CN111055647A - 一种可在水泥回转窑变径弧面行走小车的控制系统 - Google Patents

一种可在水泥回转窑变径弧面行走小车的控制系统 Download PDF

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CN111055647A
CN111055647A CN201911384161.4A CN201911384161A CN111055647A CN 111055647 A CN111055647 A CN 111055647A CN 201911384161 A CN201911384161 A CN 201911384161A CN 111055647 A CN111055647 A CN 111055647A
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walking
kiln
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CN111055647B (zh
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许德章
汪步云
杨志凯
邓启超
李公文
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Anhui Polytechnic University
Wuhu Anpu Robot Industry Technology Research Institute Co Ltd
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Wuhu Anpu Robot Industry Technology Research Institute Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
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    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/0152—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the action on a particular type of suspension unit
    • B60G17/0157—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the action on a particular type of suspension unit non-fluid unit, e.g. electric motor
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60G17/018—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the use of a specific signal treatment or control method
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/019—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the type of sensor or the arrangement thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/0195—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the regulation being combined with other vehicle control systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2200/00—Indexing codes relating to suspension types
    • B60G2200/40—Indexing codes relating to the wheels in the suspensions
    • B60G2200/422—Driving wheels or live axles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2200/00—Indexing codes relating to suspension types
    • B60G2200/40—Indexing codes relating to the wheels in the suspensions
    • B60G2200/46—Indexing codes relating to the wheels in the suspensions camber angle
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/80—Exterior conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2600/00—Indexing codes relating to particular elements, systems or processes used on suspension systems or suspension control systems
    • B60G2600/18—Automatic control means
    • B60G2600/182—Active control means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/90—System Controller type
    • B60G2800/91—Suspension Control
    • B60G2800/912—Attitude Control; levelling control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
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    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2220/00—Electrical machine types; Structures or applications thereof
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    • B60L2220/44—Wheel Hub motors, i.e. integrated in the wheel hub
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
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Abstract

本发明涉及小车的控制系统领域，具体是一种可在水泥回转窑变径弧面行走小车的控制系统，包括车身架、设置在车身架侧端处的若干组驱动支架、由处理器和计算模块构成设置在车身架上用于对小车进行运动控制的控制模块，还包括：测量模块、导航模块、执行单元，通过激光测距仪检测到有效的数据变化，使得微型旋转台开始旋转至各设定位置开始激光测距，测量结果经处理器判断在有效范围内，计算得出所在窑体的直径和调节量，控制所述伺服电机带动车轮旋转适应窑体弧度，使得前轮组的左右车轮得到同时同步的调节，全程自动化，减少人工参与带来的误差。

Description

一种可在水泥回转窑变径弧面行走小车的控制系统
技术领域
本发明涉及小车的控制系统领域，具体是一种可在水泥回转窑变径弧面行走小车的控制系统。
背景技术
水泥回转窑进行铺设、维修、检测时，需要大量的设备和材料进出，传统作业需要大量人工参与，由于窑体的封闭空间，水泥熟料粉尘很大，工人长期在有毒有害的空气环境中工作，对人体伤害巨大，无时无刻不受到职业病的威胁；并且较大型的设备和水泥回转窑耐火砖自动化铺设装置无法在窑体内顺利行走作业。勉强使用不适应窑体形状的运输设备进入窑体，对窑体的挤压变形会造成价格高昂的水泥回转窑设备受到不可逆的损伤，同时也对运输设备本身的吨位和体积有着很大的限制，存在一定的安全隐患，长期使用对设备的使用寿命也有影响。
发明内容
为了解决上述问题，本发明提出一种可在水泥回转窑变径弧面行走小车的控制系统。
一种可在水泥回转窑变径弧面行走小车的控制系统，包括车身架、设置在车身架侧端处的若干组驱动支架、由处理器和计算模块构成设置在车身架上用于对小车进行运动控制的控制模块，还包括：
测量模块，设置在小车的两端部位置处，用于根据设定的旋转位置和顺序，在收到系统控制测距信号后，一次旋转至指定位置等待测距；
导航模块，设置在小车车轮架子位置处，用于获取小车中心线与路径中心线位置偏差信息；
执行单元，设置在小车车轮位置处，用于接受处理器和计算模块的驱动控制和运动，能使小车车身位置和行走方向实现精确微调。
所述的测量模块包括设置在车身架上可根据设定的旋转位置和顺序，在收到处理器控制测距信号后，一次旋转至指定位置的微型旋转台、设置在微型旋转台上能实时监测车身与水泥回转窑窑顶的距离，当距离发生变化时，可以多点位测量距窑体距离，计算得出窑体半径的激光测距传感器。
所述的导航模块包括设置在驱动支架上的用于定交叉区域为障碍报警区域，适应水泥回转窑内行走，减少扫描到窑体误报警的激光避障传感器、通过激光避障传感器采集路径信息,获取车中心线与路径中心线位置偏差信息确定路径中央黑线的激光循迹传感器。
所述的执行单元包括设置在驱动支架上的铰接机构、设置在车轮上独立接受处理器的驱动控制和运动，能使小车车身位置和行走方向实现精确微调的行走轮毂电机、设置在车身架上的车轮调节装置。
所述的车轮调节装置包括与车轮配合的蜗轮丝杠升降机、设置在蜗轮丝杠升降机上的可伸缩联轴器和双出轴减速机、设置在车身架上且与双出轴减速机配合的弧度调节伺服电机。
所述的弧度调节伺服电机能通过带动双出轴减速机同步调整一组车轮与车身的夹角，并带有刹车装置，能够保持调整后结构的稳定性。
所述的处理器包括设置在车身架上的控制安装板、设置在控制安装板上的集成控制柜。
所述的计算模块为高主频大储存的的单片机，设置在集成控制柜内。
本发明的有益效果是：通过激光测距仪检测到有效的数据变化，使得微型旋转台开始旋转至各设定位置开始激光测距，测量结果经处理器判断在有效范围内，计算得出所在窑体的直径和调节量，控制所述伺服电机带动车轮旋转适应窑体弧度，使得前轮组的左右车轮得到同时同步的调节，全程自动化，减少人工参与带来的误差，同时配合激光避障传感器交叉扫描，设定交叉区域为障碍报警区域，适应水泥回转窑内行走，减少扫描到窑体误报警，保障系统平稳运行。
附图说明
下面结合附图和实施例对本发明进一步说明。
图1为本发明的控制系统的结构示意图；
图2为本发明的小车立体结构示意图；
图3为本发明的控制系统的流程示意图；
图4为本发明的激光循迹传感器结构示意图一；
图5为本发明的激光循迹传感器结构示意图二。
具体实施方式
为了使本发明实现的技术手段、创作特征、达成目的与功效易于明白了解，下面对本发明进一步阐述。
如图1至图5所示，一种可在水泥回转窑变径弧面行走小车的控制系统，包括车身架104、设置在车身架104侧端处的若干组驱动支架103、由处理器和计算模块构成设置在车身架104上用于对小车进行运动控制的控制模块，还包括：
测量模块，设置在小车的两端部位置处，用于根据设定的旋转位置和顺序，在收到系统控制测距信号后，一次旋转至指定位置等待测距；
导航模块，设置在小车车轮架子位置处，用于获取小车中心线与路径中心线位置偏差信息；
执行单元，设置在小车车轮位置处，用于接受处理器和计算模块的驱动控制和运动，能使小车车身位置和行走方向实现精确微调。
所述的测量模块包括设置在车身架104上可根据设定的旋转位置和顺序，在收到处理器控制测距信号后，一次旋转至指定位置的微型旋转台402、设置在微型旋转台402上能实时监测车身与水泥回转窑窑顶的距离，当距离发生变化时，可以多点位测量距窑体距离，计算得出窑体半径的激光测距传感器403。
所述的激光测距传感器403在行驶过程中实时检测水泥回转窑的窑体半径，当一个轮组的激光测距传感器403测量到窑体半径发生变化时，处理器判断测量的数据是否是有效数值，若是有效数值，则处理器控制该轮组的微型旋转台402按照预设顺序对窑体进行多点测量，通过处理器判断数值是否在有效范围内，若均有效，则将数据传输到所述计算模块，得出该轮组当前位置的窑体半径及所述弧度调整伺服电机401的动作量，通过处理器发送相关指令调节电机，进行适应动作后再激光循迹行走，否则认定为误触发直接进行激光循迹行走。
所述的导航模块包括设置在驱动支架103上的用于定交叉区域为障碍报警区域，适应水泥回转窑内行走，减少扫描到窑体误报警的激光避障传感器501、通过激光避障传感器501采集路径信息,获取车中心线与路径中心线位置偏差信息确定路径中央黑线的激光循迹传感器502。
通过激光循迹传感器502识别窑底路径中央黑线，确定小车的当前位姿和行走方向与预设轨迹差值，通过控制行走轮毂电机101差速运动，不断在行走过程中纠正小车前进方向，保障小车按照预定线路行驶。
所述的执行单元包括设置在驱动支架103上的铰接机构102、设置在车轮上独立接受处理器的驱动控制和运动，能使小车车身位置和行走方向实现精确微调的行走轮毂电机101、设置在车身架104上的车轮调节装置。
所述的车轮调节装置包括与车轮配合的蜗轮丝杠升降机406、设置在蜗轮丝杠升降机406上的可伸缩联轴器405和双出轴减速机404、设置在车身架104上且与双出轴减速机404配合的弧度调节伺服电机401。
所述的弧度调节伺服电机401能通过带动双出轴减速机404同步调整一组车轮与车身的夹角，并带有刹车装置，能够保持调整后结构的稳定性。
所述的处理器包括设置在车身架104上的控制安装板301、设置在控制安装板301上的集成控制柜302。
系统根据计算结果控制该轮组的弧度调整伺服电机401进行相应的伸缩动作，通过双出轴减速机404同时同步的控制该轮组左右轮毂与地面的夹角进行适应性变化，保持轮胎和窑体接触切面的垂直，满足弧面行走要求，当另一轮组的激光测距传感器403测量到窑体半径发生变化时，控制原理一样，两个轮组的轮毂与地面夹角独立调节，互不干扰。
所述的计算模块为高主频大储存的的单片机，设置在集成控制柜302内。
本发明的使用方法：进入水泥回转窑内部工作前，小车处于初始状态，车轮轴与地面呈平行状态，车轮与地面垂直，此时的激光测距传感器403，测量不到有效的窑体数据；误测的数据或不符合控制系统内的窑体数据范围或经多点测量后无法取到有效值，弧度调整伺服电机401始终不动作，依靠激光循迹传感器502事先划定的黑线导航前进；
激光循迹传感器502位于小车的前轮组正下方位置，通过寄存器赋值用以区分黑线的不同位置；而后根据寄存器的值,分别调试出轮组的期望脉冲值和当前脉冲值,通过二者作差获得方向控制的偏差值,并对偏差采取PD控制；
当小车开始行驶进入窑体，小车前方轮组的激光测距传感器403开始检测到有效数据，系统控制该轮组的所述微型旋转台402按照预设顺序对预设点进行窑体距离测量，经处理器判断在有效范围内后将数据传输到所述计算模块，得出该轮组当前位置的窑体半径及所述弧度调整伺服电机的动作量；处理器控制所述弧度调整伺服电机401动作，带动左右车轮同时同步旋转相应的角度，以适应窑体弧度；此时小车后轮组未进入窑体，后轮组的激光测距传感器403未检测到有效数据，轮胎仍与地面保持垂直，当后轮组的激光测距传感器403检测到窑体数据时，按照与前轮组同样原理进行适应弧面的动作，当前后轮组都进入窑体后，小车正常行走；
当小车经过窑体变径部位时，小车前方轮组的激光测距传感器403检测到有效的数据变化，微型旋转台402开始旋转至各设定位置开始激光测距，测量结果经处理器判断在有效范围内，计算得出所在窑体的直径和调节量，控制弧度调整伺服电机401带动车轮旋转适应窑体弧度，使得前轮组的左右车轮得到同时同步的调节；
若前轮组通过的窑体直径更小，则前轮组调节后与水平车身角度更小，前轮组相对后轮组相应变低，保持了车身的水平，反之亦然，小车后方轮组的变径行走调节过程与前轮组原理相同，根据轮组前方激光测距传感器403检测到数据变化，进行独立行走调节；
整个行走过程中，两台激光避障传感器501交叉扫描，设定交叉区域为障碍报警区域，适应水泥回转窑内行走，减少扫描到窑体误报警，保障系统平稳运行。
以上显示和描述了本发明的基本原理、主要特征和本发明的优点。本行业的技术人员应该了解，本发明不受上述实施例的限制，上述实施例和说明书中描述的只是本发明的原理，在不脱离本发明精神和范围的前提下，本发明还会有各种变化和改进，这些变化和改进都落入要求保护的本发明范围内。本发明要求保护范围由所附的权利要求书及其等效物界定。

Claims (8)

1.一种可在水泥回转窑变径弧面行走小车的控制系统，包括车身架(104)、设置在车身架(104)侧端处的若干组驱动支架(103)、由处理器和计算模块构成设置在车身架(104)上用于对小车进行运动控制的控制模块，其特征在于：还包括：
测量模块，设置在小车的两端部位置处，用于根据设定的旋转位置和顺序，在收到系统控制测距信号后，一次旋转至指定位置等待测距；
导航模块，设置在小车车轮架子位置处，用于获取小车中心线与路径中心线位置偏差信息；
执行单元，设置在小车车轮位置处，用于接受处理器和计算模块的驱动控制和运动，能使小车车身位置和行走方向实现精确微调。
2.根据权利要求1所述的一种可在水泥回转窑变径弧面行走小车的控制系统，其特征在于：所述的测量模块包括设置在车身架(104)上可根据设定的旋转位置和顺序，在收到处理器控制测距信号后，一次旋转至指定位置的微型旋转台(402)、设置在微型旋转台(402)上能实时监测车身与水泥回转窑窑顶的距离，当距离发生变化时，可以多点位测量距窑体距离，计算得出窑体半径的激光测距传感器(403)。
3.根据权利要求1所述的一种可在水泥回转窑变径弧面行走小车的控制系统，其特征在于：所述的导航模块包括设置在驱动支架(103)上的用于定交叉区域为障碍报警区域，适应水泥回转窑内行走，减少扫描到窑体误报警的激光避障传感器(501)、通过激光避障传感器(501)采集路径信息,获取车中心线与路径中心线位置偏差信息确定路径中央黑线的激光循迹传感器(502)。
4.根据权利要求1所述的一种可在水泥回转窑变径弧面行走小车的控制系统，其特征在于：所述的执行单元包括设置在驱动支架(103)上的铰接机构(102)、设置在车轮上独立接受处理器的驱动控制和运动，能使小车车身位置和行走方向实现精确微调的行走轮毂电机(101)、设置在车身架(104)上的车轮调节装置。
5.根据权利要求4所述的一种可在水泥回转窑变径弧面行走小车的控制系统，其特征在于：所述的车轮调节装置包括与车轮配合的蜗轮丝杠升降机(406)、设置在蜗轮丝杠升降机(406)上的可伸缩联轴器(405)和双出轴减速机(404)、设置在车身架(104)上且与双出轴减速机(404)配合的弧度调节伺服电机(401)。
6.根据权利要求5所述的一种可在水泥回转窑变径弧面行走小车的控制系统，其特征在于：所述的弧度调节伺服电机(401)能通过带动双出轴减速机(404)同步调整一组车轮与车身的夹角，并带有刹车装置，能够保持调整后结构的稳定性。
7.根据权利要求1所述的一种可在水泥回转窑变径弧面行走小车的控制系统，其特征在于：所述的处理器包括设置在车身架(104)上的控制安装板(301)、设置在控制安装板(301)上的集成控制柜(302)。
8.根据权利要求7所述的一种可在水泥回转窑变径弧面行走小车的控制系统，其特征在于：所述的计算模块为高主频大储存的的单片机，设置在集成控制柜(302)内。
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