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 PDFInfo
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- 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
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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
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.
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