CN112000076A - Concrete torpedo tank on-site debugging method, debugging system and readable storage medium - Google Patents
Concrete torpedo tank on-site debugging method, debugging system and readable storage medium Download PDFInfo
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- CN112000076A CN112000076A CN202010623121.7A CN202010623121A CN112000076A CN 112000076 A CN112000076 A CN 112000076A CN 202010623121 A CN202010623121 A CN 202010623121A CN 112000076 A CN112000076 A CN 112000076A
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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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- 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
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24065—Real time diagnostics
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Abstract
The field debugging method of the torpedo ladle comprises the following steps: acquiring a return-to-zero detection instruction, and performing return-to-zero on the position data of the torpedo ladle according to the return-to-zero detection instruction; acquiring a position selection instruction and a walking instruction; controlling the torpedo ladle to operate according to the walking instruction; acquiring current position data of the torpedo ladle; and when the detection signal corresponding to the position selection instruction is received, determining the current position data of the torpedo ladle as the position value corresponding to the position selection instruction. The invention also provides a torpedo tank field debugging system, which comprises a walking driving module, a real-time position detection module, a positioning module and a controller; the walking driving module is used for executing commands issued by the controller; the real-time position detection module is used for detecting the current position of the torpedo ladle and feeding the current position back to the controller; the positioning module is used for feeding back a detection signal corresponding to the position selection instruction to the controller when the torpedo tank reaches the position corresponding to the position selection instruction; the controller includes a processor, a memory, and a computing program stored on the memory that is executable by the processor.
Description
Technical Field
The invention belongs to the technical field of prefabricated part production, and particularly relates to a concrete torpedo tank field debugging method, a debugging system and a readable storage medium.
Background
Concrete torpedo cars are mainly used for concrete transfer in fixed areas, such as inside the PC factory, transporting concrete from the mixing plant to the spreader through the torpedo car.
At present, the operation mode of the torpedo tank is an automatic control mode, and when an operator selects a target position, the torpedo tank automatically operates to the lower part of a corresponding mixing station or the target position of a material distributor and the like. When the torpedo tank automatically operates in a fixed range, the control conditions are set to stop operating at the maximum position and the minimum position, so that a maximum position and minimum position stop operation mechanism is realized by arranging position detection modules in front of and behind the torpedo tank, the safe transportation range of the torpedo tank is set, and in order to prevent the position detection modules from being failed accidentally, the maximum position and the minimum position are set for a controller, the position of the torpedo tank is fed back in real time by utilizing a position measurement module arranged on the torpedo tank, and the torpedo tank is set to stop operating when the real-time position value of the torpedo tank does not meet the range of the maximum position and the minimum position, so that the dual control of the torpedo tank to stop operating at the maximum position and the minimum position is realized.
The prior art has the following problems:
when the numerical values of the maximum position and the minimum position which are set by the user are downloaded to the controller as initial values, the numerical values are different from the actual values due to the fact that the user defines the numerical values, the operator needs to set the numerical values repeatedly on site, and the accuracy of the numerical values obtained finally is not high, so that the numerical values are obviously not suitable for site debugging.
The maximum position and the minimum position are initialized by zeroing, then the moving position is recorded in real time through the position measuring module, when the position is moved to the corresponding maximum position and the corresponding minimum position, the position detecting module is triggered to stop driving, and the value is set to the corresponding maximum position and the corresponding minimum position.
In summary, there is a need to develop a method, a system and a readable storage medium for field debugging of a concrete torpedo tank, so as to solve the technical problems in the prior art that the element detonator cannot automatically run to a preset position of a mixing station or a distributing machine, and requires much manual intervention, the working efficiency is low, the control accuracy is low, and the like.
The invention content is as follows:
the invention aims to provide a concrete torpedo tank field debugging method, a debugging system and a readable storage medium, which can realize the stop motion of the torpedo tank at the maximum position and the minimum position through double control and solve the problems that the field debugging is complicated, the value accuracy of the maximum position and the minimum position is not high, and equipment cannot be driven due to zero initialization of data of the maximum position and the minimum position and the like in the control method.
In order to achieve the purpose, the invention adopts the following technical scheme:
a concrete torpedo tank field debugging method comprises the following steps:
acquiring a return-to-zero detection instruction, and performing return-to-zero on position data of the torpedo ladle according to the return-to-zero detection instruction;
acquiring a position selection instruction and a walking instruction;
controlling the torpedo ladle to move along the track according to the walking instruction;
acquiring current position data of the torpedo ladle;
and when a detection signal corresponding to the position selection instruction is received, determining the current position data of the torpedo as a position value corresponding to the position selection instruction, and simultaneously controlling the torpedo to stop running.
On the basis of the above embodiment, in another improved embodiment, the position selection instruction includes a maximum position instruction and a minimum position instruction, and the step of controlling the torpedo to move along the track according to the position selection instruction and the walking instruction includes:
controlling the torpedo ladle to walk towards the maximum position according to the maximum position instruction and the walking instruction; or
And controlling the torpedo ladle to walk towards the maximum position according to the minimum position instruction and the walking instruction.
The invention also provides a concrete torpedo tank field debugging system, which comprises a walking driving module, a real-time position detection module, a positioning module and a controller;
the traveling driving module is used for executing a command issued by the controller and driving the torpedo ladle to travel along the track;
the real-time position detection module is used for detecting the current position of the torpedo ladle and feeding back a detection value to the controller;
the positioning module is used for feeding back a detection signal corresponding to the position selection instruction to the controller when the torpedo tank reaches the position corresponding to the position selection instruction;
the controller comprises a processor, a memory and a calculation program stored on the memory and capable of being executed by the processor, wherein the calculation program realizes the concrete torpedo tank field debugging step when being executed by the processor.
On the basis of the above embodiment, in another improved embodiment, the mobile terminal further includes a human-computer interaction module, where the human-computer interaction module is in communication connection with the controller, and is configured to input an instruction and transmit the instruction to the controller, where the instruction includes a return-to-zero detection instruction, a position selection instruction, and a walking instruction.
On the basis of the above embodiment, in another improved embodiment, the walking driving module comprises a frequency converter, a motor, a speed reducer and a walking wheel, and the walking driving module drives the motor, the motor drives the speed reducer and the walking wheel to enable the torpedo ladle to walk front and back along the track through the frequency converter.
On the basis of the above embodiment, in another improved embodiment, the positioning module is a photoelectric switch or a limit switch disposed at a position of the torpedo car running track corresponding to the position selection instruction.
On the basis of the above embodiment, in another improved embodiment, the real-time position detection module comprises an encoder or a limit switch installed on the torpedo tank.
On the basis of the above embodiment, in another improved embodiment, a return-to-zero detection instruction is input to a human-computer interaction module, the human-computer interaction module transmits the return-to-zero detection instruction to the controller, and the controller performs return-to-zero detection on the real-time position detection module and shields the motion limitation of the real-time position detection module;
inputting a position selection instruction and a walking instruction of a maximum position or a minimum position to the human-computer interaction module, wherein the human-computer interaction module transmits the position selection instruction and the walking instruction to the controller, the controller controls the torpedo tank to move along the track through the walking driving module, and the real-time position detection module records the walking distance of the torpedo tank in real time and transmits data to the controller;
when the torpedo tank travels to the maximum position/the minimum position, the detection signal of the positioning detection module is triggered, the positioning detection module sends a maximum position/minimum position data signal to the controller, the controller determines that the current position data of the torpedo tank is the maximum position value/the minimum position value, and meanwhile, the traveling driving module controls the torpedo tank to stop running.
The invention also provides a readable storage medium, and the readable storage medium stores a concrete torpedo tank field debugging method program, wherein when the concrete torpedo tank field debugging method program is executed by a processor, the steps of the concrete torpedo tank field debugging method are realized.
The invention has the following beneficial effects:
the torpedo tank field debugging method can solve the problem that equipment cannot be started due to the fact that driving of the torpedo tank is stopped at the maximum position and the minimum position under double control and the initial downloading program is caused, an operator can successfully set the maximum position and the minimum position only by operating twice, the operation process is refined, the friendliness of man-machine interaction is improved, manual adjustment operation can be reduced, and the working efficiency is improved.
Drawings
FIG. 1 is a functional topology diagram of a torpedo car field commissioning system in an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a torpedo car field debugging method according to an embodiment of the present invention;
fig. 3 is a flow chart of a field debugging method for the maximum position of the torpedo in another embodiment of the invention.
Detailed Description
The following preferred embodiments of the present invention are provided to aid in a further understanding of the invention. It should be understood by those skilled in the art that the description of the embodiments of the present invention is by way of example only, and not by way of limitation.
In the prefabricated part production plant, a concrete mixing station is arranged, concrete at the mixing station is conveyed to a distributing machine at a manufacturing position on a production line through a torpedo tank, and the distributing machine pours concrete on the surface of the table die according to the production beat. The operation track of the torpedo tank is fixed, in order to solve the problems that the field debugging of the torpedo tank is complex, the value accuracy of the maximum position and the minimum position is not high, and the device cannot be driven due to the fact that the data of the maximum position and the minimum position is zero and initialized to be zero, and the like, referring to fig. 2, the embodiment provides a field debugging method of the concrete torpedo tank, which comprises the following steps:
acquiring a return-to-zero detection instruction, and performing return-to-zero on position data of the torpedo ladle according to the return-to-zero detection instruction;
acquiring a position selection instruction and a walking instruction;
controlling the torpedo ladle to move along the track according to the walking instruction;
acquiring current position data of the torpedo ladle;
and when a detection signal corresponding to the position selection instruction is received, determining the current position data of the torpedo as a position value corresponding to the position selection instruction, and simultaneously controlling the torpedo to stop running.
On the basis of the above embodiment, in another improved embodiment, the position selection instruction includes a maximum position instruction and a minimum position instruction, and the step of controlling the torpedo to move along the track according to the position selection instruction and the walking instruction includes:
controlling the torpedo ladle to walk towards the maximum position according to the maximum position instruction and the walking instruction; or
And controlling the torpedo ladle to walk towards the maximum position according to the minimum position instruction and the walking instruction.
Referring to the functional topological diagram shown in fig. 1, another embodiment of the present invention further provides a concrete torpedo tank field debugging system, which includes a walking driving module, a real-time position detecting module, a positioning module, and a controller;
the traveling driving module is used for executing a command issued by the controller and driving the torpedo ladle to travel along the track;
the real-time position detection module is used for detecting the current position of the torpedo ladle and feeding back a detection value to the controller;
the positioning module is used for feeding back a detection signal corresponding to the position selection instruction to the controller when the torpedo tank reaches the position corresponding to the position selection instruction;
the controller comprises a processor, a memory and a calculation program which is stored on the memory and can be executed by the processor, wherein when the calculation program is executed by the processor, the concrete torpedo tank field debugging step is realized.
On the basis of the above embodiment, in another improved embodiment, the walking robot further comprises a human-computer interaction module, wherein the human-computer interaction module is in communication connection with the controller and is used for inputting instructions and transmitting the instructions to the controller, and the instructions comprise a return-to-zero detection instruction, a position selection instruction and a walking instruction.
On the basis of the embodiment, in another improved embodiment, the walking driving module comprises a frequency converter, a motor, a speed reducer and a walking wheel, and the walking driving module drives the motor through the frequency converter, and the motor drives the speed reducer and the walking wheel to enable the torpedo ladle to walk back and forth along the track.
On the basis of the above embodiment, in another improved embodiment, the positioning module is a photoelectric switch or a limit switch disposed at a position of the torpedo car running track corresponding to the position selection instruction. In actual setting, the positioning module is a photoelectric switch or a limit switch arranged at a specified maximum position or minimum position on the running track of the torpedo ladle. In the embodiment, a photoelectric switch is adopted, when the torpedo tank travels to a track where the photoelectric switch is arranged, a signal of the photoelectric switch is triggered, and then the signal is transmitted to the controller.
On the basis of the above embodiment, in another improved embodiment, the real-time position detection module comprises an encoder or a limit switch installed on the torpedo tank travelling wheel.
In this embodiment, the human-computer interaction module is a remote controller with buttons and a display screen, and includes a remote controller transmitter and a remote controller receiver, and commands are manually input into the remote controller transmitter, and then command signals are transmitted to the PCL controller through the remote controller receiver.
Referring to fig. 3, the following describes in detail the operation content and functions between the components in the concrete torpedo on-site debugging system according to the present embodiment, with reference to the concrete torpedo on-site debugging system:
an operator inputs a return-to-zero detection instruction to the human-computer interaction module, the human-computer interaction module transmits the return-to-zero detection instruction to the controller, and the controller performs return-to-zero detection on the real-time position detection module and shields the motion limit of the real-time position detection module;
inputting a position selection instruction and a walking instruction of a maximum position or a minimum position to a human-computer interaction module, wherein the human-computer interaction module transmits the position selection instruction and the walking instruction to a controller, the controller controls the torpedo tank to run along a track through a walking driving module, and a real-time position detection module records the walking distance of the torpedo tank in real time and transmits data to the controller;
when the torpedo tank travels to the maximum position/the minimum position, a detection signal of the positioning detection module is triggered, the positioning detection module sends a maximum position/minimum position data signal to the controller, the controller determines that the current position data of the torpedo tank is the maximum position value/the minimum position value, and meanwhile the traveling driving module controls the torpedo tank to stop running.
The torpedo tank field control debugging method can solve the problem that equipment cannot be started due to the fact that the driving of the torpedo tank is stopped at the maximum position and the minimum position under double control and the initial downloading program occurs; the maximum position and the minimum position can be successfully set by an operator only by operating twice, the operation process is refined, the friendliness of human-computer interaction is improved, manual adjustment operation can be reduced, and the working efficiency is improved.
In another embodiment of the present invention, a readable storage medium is further provided, where the readable storage medium stores a program of a concrete torpedo tank field debugging method, and when the program of the concrete torpedo tank field debugging method is executed by a processor, the steps of the concrete torpedo tank field debugging method in the above scheme are implemented.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present application and not for limiting the protection scope thereof, and although the present application is described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that: numerous variations, modifications, and equivalents will occur to those skilled in the art upon reading the present application and are within the scope of the claims as issued or as granted.
Claims (8)
1. A concrete torpedo tank field debugging method is characterized by comprising the following steps:
acquiring a return-to-zero detection instruction, and performing return-to-zero on position data of the torpedo ladle according to the return-to-zero detection instruction;
acquiring a position selection instruction and a walking instruction;
controlling the torpedo cars to move along the track according to the position selection instruction and the walking instruction;
acquiring current position data of the torpedo ladle;
and when a detection signal corresponding to the position selection instruction is received, determining the current position data of the torpedo as a position value corresponding to the position selection instruction, and simultaneously controlling the torpedo to stop running.
2. The method of claim 1, wherein the location selection commands include a maximum location command and a minimum location command, and the step of controlling the torpedo to orbit according to the location selection commands and the travel commands comprises:
controlling the torpedo ladle to walk towards the maximum position according to the maximum position instruction and the walking instruction; or
And controlling the torpedo ladle to walk towards the maximum position according to the minimum position instruction and the walking instruction.
3. A concrete torpedo tank field debugging system is characterized by comprising a walking driving module, a real-time position detection module, a positioning module and a controller;
the traveling driving module is used for executing a command issued by the controller and driving the torpedo ladle to travel along the track;
the real-time position detection module is used for detecting the current position of the torpedo ladle and feeding back a detection value to the controller;
the positioning module is used for feeding back a detection signal corresponding to the position selection instruction to the controller when the torpedo tank reaches the position corresponding to the position selection instruction;
the controller comprises a processor, a memory and a computer program stored on the memory and executable by the processor, wherein the computer program when executed by the processor implements the concrete torpedo in-situ debugging step as claimed in claim 1 or 2.
4. The concrete torpedo in-situ debugging system of claim 3, further comprising a human-computer interaction module, wherein the human-computer interaction module is in communication connection with the controller and is used for inputting and transmitting instructions to the controller, and the instructions comprise a return-to-zero detection instruction, a position selection instruction and a walking instruction.
5. The concrete torpedo on-site debugging system of claim 3, wherein the travel drive module comprises a frequency converter, a motor, a speed reducer and a traveling wheel, and the travel drive module drives the motor, the motor drives the speed reducer and the traveling wheel through the frequency converter so as to enable the torpedo to travel back and forth along a track.
6. The concrete torpedo on-site debugging system of claim 5, wherein the positioning module is a photoelectric switch or a limit switch arranged at a position of the torpedo running track corresponding to the position selection instruction.
7. The concrete torpedo in situ commissioning system of claim 3, wherein said real-time position detection module comprises an encoder or limit switch mounted on said torpedo.
8. A readable storage medium, on which a concrete torpedo car field commissioning method program is stored, wherein the concrete torpedo car field commissioning method program, when executed by a processor, implements the steps of the concrete torpedo car field commissioning method of claim 1 or 2.
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