CN202404388U - CAN bus based multi-sensor digital automatic level-finding control system - Google Patents
CAN bus based multi-sensor digital automatic level-finding control system Download PDFInfo
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- CN202404388U CN202404388U CN2011204617093U CN201120461709U CN202404388U CN 202404388 U CN202404388 U CN 202404388U CN 2011204617093 U CN2011204617093 U CN 2011204617093U CN 201120461709 U CN201120461709 U CN 201120461709U CN 202404388 U CN202404388 U CN 202404388U
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Abstract
The present utility model relates to an automatic level-finding system in engineering construction, especially to a CAN bus based digital automatic level-finding control system. The CAN bus based multi-sensor digital automatic level-finding control system is complete in functions and strong in interface function, and is compatible with a CAN bus interface. The CAN bus based multi-sensor digital automatic level-finding control system comprises a vehicle-mounted power source, a human-computer interface, a digital controller, a servo valve and digital sensors, the digital sensors comprises a ultrasonic sensor, a digital gradient sensor, a digital rotation sensor, a stay rope sensor, an infrared reception sensor and a laser reception sensor, the vehicle-mounted power source is electrically connected with the digital controller and the servo valve, the digital controller and the digital sensors are connected in a communication way through a CAN bus after passing through a concentrator(adapter), and the human-computer interface and the servo valve are respectively connected with the digital controller.
Description
Technical field
The utility model relates to automatic leveling system in a kind of engineering construction, particularly based on the Digital Automatic Levelling control system of CAN bus.
Background technology
In building operation; In order to obtain flatness and satisfactory construction quality, construction machine has all been installed the Automatic Levelling control system, and the construction operation precision is improved significantly; The work cycle number of times reduces; Reduce expense for using mechanical equipment usefulness, improve construction quality and economic benefit, alleviate driver's labour intensity simultaneously greatly.
From working method, automatic leveling system mainly contains two types of contact automatic leveling system and non-contact automatic leveling systems.Contact automatic leveling system principle is generally all simpler, and cost is low, but all has more shortcoming, for example mechanical parts wearing and tearing, is subject to the ground influence and error occurs, use inconvenience etc., is applicable to the pavement spread occasion that flatness is less demanding; Non-contact automatic leveling system detects the different of principle and method according to it, and laser automatic leveling system, infrared ray automatic leveling system and ultrasound wave automatic leveling system are arranged.Laser automatic leveling system and infrared ray automatic leveling system disturb seldom application in construction of the highway because of it is subject to various extraneous factors at the construction of the highway scene; Mainly be applicable to the height detection occasion; For example construction such as stadium; Mostly the non-contact automatic leveling system that uses in the construction of the highway is the ultrasound wave automatic leveling system, and rope sensor is widely used on the height detection of milling machine.Flexibly, levelling control system efficiently can be discerned polytype digital sensor that has the standard CAN EBI; Be widely used in the detection of height, the gradient; It is simple to operate, use is reliable, is widely used in concrete paver, asphalt paver, milling machine, dozer, excavator, motorized grader.
The utility model content
The purpose of the utility model is to provide a kind of multisensor Digital Automatic Levelling control system based on the CAN bus; Perfect in shape and function; Interface function is strong; Ability compatibility standard CAN EBI; The digital sensor of comprehensive identification contact Automatic Levelling and non-contact automatic levelling two type systematics comprises ultrasonic sensor, digital Slope Transducer, digital rotation sensor, rope sensor, infrared receiving sensor, laser pick-off sensor and treats the expanding digital sensor, and flexible Application is in the various occasions that need the detection Automatic Levelling control of height, the gradient.
A kind of multisensor Digital Automatic Levelling control system based on the CAN bus; Comprise vehicle-mounted power source, man-machine interface, digitial controller, servo-valve and digital sensor; Above-mentioned digital sensor comprises ultrasonic sensor, digital Slope Transducer, digital rotation sensor, rope sensor, infrared receiving sensor, laser pick-off sensor; Above-mentioned vehicle-mounted power source is electrically connected with digitial controller and servo-valve; Digitial controller adopts the CAN bus communication to be connected with above-mentioned digital sensor through hub (breakout box), and above-mentioned man-machine interface is connected with digitial controller respectively with servo-valve.
Above-mentioned man-machine interface comprises button, display and pilot lamp.
Above-mentioned digitial controller comprises that chip assembly, parameter power down preserve that device, crystal oscillator, reset circuit, high-speed light are separated, the CAN EBI drives and the drive protecting module, and chip assembly comprises a TMS320LF2407A chip, a 74ALVC164245, two 74HC377 chips and a 74HC244 chip; Above-mentioned TMS320LF2407A chip is separated with 74ALVC164245 chip, high-speed light respectively, device is preserved in the parameter power down and crystal oscillator, reset circuit are electrically connected; The 74ALVC164245 chip is connected with a 74HC244 chip, two 74HC377 chips respectively; One of them 74HC377 chip is connected with driving, protection module, and driving, protection module are connected with servo-valve; Another one 74HC377 chip is connected with display, the pilot lamp of man-machine interface; The 74HC244 chip is connected with the button of man-machine interface, and above-mentioned CAN EBI drives with two high-speed light are separated and is connected, and hub drives with the CAN EBI through the CAN bus and is connected.
Above-mentioned digitial controller and ultrasonic sensor, digital Slope Transducer, digital rotation sensor, rope sensor, infrared receiving sensor and laser pick-off sensor are provided with the power down memory storage.
Above-mentioned hub is provided with to be used for connecting increases the CAN of sensor bus expansion interface.
The utlity model has following beneficial effect: (1) compatibility standard CAN EBI, comprehensively discern the digital sensor of contact Automatic Levelling and non-contact automatic levelling two type systematics, perfect in shape and function, interface function is strong; (2) sensor type is abundant; Comprise ultrasonic sensor, digital Slope Transducer, digital rotation sensor, rope sensor, infrared receiving sensor, laser pick-off sensor and treat the expanding digital sensor; Behind the sensor connecting system, digitial controller is discerned automatically, and freely selects whether to use the sensor that has inserted; Flexible Application has wide range of applications in the various occasions that need the detection Automatic Levelling control of height, the gradient; (3) digitial controller of the utility model and digital sensor are equipped with the parameter power down and preserve device, and this structure can effectively be avoided the controlled variable of system is repeated to be provided with; (4) the utility model can be according to different operating modes and field requirement expansion novel sensor, and through inserting the Digital Automatic Levelling control system after the software upgrading, this structure system that makes has the dirigibility and the adaptability of height; (5) digitial controller adopts the DSP of band CAN EBI to carry out The Hardware Design; For the levelling control strategy carries out software design, can gather work information with the Fuzzy PID comprehensively, after computing, make accurate control; Reliable and stable, the construction operation precision is high; (6) the utility model is the real-time control system that is based upon on the theoretical foundation of feedback control system; Comprehensive CAN bus, DSP microprocessor, single-chip microcomputer and the sensor technology of adopting has the ability of real-time data acquisition, real-time decision operation, control in real time and Realtime Alerts.
Description of drawings
Fig. 1 is the system architecture diagram of the utility model.
Fig. 2 is the digitial controller hardware circuit diagram of the utility model.
Fig. 3 is the utility model digitial controller actions menu block diagram.
Fig. 4 is the utility model digitial controller basic software process flow diagram.
Embodiment
Embodiment below in conjunction with description of drawings the utility model.
See Fig. 1; The utility model Automatic Levelling control system comprises vehicle-mounted power source, man-machine interface, digitial controller, servo-valve and hub (breakout box); Be connected with ultrasonic sensor, digital Slope Transducer, digital rotation sensor, rope sensor, infrared receiving sensor and laser pick-off sensor on the hub; Also be provided with expansion interface, can be used for connecting maybe needs the other types sensor.Above-mentioned digitial controller is electrically connected with vehicle-mounted power source, man-machine interface, servo-valve and hub respectively, and vehicle-mounted power source is used for electric power to digitial controller, hub and servo-valve being provided.Above-mentioned man-machine interface comprises button, display and pilot lamp.
This control system is provided with manually and automatic two kinds of mode of operations, adopts vehicle-mounted power source power supply, and is provided with reversed polarity, overcurrent, overvoltage crowbar.System is based on the CAN bus design, and main core is digitial controller and polytype digital sensor, and hub (breakout box) plays the communication connection and power source transmits.Digitial controller realizes that through the CAN bussing technique communication is connected with hub (breakout box); Hub (breakout box) all kinds of digital sensors (comprise ultrasonic sensor, digital Slope Transducer, digital rotation sensor, rope sensor, infrared receiving sensor, laser pick-off sensor and treat extension sensor) that are used for transferring; And the real-time work information passed back of detecting sensor; Sensor needs in time to gather the current information of controlled device; With anti-lost; And be converted into digital signal, and be transferred to digitial controller through hub through the CAN bus, realize real-time data acquisition.Digitial controller is judged digital type of sensor according to the data type that receives; And the parameter according to demarcating is made computing; Through comparing, analyze, judge whether to depart from predetermined value, whether meeting or exceeding maximum safe limit value etc.; In time carry out computing and make control decision, accomplish real-time decision operation by the expectant control rule.Digitial controller in time forms controlled quentity controlled variable output with the result of decision, acts on servo-valve (topworks), proofreaies and correct object parameters, realizes control in real time.
The action of above-mentioned digitial controller output load control signal control servo-valve; Hub (breakout box) is ultrasonic sensor, digital Slope Transducer, digital rotation sensor, rope sensor, infrared receiving sensor, laser pick-off sensor through cable and treats the power supply of extension sensor switching power supply simultaneously, plays the transmission of power function.
See Fig. 2, digitial controller adopts the DSP microprocessor technology, comprises that device, crystal oscillator are preserved in chip assembly, parameter power down, circuit such as reset, high-speed light are separated, the CAN EBI drives and the drive protecting module.Chip assembly comprises 5 chips; Model has TMS320LF2407A, 74ALVC164245,74HC377 and 74HC244; The chip of one of them model TMS320LF2407A is a kernel control chip, and digitial controller carries out the CAN bus data through the CAN control module of TMS320LF2407A built-in chip type and receives and send.Exterior I/O mouth that 74ALVC164245 chip and 2 74HC377 chips are used for circuit system is expanded, and the 74HC244 chip is used for reading the key assignments of man-machine interface button.
Kernel control chip TMS320LF2407A chip is electrically connected with 74ALVC164245 chip, 2 circuit such as high-speed light is separated, device and crystal oscillator are preserved in the parameter power down, reset respectively.The 74ALVC164245 chip is connected with 2 74HC377 chips, 74HC244 chip respectively, and one of them 74HC377 chip is connected with driving, protection module, and driving, protection module are connected with servo-valve; Another one 74HC377 chip is connected with display, the pilot lamp of man-machine interface.The 74HC244 chip is connected with the button of man-machine interface.Above-mentioned CAN EBI drives with 2 high-speed light are separated and is connected, and hub drives with the CAN EBI through the CAN bus and is connected.
Above-mentioned button divides four function keys; Be used to access menu item and parameter setting; Parameter comprises sensitivity, range of control, position parameter, dead band, proportional band, reference value, output mode, output pulse width and hydraulic pressure record; Parameter all can on-the-spotly be set, and adopts power down to preserve, and the measured data recoverable shows simultaneously.Pilot lamp adopts four groups of high-brightness LED pilot lamp, and display adopts the section-type LCD LCDs.The parameter power down is preserved device and is adopted the AT24 series memory.The CAN EBI drives and is realized by PCA82C50/251.This control system can be expanded novel sensor according to different operating modes and field requirement, and is provided with PNP and two kinds of load output modes of NPN, and output pulse width is independent adjustable, and maximum output current is 3A, is provided with the load short circuits protective device.
See Fig. 3, above-mentioned man-machine interface comprises button, display and pilot lamp.Through the button menu option of checking capable of circulation; And system operational parameters is set; Comprise sensitivity, range of control, position parameter, dead band, proportional band, reference value, output pulse width and hydraulic pressure record etc.; Can also system be switched between manual and automatic two kinds of mode of operations through button, adopt Chinese operation interface.After getting into menu option, can select whether to adopt a plurality of sensors, and select which sensor; Then carry out the sensitivity mode cancellation and judge, then carry out the sensitivity setting as not cancelling, the dead band is then carried out in cancellation, the proportional band is provided with; Then carry out longitudinal sensor control and select, need then carry out the range of control setting, the line position coefficient setting of going forward side by side; Next be followed successively by hydraulic pressure mode record, solenoid valve output mode and the setting of solenoid valve output duty cycle.
See Fig. 4, the operational process of digitial controller is following:
1., the digitial controller self check, system initialization and CAN bus are carried out initialization, original stored parameter reads;
2., cycle criterion has or not the CAN bus data; If do not have then display, the no sensor of pilot lamp warning; If the CAN data are arranged; The ID data of then sending according to the digital sensor in the CAN data (comprise ultrasonic sensor, digital Slope Transducer, digital rotation sensor, rope sensor, infrared receiving sensor, laser pick-off sensor and treat extension sensor) judge it is the digital sensor of which kind of type, realize the identification of digital sensor;
3., the discriminating digit type of sensor, and configuration parameter;
4., the Data Receiving of digital sensor and processing;
The Data Receiving processing module is the core of digitial controller, and the design of control strategy is crucial, selects the appropriate control algorithm, the data message that receives is handled calculating control output.The stability of control system and precision receive the data precision and the stability influence of digital sensor on the one hand, export decision by the control of controller on the one hand in addition.According to parameter settings such as dead band, sensitivity, proportional bands, carry out software design with the Fuzzy PID for the levelling control strategy, have strong adaptability and robustness.
5., judgement is in manually or automatic operation mode;
Under the manual mode; Display shows the actual measurement sensor values; Pilot lamp does not have indication, and the menu option of checking capable of circulation is selected sensor type and system operational parameters is set; Comprise sensitivity, range of control, position parameter, dead band, proportional band, reference value, output pulse width and hydraulic pressure record, can also switch manual mode to automatic mode.
Under the automatic mode, display shows reference value, pilot lamp indication outbound course, and the pwm signal of calculating and output servo-valve, pwm signal output frequency 2Hz, dutycycle is calculated according to control algolithm by data processing module.
6., judge whether digital sensor normal, normally then circulation 5.～6., undesired, the output of then reporting to the police, and getting back to 2.;
If object parameters transfinites or unusual condition appears in system equipment, controller can in time send the sound and light alarm signal, and automatically or by manual work carries out necessary processing, realizes the Realtime Alerts function.
7., can change the setting of benchmark and other partial parameters in the work progress.
When carrying out the design of all kinds digital sensor; Be the basis with single-chip microcomputer and CAN bus communication module; Appropriate design signal condition module and filtering circuit; The signal that sensor element is collected carries out soft, hardware double-smoothing, can be effectively anti-interference, prevent because the sensor signal fluctuation that factors such as shake cause.
But the digital sensor built-in controller adopts the AVR series A Tmega128 single-chip microcomputer of online programming, and its built-in eeprom memory is used for the parameter power down and preserves; CAN bus communication module is formed the CAN node by SJA1000 and PCA82C50/251.The SJA1000 chip uses the 16M external crystal-controlled oscillation; Traffic rate is set to 125kBps; SJA1000 uses single-chip microcomputer place external memory interface; Read-write through external memory interface is carried out parameter configuration and data transmission and reception to the SJA1000 chip, and PCA82C50/251 is as the driving transceiver of CAN bus.
The utility model adopts advanced sensor technology; According to the digital sensor type difference detection signal input pickup is selected for use; For example slope detection then selects to adopt high-precision electrolyte, contactless device, does not have the mechanical parts wearing and tearing, high life.
System power supply can 10 ~ 30V the wide region supply voltage, and be provided with reversed polarity, excess current, excess voltage protection, guarantee that feed circuit are reliable and stable.
Obviously, the above-mentioned embodiment of the utility model only be for explain clearly that the utility model does for example, and be not to be qualification to the utility model embodiment.For the those of ordinary skill in affiliated field, on the basis of above-mentioned explanation, can also be easy to make other pro forma variation and perhaps substitute, and these change or alternative also will being included within the definite protection domain of the utility model.
Claims (5)
1. multisensor Digital Automatic Levelling control system based on the CAN bus; Comprise vehicle-mounted power source, man-machine interface, digitial controller, servo-valve and digital sensor; It is characterized in that: above-mentioned digital sensor comprises ultrasonic sensor, digital Slope Transducer, digital rotation sensor, rope sensor, infrared receiving sensor, laser pick-off sensor; Above-mentioned vehicle-mounted power source is electrically connected with digitial controller and servo-valve; Digitial controller adopts the CAN bus communication to be connected with above-mentioned digital sensor through hub, and above-mentioned man-machine interface is connected with digitial controller respectively with servo-valve.
2. the multisensor Digital Automatic Levelling control system based on the CAN bus according to claim 1, it is characterized in that: above-mentioned man-machine interface comprises button, display and pilot lamp.
3. the multisensor Digital Automatic Levelling control system based on the CAN bus according to claim 2; It is characterized in that: above-mentioned digitial controller comprises that chip assembly, parameter power down preserve that device, crystal oscillator, reset circuit, high-speed light are separated, the CAN EBI drives and the drive protecting module, and chip assembly comprises a TMS320LF2407A chip, a 74ALVC164245, two 74HC377 chips and a 74HC244 chip; Above-mentioned TMS320LF2407A chip is separated with 74ALVC164245 chip, high-speed light respectively, device is preserved in the parameter power down and crystal oscillator, reset circuit are electrically connected; The 74ALVC164245 chip is connected with a 74HC244 chip, two 74HC377 chips respectively; One of them 74HC377 chip is connected with driving, protection module, and driving, protection module are connected with servo-valve; Another one 74HC377 chip is connected with display, the pilot lamp of man-machine interface; The 74HC244 chip is connected with the button of man-machine interface, and above-mentioned CAN EBI drives with two high-speed light are separated and is connected, and hub drives with the CAN EBI through the CAN bus and is connected.
4. the multisensor Digital Automatic Levelling control system based on the CAN bus according to claim 3, it is characterized in that: above-mentioned digitial controller and ultrasonic sensor, digital Slope Transducer, digital rotation sensor, rope sensor, infrared receiving sensor and laser pick-off sensor are provided with the power down memory storage.
5. the multisensor Digital Automatic Levelling control system based on the CAN bus according to claim 1 is characterized in that: above-mentioned hub is provided with to be used for connecting increases the CAN of sensor bus expansion interface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011204617093U CN202404388U (en) | 2011-11-20 | 2011-11-20 | CAN bus based multi-sensor digital automatic level-finding control system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2011204617093U CN202404388U (en) | 2011-11-20 | 2011-11-20 | CAN bus based multi-sensor digital automatic level-finding control system |
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| CN202404388U true CN202404388U (en) | 2012-08-29 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102411319A (en) * | 2011-11-20 | 2012-04-11 | 中国科学院合肥物质科学研究院 | Multi-sensor digital automatic leveling control system based on CAN (Controller Area Network) bus |
| CN105717813A (en) * | 2016-01-29 | 2016-06-29 | 深圳市美好幸福生活安全系统有限公司 | Method and device for obtaining physical quantity corresponding to CAN data and equipment |
| CN107710090A (en) * | 2015-07-10 | 2018-02-16 | 蒂埃尔威有限公司 | sensor attachment structure |
-
2011
- 2011-11-20 CN CN2011204617093U patent/CN202404388U/en not_active Expired - Lifetime
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102411319A (en) * | 2011-11-20 | 2012-04-11 | 中国科学院合肥物质科学研究院 | Multi-sensor digital automatic leveling control system based on CAN (Controller Area Network) bus |
| CN107710090A (en) * | 2015-07-10 | 2018-02-16 | 蒂埃尔威有限公司 | sensor attachment structure |
| CN105717813A (en) * | 2016-01-29 | 2016-06-29 | 深圳市美好幸福生活安全系统有限公司 | Method and device for obtaining physical quantity corresponding to CAN data and equipment |
| CN105717813B (en) * | 2016-01-29 | 2018-01-09 | 深圳市美好幸福生活安全系统有限公司 | The acquisition methods of physical quantity, device and equipment corresponding to CAN data |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20200824 Address after: Room 217, robot industrial base, Qidi science and Technology City, 68 Jinxiu Avenue, Hefei Economic and Technological Development Zone, Anhui Province Patentee after: Hefei Zhongke Frontier Technology Co., Ltd Address before: 230031 no.350 shushanhu Road, Hefei City, Anhui Province Patentee before: HEFEI INSTITUTES OF PHYSICAL SCIENCE, CAS |
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| TR01 | Transfer of patent right | ||
| CX01 | Expiry of patent term |
Granted publication date: 20120829 |
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| CX01 | Expiry of patent term |