CN109932890B - Sensor redundancy control system of movable equipment and control method thereof - Google Patents

Sensor redundancy control system of movable equipment and control method thereof Download PDF

Info

Publication number
CN109932890B
CN109932890B CN201910182227.5A CN201910182227A CN109932890B CN 109932890 B CN109932890 B CN 109932890B CN 201910182227 A CN201910182227 A CN 201910182227A CN 109932890 B CN109932890 B CN 109932890B
Authority
CN
China
Prior art keywords
field controller
rotary encoder
range finder
laser range
equipment
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201910182227.5A
Other languages
Chinese (zh)
Other versions
CN109932890A (en
Inventor
崔冰
郑登行
陈永康
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zhonglv Southeast Material Institute Fujian Technology Co ltd
Chinalco Ruimin Co Ltd
Original Assignee
Zhonglv Southeast Material Institute Fujian Technology Co ltd
Chinalco Ruimin Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Zhonglv Southeast Material Institute Fujian Technology Co ltd, Chinalco Ruimin Co Ltd filed Critical Zhonglv Southeast Material Institute Fujian Technology Co ltd
Priority to CN201910182227.5A priority Critical patent/CN109932890B/en
Publication of CN109932890A publication Critical patent/CN109932890A/en
Application granted granted Critical
Publication of CN109932890B publication Critical patent/CN109932890B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Landscapes

  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Safety Devices In Control Systems (AREA)

Abstract

The invention relates to a sensor redundancy control system of movable equipment and a control method thereof, wherein the sensor redundancy control system comprises a rotary encoder, a laser range finder, a limit sensor, a field controller, an alarm device and the movable equipment; the field controller is respectively in communication connection with the rotary encoder and the laser range finder and is used for collecting the measured values of the rotary encoder and the laser range finder; the field controller is also in communication connection with the limit sensor and is used for receiving the position information sent by the limit sensor; the field controller is also in communication connection with the mobile device and is used for controlling the mobile device to move or stop; the field controller is also in communication connection with the alarm device and is used for controlling the alarm device to alarm. The invention can realize the accurate control of the displacement of the movable equipment or the equipment with huge load, and the unmanned and automatic operation of the equipment is realized.

Description

Sensor redundancy control system of movable equipment and control method thereof
Technical Field
The invention relates to the field of sensor redundancy control and fault detection of mobile equipment, in particular to a sensor redundancy control system of mobile equipment and a control method thereof.
Background
The displacement distance needs to be accurately controlled and timely fed back to stop the equipment from moving in the automatic moving process of the equipment, particularly, the displacement distance needs to be accurately controlled under the condition that the mobile equipment carries heavy goods, but the control of the displacement distance of the mobile equipment by only one sensor has obvious defects, the accurate control of the displacement of the mobile equipment cannot be ensured, a rotary encoder can only detect the rotation of a motor in real time and then convert the rotation into the corresponding displacement distance, but cannot avoid errors caused by physical wear of gears, bearings and the like, a laser range finder is easy to be influenced by external environmental factors to cause data loss and the like, a limit sensor can only accurately control a single-point position and cannot monitor the state change of the equipment in the moving process in real time, and three encoders used independently cannot meet the accurate control of the displacement of the mobile equipment with huge load, leading to the device not being able to realize unmanned and automatic operation.
At present, the displacement of the mobile equipment is accurately controlled only by a single sensor, but due to the errors of the sensor, the physical abrasion of the equipment and the complex operating environment, the state change of the whole moving process of the mobile equipment cannot be known by using the single sensor, and the fault alarm detection is carried out.
Disclosure of Invention
In view of the above, the present invention is to provide a sensor redundancy control system for a mobile device and a control method thereof, which can realize accurate control of displacement of the mobile device or a device with a heavy load, and enable the device to operate unmanned and automated.
The invention is realized by adopting the following scheme: a sensor redundancy control system of movable equipment comprises a rotary encoder, a laser range finder, a limit sensor, a field controller, an alarm device and the movable equipment; the field controller is respectively in communication connection with the rotary encoder and the laser range finder and is used for collecting the measured values of the rotary encoder and the laser range finder; the field controller is also in communication connection with the limit sensor and is used for receiving the position information sent by the limit sensor; the field controller is also in communication connection with the mobile equipment and is used for controlling the mobile equipment to move or stop; the field controller is also in communication connection with the alarm device and is used for controlling the alarm device to alarm.
Further, the invention also provides a control method of the sensor redundancy control system based on the movable equipment, which comprises the following steps:
step S1: the field controller controls the mobile equipment to be started, and the field controller starts to acquire the measured values of the rotary encoder and the laser range finder in real time;
step S2: the field controller compares the measured value of the rotary encoder and the measured value of the laser range finder collected in the step S1, and if the difference value of the two values accounts for more than 3% of the respective values, the field controller starts the alarm device and controls to stop the mobile equipment; otherwise, the mobile device continues to run the movement and performs step S3;
step S3: the ground mark position of the limit sensor is a preset stop position for the mobile equipment to run; the mobile equipment moves to the preset stop position, and the limit sensor sends binary coded information of the position to the field controller; the field controller identifies the binary coded information and measures the physical distance moved by the mobile device;
step S4: the field controller compares the physical distance of the actual equipment movement obtained from the limit sensor with the measured values of the rotary encoder and the laser range finder respectively to obtain a deviation value X of the physical distance of the actual equipment movement and the measured value of the rotary encoder and a deviation value Y of the physical distance of the actual equipment movement and the measured value of the laser range finder respectively;
step S5: calculating the ratio of the deviation value X, Y to the obtained physical distance of the actual equipment movement; when the ratio is more than 5%, stopping the maintenance equipment; and if the percentage value is less than 5%, performing X and Y value compensation on the rotary encoder and the laser range finder in the next moving process, and continuously operating the mobile equipment.
Further, the performing of the X and Y value compensation in step S5 specifically includes: and when the mobile equipment moves next time, the measurement values of the rotary encoder and the laser range finder are A and B respectively, and the physical distances of the actual equipment movement of the rotary encoder and the laser range finder are A +/-X and B +/-Y respectively.
Further, the conditions for starting the mobile device in step S1 are: and when the measured value of the rotary encoder, the measured value of the laser range finder and the received physical value represented by the code of the limit code sent by the limit sensor, which are collected by the field controller, are equal, the field controller starts the mobile equipment.
Compared with the prior art, the invention has the following beneficial effects:
the invention can realize the accurate control of the displacement of the movable equipment or the equipment with huge load, and the unmanned and automatic operation of the equipment is realized.
Drawings
Fig. 1 is a system configuration diagram of an embodiment of the present invention.
FIG. 2 is a diagram of an embodiment of a binary encoding rule tag.
Detailed Description
The invention is further explained below with reference to the drawings and the embodiments.
As shown in fig. 1, the present embodiment provides a sensor redundancy control system for a mobile device, including a rotary encoder, a laser range finder, a limit sensor, a field controller, an alarm device, and a mobile device; the field controller is respectively in communication connection with the rotary encoder and the laser range finder and is used for collecting the measured values of the rotary encoder and the laser range finder; the field controller is also in communication connection with the limit sensor and is used for receiving the position information sent by the limit sensor; the field controller is also in communication connection with the mobile equipment and is used for controlling the mobile equipment to move or stop; the field controller is also in communication connection with the alarm device and is used for controlling the alarm device to alarm.
Preferably, the present embodiment further provides a control method of a sensor redundancy control system based on a movable device, including the following steps:
step S1: the field controller controls the mobile equipment to be started, and the field controller starts to acquire the measured values of the rotary encoder and the laser range finder in real time;
step S2: the field controller compares the measured value of the rotary encoder and the measured value of the laser range finder collected in the step S1, and if the difference value of the two values accounts for more than 3% of the respective values, the field controller starts the alarm device and controls to stop the mobile equipment; otherwise, ignoring the error, the mobile device continues to run the movement and performs step S3;
step S3: the ground mark position of the limit sensor is a preset stop position for the mobile equipment to run; the mobile equipment moves to the preset stop position, and the limit sensor sends binary coded information of the position to the field controller; the field controller identifies the binary coded information and measures the physical distance moved by the mobile device;
step S4: the field controller compares the physical distance of the actual equipment movement obtained from the limit sensor with the measured values of the rotary encoder and the laser range finder respectively to obtain a deviation value X of the physical distance of the actual equipment movement and the measured value of the rotary encoder and a deviation value Y of the physical distance of the actual equipment movement and the measured value of the laser range finder respectively;
step S5: calculating the ratio of the deviation value X, Y to the obtained physical distance of the actual equipment movement; when the ratio is more than 5%, stopping the maintenance equipment; and if the percentage value is less than 5%, performing X and Y value compensation on the rotary encoder and the laser range finder in the next moving process, and continuously operating the mobile equipment.
In this embodiment, the performing of the X and Y value compensation in step S5 specifically includes: and when the mobile equipment moves next time, the measurement values of the rotary encoder and the laser range finder are A and B respectively, and the physical distances of the actual equipment movement of the rotary encoder and the laser range finder are A +/-X and B +/-Y respectively.
In this embodiment, the conditions for starting the mobile device in step S1 are as follows: and when the measured value of the rotary encoder, the measured value of the laser range finder and the received physical value represented by the code of the limit code sent by the limit sensor, which are collected by the field controller, are equal, the field controller starts the mobile equipment.
In this embodiment, the limit sensor combines a binary code control method: and installing a corresponding number of limit positions on the mobile equipment, and marking the binary coding rule of the pattern shown in figure 2 on the ground of the moving direction track. The alarm device is arranged on the field controller, the field controller can start the alarm devices of the mobile equipment and the field operation room, and the alarm is a ringing alarm.
In this embodiment, when the mobile device moves to the limit sensor, the limit sensor sends binary coded information of the limit to the field controller, so that the field controller can know the physical position of the mobile device at the moment, and the actual movement distance of the mobile device can be obtained.
The above description is only a preferred embodiment of the present invention, and all equivalent changes and modifications made in accordance with the claims of the present invention should be covered by the present invention.

Claims (3)

1. A control method of a sensor redundancy control system of a movable apparatus, characterized in that: the sensor redundancy control system comprises a rotary encoder, a laser range finder, a limit sensor, a field controller, an alarm device and mobile equipment; the field controller is respectively in communication connection with the rotary encoder and the laser range finder and is used for collecting the measured values of the rotary encoder and the laser range finder; the field controller is also in communication connection with the limit sensor and is used for receiving the position information sent by the limit sensor; the field controller is also in communication connection with the mobile equipment and is used for controlling the mobile equipment to move or stop; the field controller is also in communication connection with the alarm device and is used for controlling the alarm device to alarm;
the control method of the sensor redundancy control system comprises the following steps:
step S1: the field controller controls the mobile equipment to be started, and the field controller starts to acquire the measured values of the rotary encoder and the laser range finder in real time;
step S2: the field controller compares the measured value of the rotary encoder and the measured value of the laser range finder collected in the step S1, and if the difference value of the two values accounts for more than 3% of the respective values, the field controller starts the alarm device and controls to stop the mobile equipment; otherwise, the mobile device continues to run the movement and performs step S3;
step S3: the ground mark position of the limit sensor is a preset stop position for the mobile equipment to run; the mobile equipment moves to the preset stop position, and the limit sensor sends binary coded information of the position to the field controller; the field controller identifies the binary coded information and measures the physical distance moved by the mobile device;
step S4: the field controller compares the physical distance of the actual equipment movement obtained from the limit sensor with the measured values of the rotary encoder and the laser range finder respectively to obtain a deviation value X of the physical distance of the actual equipment movement and the measured value of the rotary encoder and a deviation value Y of the physical distance of the actual equipment movement and the measured value of the laser range finder respectively;
step S5: calculating the ratio of the deviation value X, Y to the obtained physical distance of the actual equipment movement; when the ratio is more than 5%, stopping the maintenance equipment; and if the percentage value is less than 5%, performing X and Y value compensation on the rotary encoder and the laser range finder in the next moving process, and continuously operating the mobile equipment.
2. The control method of the sensor redundancy control system of the movable equipment according to claim 1, characterized in that: the step S5 of performing X and Y value compensation specifically includes: and when the mobile equipment moves next time, the measurement values of the rotary encoder and the laser range finder are A and B respectively, and the physical distances of the actual equipment movement of the rotary encoder and the laser range finder are A +/-X and B +/-Y respectively.
3. The control method of the sensor redundancy control system of the movable equipment according to claim 1, characterized in that: the conditions for starting the mobile device described in step S1 are: and when the measured value of the rotary encoder, the measured value of the laser range finder and the received physical value represented by the code of the limit code sent by the limit sensor, which are collected by the field controller, are equal, the field controller starts the mobile equipment.
CN201910182227.5A 2019-03-12 2019-03-12 Sensor redundancy control system of movable equipment and control method thereof Active CN109932890B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201910182227.5A CN109932890B (en) 2019-03-12 2019-03-12 Sensor redundancy control system of movable equipment and control method thereof

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201910182227.5A CN109932890B (en) 2019-03-12 2019-03-12 Sensor redundancy control system of movable equipment and control method thereof

Publications (2)

Publication Number Publication Date
CN109932890A CN109932890A (en) 2019-06-25
CN109932890B true CN109932890B (en) 2022-03-04

Family

ID=66986852

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201910182227.5A Active CN109932890B (en) 2019-03-12 2019-03-12 Sensor redundancy control system of movable equipment and control method thereof

Country Status (1)

Country Link
CN (1) CN109932890B (en)

Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104487807A (en) * 2012-02-29 2015-04-01 微电子中心德累斯顿有限公司 Apparatus and method for the redundant, absolute position determination of a movable body
CN204330099U (en) * 2014-12-25 2015-05-13 广东乐心医疗电子股份有限公司 Electronic scale with function of detecting support condition of scale feet
CN104834210A (en) * 2015-03-24 2015-08-12 上海新跃仪表厂 Redundancy control method based on double position sensors
CN204702422U (en) * 2015-04-14 2015-10-14 宝鸡石油机械有限责任公司 With the wireless crownblock protector of charge function
CN204701630U (en) * 2015-06-30 2015-10-14 北京金日新事业技术有限公司 Merge the guideway vehicle proximity-warning device of laser ranging and coding ranging technology
US9402568B2 (en) * 2011-08-29 2016-08-02 Verizon Telematics Inc. Method and system for detecting a fall based on comparing data to criteria derived from multiple fall data sets
CN108714883A (en) * 2018-06-08 2018-10-30 山东鲁能智能技术有限公司 A kind of substation's hotline maintenance AUTONOMOUS TASK robot platform
CN108759694A (en) * 2018-05-25 2018-11-06 合肥工业大学 A kind of bearing size detecting system of quick large redundancy
CN108801139A (en) * 2018-06-20 2018-11-13 深圳亿腾物联智能技术有限责任公司 A kind of silo stock amount detection terminal
CN109001374A (en) * 2018-06-13 2018-12-14 佛山市澄澜点寸科技有限公司 A kind of anti-error reporting system based on stacking gas sensor

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9402568B2 (en) * 2011-08-29 2016-08-02 Verizon Telematics Inc. Method and system for detecting a fall based on comparing data to criteria derived from multiple fall data sets
CN104487807A (en) * 2012-02-29 2015-04-01 微电子中心德累斯顿有限公司 Apparatus and method for the redundant, absolute position determination of a movable body
CN204330099U (en) * 2014-12-25 2015-05-13 广东乐心医疗电子股份有限公司 Electronic scale with function of detecting support condition of scale feet
CN104834210A (en) * 2015-03-24 2015-08-12 上海新跃仪表厂 Redundancy control method based on double position sensors
CN204702422U (en) * 2015-04-14 2015-10-14 宝鸡石油机械有限责任公司 With the wireless crownblock protector of charge function
CN204701630U (en) * 2015-06-30 2015-10-14 北京金日新事业技术有限公司 Merge the guideway vehicle proximity-warning device of laser ranging and coding ranging technology
CN108759694A (en) * 2018-05-25 2018-11-06 合肥工业大学 A kind of bearing size detecting system of quick large redundancy
CN108714883A (en) * 2018-06-08 2018-10-30 山东鲁能智能技术有限公司 A kind of substation's hotline maintenance AUTONOMOUS TASK robot platform
CN109001374A (en) * 2018-06-13 2018-12-14 佛山市澄澜点寸科技有限公司 A kind of anti-error reporting system based on stacking gas sensor
CN108801139A (en) * 2018-06-20 2018-11-13 深圳亿腾物联智能技术有限责任公司 A kind of silo stock amount detection terminal

Also Published As

Publication number Publication date
CN109932890A (en) 2019-06-25

Similar Documents

Publication Publication Date Title
CN112722873B (en) Automatic control system of stacker-reclaimer
CN106197472B (en) Device and method for distance positioning and mileage calibration of rail-mounted robot
CN111639505B (en) Hybrid positioning navigation system and method for indoor inspection robot
CN201242687Y (en) Synchronous drive control device for lifting platform position
CN105631616A (en) Intelligent positioning system and positioning method for warehousing logistics
US11753275B2 (en) Method for preventive maintenance of an elevator and an elevator system
CN107958278B (en) RFID-based position detection system and detection method
CN110154026B (en) Control system and control method for railway traction substation operation robot
CN102897503B (en) Combined positioning control system
CN102566499A (en) Linearly-reciprocating mobile device and location control method thereof
CN103964154B (en) Control method of combined positioning control system
CN110233440B (en) Become distribution equipment inspection device
CN112132423B (en) Production management method and system for track movable beam making pedestal
CN113581249B (en) Switch machine position fault-safety indicating device and method based on displacement sensor group
CN109932890B (en) Sensor redundancy control system of movable equipment and control method thereof
CN110092253A (en) To the corrected system and method in calibration position of carriage Absolute position measurement system
CN107045123B (en) Method for automatically measuring repose angle of coal by double radars
CN115900687B (en) Hydraulic support robot track positioning method and device
CN202562508U (en) Location automatic calibration device for coder measuring device
CN205139665U (en) A position check out test set for rail mounted mobile device
CN211227016U (en) Anti-interference self-positioning system of coke oven locomotive
CN205014986U (en) A accurate positioning system of gray bus for stacker -reclaimer
CN109231011B (en) Crane operation mechanism positioning device and method based on two-dimensional code
CN105404221A (en) Position detection equipment for rail-mounted mobile device and detection method thereof
CN108789356A (en) Robot sliding guide rail system and detection control method

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant