03-17 | 2010-09-30 | Lecip Corp | Route guidance apparatus |
| CN103863333A (en) * | 2014-02-08 | 2014-06-18 | 重庆微轨科技有限公司 | Miniature overhead track motor car transport system |
| CN108001471A (en) * | 2017-12-12 | 2018-05-08 | 广州电力机车有限公司 | A kind of narrow gauge small fire vehicle control |
| CN208006951U (en) * | 2018-03-13 | 2018-10-26 | 沈阳市创奇游乐设备有限公司 | A kind of cableway carriage |
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2018
- 2018-12-26 CN CN201811598112.6A patent/CN109696905A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1672996A (en) * | 2004-03-24 | 2005-09-28 | 因诺瓦专利有限责任公司 | Tram with gravity driven vehicles and method for controlling the operation of the tram |
| JP2010218244A (en) * | 2009-03-17 | 2010-09-30 | Lecip Corp | Route guidance apparatus |
| CN103863333A (en) * | 2014-02-08 | 2014-06-18 | 重庆微轨科技有限公司 | Miniature overhead track motor car transport system |
| CN108001471A (en) * | 2017-12-12 | 2018-05-08 | 广州电力机车有限公司 | A kind of narrow gauge small fire vehicle control |
| CN208006951U (en) * | 2018-03-13 | 2018-10-26 | 沈阳市创奇游乐设备有限公司 | A kind of cableway carriage |
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Application publication date: 20190430 |