CN201741039U - Lane position automatic tracking device - Google Patents
Lane position automatic tracking device Download PDFInfo
- Publication number
- CN201741039U CN201741039U CN2010205135445U CN201020513544U CN201741039U CN 201741039 U CN201741039 U CN 201741039U CN 2010205135445 U CN2010205135445 U CN 2010205135445U CN 201020513544 U CN201020513544 U CN 201020513544U CN 201741039 U CN201741039 U CN 201741039U
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- driving
- rfid
- electronic tag
- rotary encoder
- dolly
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Abstract
The utility model discloses a lane position automatic tracking device, which comprises a main controller, a position detecting device, and a position calibrating device, wherein the position detecting device adopts a rotating encoder, is mounted at the main shaft of a lane traveling motor and is used for detecting the precision information of the lane displacement. The position calibrating device adopts an ultrahigh frequency RFID reader-writer and an electronic label, wherein the RFID reader-writer is fixed on the lane body, the RFID electronic label is fixed on a bracket distributed on a lane rail after being packaged. Both the position detecting device and the position calibrating device is connected with a main controller serial port conversion and expansion module by a serial port communication interface, and the main controller transmits the processed position information to a lane terminal control system by an Ethernet interface module. The utility model adopts the rotating encoder to detect the displacement and adopts the RFID to calibrate the composite positioning technology, therefore the error generated by the problem, such as mechanical slid and the like, during the lane position tracking can be effectively reduce, the lane position precision is improved, thereby being beneficial to the management of lane lifting production.
Description
Technical field
The utility model relates to a kind of autotracker of the location that is applied to drive a vehicle, this device can be gathered the displacement information of driving cart and dolly in real time specifically, and this information carried out calculation process obtain driving a vehicle cart and the exact position of dolly in the reservoir area, this road location information reliable transmission belongs to tracking technique field, road location to driving a vehicle terminal control system the most at last.
Background technology
The driving driver needs to know the exact position of material in the lifting of material and the stage of putting down, and need with material sling and extended position feeds back to the floor control personnel, to improve the real-time that the stock upgrades.To the location of driving, adopt mode manually usually, mainly there is following drawback in this mode: 1, the driving driver estimates and determines the handling position, has increased the factor of human intervention, has reduced driving handling efficient; 2, the driving driver also needs initiatively the object information of finishing is fed back down after single job is finished in handling, can occur forgeing the phenomenon that feedback, information are made mistakes in the reality, has increased the driver's that drives a vehicle burden; 3, ground maneuvers person coordinates driver's handling coil of strip, can observe and commands at the handling operating area, has increased potential safety hazard.
For improving the automaticity that the driving handling is produced, realize the real-time follow-up of road location, need in driving, to introduce the road location automatic tracking system.Traditional method according to the displacement of mechanical wheel wheel measuring, measuring accuracy is higher, skids but be subjected to mechanical wheel, and the influence of factors such as machinery inertial causes this method long-play to have bigger cumulative errors; The radio-frequency (RF) identification location technology has all obtained effect preferably in different field such as bullet train location, tool of production location at present, this mode adopts contactless recognition method, reading speed is fast, reliability is high, but need guarantee to lay on the track closeer radio-frequency (RF) identification (Radio frequency identification:RFID) electronic tag for obtaining high orientation precision, installation workload is bigger, is difficult to obtain high orientation precision.
Summary of the invention
Technical matters: in order to improve the precision that follow the tracks of the road location, the utility model provides a kind of road location autotracker, the RFID location is used in combination with mechanical wheel wheel measuring displacement method, after the two signal input master controller carries out judgment processing, obtain road location information accurately and reliably, thereby satisfy the requirement of road location from motion tracking.
Technical scheme: road location of the present utility model autotracker comprises master controller, position detecting device, location calibration device; Master controller comprises DSP control circuit, power module, the conversion of two-way serial ports and expansion module and ethernet interface module, and described DSP control circuit is connected with expansion module, ethernet interface module with described power module, serial ports conversion respectively; Position detecting device comprises driving dolly rotary encoder, driving cart rotary encoder, and described position detecting device is installed on driving cart and the driving dolly electric machine main shaft place of travelling; Location calibration device comprises driving dolly rfid interrogator, driving cart rfid interrogator, described location calibration device adopts ultrahigh frequency radio frequency identification (RFID) reader and RFID electronic tag, rfid interrogator is fixed on driving cart vehicle body and the driving dolly vehicle body, on the fixed support of RFID electronic tag through being fixed on driving cart and driving dolly one siding track after the encapsulation, and guarantee that RFID electronic tag and rfid interrogator have the reading/writing distance of a wavelength; Conversion of two-way serial ports and expansion module communication interface are corresponding communicates by letter with driving cart rotary encoder and driving cart rfid interrogator (6), conversion of two-way serial ports and expansion module communication interface are also corresponding communicates by letter with driving dolly rotary encoder and driving dolly rfid interrogator, and ethernet interface module is communicated by letter with the driving terminal control system.
Described driving cart rotary encoder and driving cart rfid interrogator obtain travel displacement information, driving cart RFID electronic tag identification information ID number of driving cart respectively; Described driving dolly rotary encoder and driving dolly rfid interrogator obtain travel displacement information, driving dolly RFID electronic tag ID number of driving dolly respectively, all information all are sent to master controller by serial bus, by DSP control circuit acquisition process.
Described two-way serial ports conversion and expansion module communication interface are RS485 or RS422 interface, and described serial bus corresponds to RS485 or RS422.
Described serial ports conversion and expansion module expand four road serial ports with one road RS232 serial interface of master controller, and convert RS485 or RS422 interface to.
Described driving dolly rotary encoder, driving cart rotary encoder adopt the rotary encoder of increment type or absolute type, are installed on driving cart and the dolly electric machine main shaft place of travelling.
Described RFID electronic tag, it is encapsulated as resistant to elevated temperatures Polyvinylchloride (PVC) plastics.
Described RFID electronic tag is fixed on the steel plate after encapsulation, and the inner RFID electronic tag card of encapsulation has a gap apart from base plate.
The described fixed support that the RFID electronic tag is housed is of a size of parasang with buttress position, ground and distributes, and support is positioned between two buttress positions.
Described RFID electronic tag is in the territory, reactive near-field region of described driving dolly rfid interrogator, driving cart rfid interrogator, its concrete distance approximate one with the electromagnetic wavelength of ultrahigh frequency radio frequency identification (RFID) reader with frequency.
The label fixed support that the RFID electronic tag is housed is fixed on by the Crane Rail, and its bearing adopts support to adjust one hole, is used to finely tune the distance of rfid interrogator and RFID electronic tag.
The utility model adopts the rotary encoder collection driving displacement information that is installed on driving arbor wheel place, collection is laid in the RFID electronic tag at Crane Rail place the Information Monitoring of rotary encoder is calibrated, the present invention analyzes rotary encoder displacement measurement information in the driving cruising can determine the road location, just the displacement measurement of rotary encoder is calibrated if the middle rfid interrogator that travels reads the RFID electronic tag.The present invention is uploaded to the reference can be for driving driver handling time of driving terminal control system with current location apart from the deviation information of buttress position central point, improves the directive significance that this system produces handling.
Beneficial effect: this utility model adopts rotary encoder to gather precise position information, the RFID technology is to the mode of rotary encoder calibration, can effectively eliminate the positioning error that factors such as driving machinery skids are brought, reduce the installation workload in the scheme implementation, improved the precision that follow the tracks of the road location.
Description of drawings
Below in conjunction with drawings and Examples the utility model is further specified.
Fig. 1 is the utility model master controller structured flowchart.
Fig. 2 is the utility model position probing and calibrating installation installation site synoptic diagram.
Fig. 3 is the utility model power module structural drawing.
Fig. 4 is that the utility model rfid interrogator and electronic tag position concern synoptic diagram.
Fig. 5 is the utility model mounting bracket fixed form synoptic diagram.
Have among the figure: master controller 1, position detecting device 2, location calibration device 3, driving cart vehicle body 4, driving cart rotary encoder 5, driving cart rfid interrogator 6, RFID electronic tag 7, fixation steel plate 8, fixed support 9, driving dolly vehicle body 10, driving dolly rotary encoder 11, driving dolly rfid interrogator 12, label fixing threaded hole 13, label and steel plate gap 14, RFID electronic tag card 15, rfid interrogator 16, read write line support 17, support firm banking 18, support are adjusted one hole 19, support gib screw 20.
Embodiment
To be described in further detail the present invention as embodiment with the application of tracking means of a kind of road location of the utility model below in steel plant coil of strip reservoir area.
As shown in Figure 1 and Figure 2, this device is made of three parts: master controller 1, position detecting device 2, location calibration device 3.Master controller 1 comprises DSP control circuit, power module, serial ports conversion and expansion module, one road ethernet interface module.Position detecting device 2 comprises rotary encoder, rotary encoder telecommunication cable.Location calibration device 3 comprises RFID cart read write line, RFID dolly read write line, RFID electronic tag, label fixed support.
1, master controller part
Master controller partly is positioned in the driving pilothouse, and its effect is the displacement information that travels of gathering driving cart rotary encoder 5 and driving dolly rotary encoder 11, the RFID tag identifier information of gathering driving cart and dolly; By the displacement information that travels of cart and dolly rotary encoder obtain driving a vehicle position in the reservoir area, by the RFID label ID number finds out the coordinate figure of current label; The coordinate figure of rotary encoder institute location being put information and current label combines, and the displacement information of rotary encoder is calibrated; Road location information transmission after finally will calibrating is to the terminal control system of driving a vehicle.
It specifically is constructed as follows:
(1) DSP control circuit
The DSP control circuit adopts the DSP minimum system circuit of standard, comprising dsp processor chip TMS 320 F 2812, clock generating circuit, reset circuit, JTAG download interface, extend out 256K EEPROM, extend out the SRAM of 256K.Wherein EEPROM is the I2C interface, is used to deposit the coordinate data of RFID electronic tag 7.
(2) power module
Be illustrated in figure 3 as the structured flowchart of power module of the present utility model.This module is input as the 220V alternating current, filtering step-down processing through bright latitude S-250-24 technical grade Switching Power Supply obtains stable 24V DC voltage, wherein a part is supplied with selected rotary encoder and rfid interrogator, and a part obtains the DC voltage supply DSP control circuit of 3.3V again through DC decompression.
(3) serial ports conversion and expansion module
The serial ports conversion is adopted two-way RS485 or RS422 shared device with expansion module, can realize the input of four road RS485 or RS422 signal, promptly receive driving cart rotary encoder 5 and driving cart rfid interrogator 6 two-way serial communication signals, receive driving dolly rotary encoder 11 and driving dolly rfid interrogator 12 two-way serial communication signals, final output one road RS232 signal is connected to the serial ports input end of DSP control circuit, and realization 4 is advanced 1 signal that goes out and read.
(4) ethernet interface module
The position data that this module obtains processing is sent to the driving terminal control system with the form of TCP/IP packet, and the processing of convenient driving terminal control system has also improved the speed and the reliability of data transmission.
2, position detecting device
This time the position detecting device of field conduct is taked the rotary encoder of Omron Corp: E6C2-CWZ6C.This rotary encoder is an incremental, be the output accuracy that guarantees that this rotary encoder is appropriate, can select the model of 100 pulses/rotation resolution, judge the travel direction of driving mutually by the output of this rotary encoder, this rotary encoder operating voltage is 24V, by the power module power supply, the output signal mode is RS485, transfers to master controller by universal serial bus.
3, location calibration device
Location calibration device of the present utility model adopts the RFS1100 series ultrahigh frequency reader-writer of the intelligent scientific ﹠ technical corporation of auspicious good fortune, the RFID electronic tag adopts the universal RFID electronic tag card of ISO18000-6B agreement, is fixed on the mounting bracket after encapsulating in conjunction with rig-site utilization.
Be illustrated in figure 4 as the mounting structure of driving label and support, rfid interrogator 16 is fixed on the read write line support 17, and read write line support 17 is fixed on driving cart vehicle body 4 and the driving dolly vehicle body 10; RFID electronic tag card 15 through the PVC plastic package after label fixing threaded hole 13 be fixed on the fixation steel plate 8, fixation steel plate 8 is connected as a single entity with label fixed support 9, this support is fixed on the support firm banking 18, and support firm banking 18 is welded on the track ground.Wherein the packaged type of RFID electronic tag card is that label and steel plate gap 14 have certain distance, and certain distance is promptly arranged apart from electronic tag apart from steel plate, obtains to read and write preferably effect to guarantee electronic tag, and effect is best when reality is tested this distance for 20mm.The installation principle of driving cart and driving dolly is identical, all by installing with upper type.
As shown in Figure 4, rfid interrogator 13 distance R FID electronic tags 7 have one apart from r1, rfid interrogator 13 bottoms have one apart from r2 apart from RFID electronic tag 7 bottoms, the read-write effect is best when r1 is wavelength of ultrahigh frequency reader-writer frequency of operation, promptly should keep the r1 distance to be the best at a wavelength, be 30cm, the distance of r2 is 6 ± 1cm.
Be illustrated in figure 5 as the fixing structural representation of driving support, label fixed support 9 is installed on the support firm banking 18, adopt support to adjust one hole 19 between base and support, realize the adjustment of support installation site by adjusting support gib screw 20, and then in debugging, realize the fine setting of electronic tag and read write line distance, improve the read-write effect of each installed position RFID electronic tag.
By using device of the present utility model, can reduce driving that single use rotary encoder the runs into influence of mechanical factor such as skid, reduced the label layout density of single use RFID locator meams, the locating device of the two combination can be improved the bearing accuracy of driving in the reservoir area, realizing the real-time follow-up of road location, is the data basis from motion tracking and commander of driving production handling.
Claims (10)
1. a road location autotracker is characterized in that this device comprises master controller (1), position detecting device (2), location calibration device (3); Master controller (1) comprises DSP control circuit, power module, the conversion of two-way serial ports and expansion module and ethernet interface module, and described DSP control circuit is connected with expansion module, ethernet interface module with described power module, serial ports conversion respectively; Position detecting device (2) comprises driving dolly rotary encoder (11), driving cart rotary encoder (6), and described position detecting device (2) is installed on driving cart and the driving dolly electric machine main shaft place of travelling; Location calibration device (3) comprises driving dolly rfid interrogator (12), driving cart rfid interrogator (6), described location calibration device (3) adopts ultrahigh frequency radio frequency identification (RFID) reader and RFID electronic tag (7), rfid interrogator is fixed on driving cart vehicle body (4) and the driving dolly vehicle body (10), on the fixed support (9) of RFID electronic tag (7) through being fixed on driving cart and driving dolly one siding track after the encapsulation, and guarantee that RFID electronic tag (7) and rfid interrogator have the reading/writing distance of a wavelength; Conversion of two-way serial ports and expansion module communication interface are corresponding communicates by letter with driving cart rotary encoder (5) and driving cart rfid interrogator (6), conversion of two-way serial ports and expansion module communication interface are also corresponding communicates by letter with driving dolly rotary encoder (11) and driving dolly rfid interrogator (12), and ethernet interface module is communicated by letter with the driving terminal control system.
2. road location according to claim 1 autotracker is characterized in that described driving cart rotary encoder (5) and driving cart rfid interrogator (6) obtain driving cart travel displacement information, driving cart RFID electronic tag (7) identification information ID number respectively; Described driving dolly rotary encoder (11) and driving dolly rfid interrogator (12) obtain driving dolly travel displacement information, driving dolly RFID electronic tag (7) ID number respectively, all information all are sent to master controller by serial bus, by DSP control circuit acquisition process.
3. road location according to claim 1 and 2 autotracker is characterized in that described two-way serial ports conversion and expansion module communication interface are RS485 or RS422 interface, and described serial bus corresponds to RS485 or RS422.
4. road location according to claim 1 autotracker is characterized in that described serial ports conversion and expansion module expand four road serial ports with one road RS232 serial interface of master controller, and converts RS485 or RS422 interface to.
5. road location according to claim 1 autotracker, it is characterized in that described driving dolly rotary encoder (11), driving cart rotary encoder (5) adopt the rotary encoder of increment type or absolute type, be installed on driving cart and the dolly electric machine main shaft place of travelling.
6. road location according to claim 1 autotracker is characterized in that described RFID electronic tag (7), and it is encapsulated as resistant to elevated temperatures Polyvinylchloride (PVC) plastics.
7. road location according to claim 1 autotracker is characterized in that described RFID electronic tag (7), be fixed on the steel plate after encapsulation, and the inner RFID electronic tag card (15) of encapsulation has a gap apart from base plate.
8. road location according to claim 1 autotracker is characterized in that the described fixed support (9) that RFID electronic tag (7) is housed is of a size of the parasang distribution with buttress position, ground, and support is positioned between two buttress positions.
9. road location according to claim 1 autotracker, it is characterized in that described RFID electronic tag (7) is in the territory, reactive near-field region of described driving dolly rfid interrogator (12), driving cart rfid interrogator (6), its concrete distance approximate one with the electromagnetic wavelength of ultrahigh frequency radio frequency identification (RFID) reader with frequency.
10. road location according to claim 1 autotracker, it is characterized in that the label fixed support (9) that RFID electronic tag (7) is housed is fixed on by the Crane Rail, its bearing adopts support to adjust one hole (19), is used to finely tune the distance of rfid interrogator and RFID electronic tag (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010205135445U CN201741039U (en) | 2010-08-31 | 2010-08-31 | Lane position automatic tracking device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010205135445U CN201741039U (en) | 2010-08-31 | 2010-08-31 | Lane position automatic tracking device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201741039U true CN201741039U (en) | 2011-02-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010205135445U Expired - Fee Related CN201741039U (en) | 2010-08-31 | 2010-08-31 | Lane position automatic tracking device |
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| CN (1) | CN201741039U (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101973488A (en) * | 2010-08-31 | 2011-02-16 | 东南大学 | Traveling crane position tracking device based on radio frequency identification |
| CN102663463A (en) * | 2012-04-13 | 2012-09-12 | 广州市联盟软件科技有限公司 | RFID (radio frequency identification device) reader based on mobitex network system |
| CN102831463A (en) * | 2012-06-01 | 2012-12-19 | 北京物资学院 | RFID (Radio Frequency Identification Device) label with mechanical displacement detection device, RFID system and mechanical displacement detection method |
| CN103197679A (en) * | 2013-03-22 | 2013-07-10 | 长沙理工大学 | Accurate positioning method for orbit type routing-inspection robot |
| CN104635689A (en) * | 2014-12-27 | 2015-05-20 | 辽东学院 | Metallurgical traveling crane intelligent control system |
| CN104697482A (en) * | 2015-03-11 | 2015-06-10 | 武汉静磁栅机电制造有限公司 | Long-distance displacement detection device based on RFID (Radio Frequency Identification Devices) |
| CN105203058A (en) * | 2015-10-12 | 2015-12-30 | 江西瑞林装备有限公司 | Travel system and travel position detecting device and method thereof |
| CN105203057A (en) * | 2015-10-12 | 2015-12-30 | 江西瑞林装备有限公司 | Travel system and travel position detecting device and method thereof |
| CN107462238A (en) * | 2017-07-28 | 2017-12-12 | 杭州高达软件系统股份有限公司 | A kind of vehicular behavior analysis system and method |
| CN110027593A (en) * | 2019-04-12 | 2019-07-19 | 成都宇俊盛科技有限公司 | A kind of full-automatic unmanned driving's rail vehicle safe-guard system |
| CN110622083A (en) * | 2018-04-25 | 2019-12-27 | 深圳市大疆创新科技有限公司 | Positioning method, positioning device, robot, positioning system and storage medium |
-
2010
- 2010-08-31 CN CN2010205135445U patent/CN201741039U/en not_active Expired - Fee Related
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101973488A (en) * | 2010-08-31 | 2011-02-16 | 东南大学 | Traveling crane position tracking device based on radio frequency identification |
| CN102663463A (en) * | 2012-04-13 | 2012-09-12 | 广州市联盟软件科技有限公司 | RFID (radio frequency identification device) reader based on mobitex network system |
| CN102663463B (en) * | 2012-04-13 | 2015-08-05 | 胡忠毅 | Based on the rfid interrogator of mobitex network system |
| CN102831463A (en) * | 2012-06-01 | 2012-12-19 | 北京物资学院 | RFID (Radio Frequency Identification Device) label with mechanical displacement detection device, RFID system and mechanical displacement detection method |
| CN103197679A (en) * | 2013-03-22 | 2013-07-10 | 长沙理工大学 | Accurate positioning method for orbit type routing-inspection robot |
| CN103197679B (en) * | 2013-03-22 | 2016-01-06 | 长沙理工大学 | A kind of accurate positioning method of rail mounted crusing robot |
| CN104635689A (en) * | 2014-12-27 | 2015-05-20 | 辽东学院 | Metallurgical traveling crane intelligent control system |
| CN104635689B (en) * | 2014-12-27 | 2017-10-10 | 辽东学院 | A kind of Intelligent control system of metallurgical traveling crane |
| CN104697482B (en) * | 2015-03-11 | 2017-07-14 | 武汉静磁栅机电制造有限公司 | Long-distance displacement detection means based on RFID |
| CN104697482A (en) * | 2015-03-11 | 2015-06-10 | 武汉静磁栅机电制造有限公司 | Long-distance displacement detection device based on RFID (Radio Frequency Identification Devices) |
| CN105203057A (en) * | 2015-10-12 | 2015-12-30 | 江西瑞林装备有限公司 | Travel system and travel position detecting device and method thereof |
| CN105203058A (en) * | 2015-10-12 | 2015-12-30 | 江西瑞林装备有限公司 | Travel system and travel position detecting device and method thereof |
| CN105203057B (en) * | 2015-10-12 | 2018-07-17 | 江西瑞林装备有限公司 | Driving system and its road location detection device and road location detection method |
| CN105203058B (en) * | 2015-10-12 | 2019-06-07 | 江西瑞林装备有限公司 | Driving system and its road location detection device and road location detection method |
| CN107462238A (en) * | 2017-07-28 | 2017-12-12 | 杭州高达软件系统股份有限公司 | A kind of vehicular behavior analysis system and method |
| CN110622083A (en) * | 2018-04-25 | 2019-12-27 | 深圳市大疆创新科技有限公司 | Positioning method, positioning device, robot, positioning system and storage medium |
| CN110027593A (en) * | 2019-04-12 | 2019-07-19 | 成都宇俊盛科技有限公司 | A kind of full-automatic unmanned driving's rail vehicle safe-guard system |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20110209 Termination date: 20180831 |
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| CF01 | Termination of patent right due to non-payment of annual fee |