CN211109987U - Bucket wheel machine positioning system - Google Patents
Bucket wheel machine positioning system Download PDFInfo
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- CN211109987U CN211109987U CN201921431079.8U CN201921431079U CN211109987U CN 211109987 U CN211109987 U CN 211109987U CN 201921431079 U CN201921431079 U CN 201921431079U CN 211109987 U CN211109987 U CN 211109987U
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Abstract
A bucket wheel machine positioning system comprises a walking detection system, a rotation detection system and a large arm detection unit; the walking detection system comprises a walking antenna control box, a walking position detection box and a walking coding cable; the rotary detection system comprises a rotary antenna control box, a rotary position detection box and a rotary coding cable. The utility model discloses the form that well walking code cable and gyration code cable adopt transmission datum line and stranded transmission to the line to constitute has effectively improved the measuring precision; the signal is acquired in an electromagnetic coupling mode, and the anti-interference capability of the system is improved in a mode of respectively processing a walking position signal, a rotation position signal and a pitch angle signal; the mode of comparing the multi-strand transmission line with the transmission reference line one by one is adopted, the operation mode is simple, and the requirement on a processor can be reduced.
Description
Technical Field
The utility model belongs to stockyard bucket wheel machine field, concretely relates to bucket wheel machine positioning system.
Background
The bucket wheel machine is a large-scale and efficient mechanized equipment for a stock ground, is widely applied to bulk material storage yards such as ports and docks, energy sources, chemical engineering and the like, and is used for material turnover.
At present, the bucket wheel machine is mainly positioned in the mode such as encoder, location label, satellite in the location of stock ground in the market, but the encoder location identification rate is low, the scheduling problem that skids is more, causes the positioning deviation great, and positioning mode such as location label, satellite is behind the stock ground is covered by dry coal canopy, and positioning signal decay problem is difficult to avoid, also causes the positioning deviation great easily. Along with the success of the unattended full-automatic research of the bucket wheel machine, the market puts forward higher requirements on the accurate positioning of the bucket wheel machine, the dependence on walking, rotation and pitching precision is higher and higher, the precision is higher, the unmanned requirement of the bucket wheel machine can be met, and the positioning mode at the present stage is difficult to meet the requirement of the market.
SUMMERY OF THE UTILITY MODEL
In order to solve the problem, the utility model provides a bucket wheel machine positioning system that positioning accuracy is high, interference killing feature is strong.
The utility model provides a technical scheme that its technical problem adopted is:
a bucket wheel machine positioning system comprises a walking detection system, a rotation detection system and a large arm detection unit;
the walking detection system comprises a walking antenna control box, a walking position detection box and a walking coding cable; the walking coded cable is arranged along the walking direction of the bucket wheel machine; the walking antenna control box runs along the walking coded cable path; the walking antenna control box is electrically connected with the walking position detection box and is used for acquiring walking position signals of corresponding positions from the walking coded cable in an electromagnetic coupling mode; the walking position detection box is used for receiving, processing and transmitting the walking position signal acquired by the walking antenna control box;
the rotary detection system comprises a rotary antenna control box, a rotary position detection box and a rotary coding cable; the rotary coding cable is arranged along the rotary direction of the bucket wheel machine; the slewing antenna control box runs along the slewing coding cable path; the rotary antenna control box is electrically connected with the rotary position detection box and is used for acquiring rotary position signals of corresponding positions from the rotary coding cable in an electromagnetic coupling mode; the rotary position detection box is used for receiving, processing and transmitting a rotary position signal acquired by the rotary antenna control box;
and the large arm detection unit is used for detecting and transmitting a pitch angle signal of the bucket wheel machine.
Further, the walking position detection box comprises a walking address detector and a ground communicator; the input end of the walking address detector is electrically connected with the walking antenna control box, and the output end of the walking address detector is electrically connected with the ground communicator.
Further, the rotation position detection box comprises a rotation address detector and a vehicle-mounted communicator; the input end of the rotary address detector is electrically connected with the rotary antenna control box, and the output end of the rotary address detector is electrically connected with the vehicle-mounted communicator.
Furthermore, a first head end junction box and a first tail end junction box are arranged at two ends of the walking coding cable; a second head end junction box and a second tail end junction box are arranged at two ends of the rotary coding cable; the first head end junction box and the second head end junction box are used for signal access; the first tail end junction box is used for controlling the magnetic field emitted by the walking coded cable; the second tail end junction box is used for controlling the magnetic field emitted by the rotary encoding cable.
Further, the walking encoding cable consists of an RX transmission reference line and i +1 pairs of GX transmission paired lines, wherein the i +1 pairs of GX transmission paired lines are GX0, GX1, GX2, … … and GXi respectively; the slewing coding cable consists of an RH transmission reference line and j +1 pairs of GH transmission pairs, wherein the j +1 pairs of GH transmission pairs are GH0, GH1, GH2, … … and GHj respectively; the i and j are determined by the positioning accuracy and the positioning distance.
Preferably, the walking antenna control box is further used for controlling the walking coding cable in an electromagnetic coupling mode; the gyration antenna control box is also used for realizing the control of the gyration encoding cable in an electromagnetic coupling mode.
Preferably, the walking antenna control box is further used for amplifying the walking position signal; the gyration antenna control box is also used for amplifying the gyration position signal.
Preferably, the device also comprises a main control unit, wherein the main control unit is electrically connected with the walking position detection box, the rotation position detection box and the large arm detection unit respectively.
Preferably, the system further comprises an expansion interface for realizing data interaction or remote control with an external data center.
Preferably, the large arm detection unit adopts a common angle sensor or a dual-mode tilt sensor.
The utility model discloses beneficial effect of embodiment:
the walking coding cable and the rotary coding cable adopt a form consisting of a transmission reference line and a plurality of transmission paired lines, so that the measurement precision is effectively improved;
the anti-interference capability of the system is improved by acquiring signals in an electromagnetic coupling mode, and the stability of the system is further improved by respectively acquiring and primarily processing a walking position signal, a rotation position signal and a pitch angle signal;
the walking and rotating position information can be obtained by adopting a mode of comparing the multi-strand transmission line with the transmission reference line one by one and combining the measurement precision to carry out simple operation, the operation mode is simple, and the requirement on a processor can be well reduced.
Drawings
The following description will further describe embodiments of the present invention with reference to the accompanying drawings.
Fig. 1 is a schematic diagram of a system configuration according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a walking detection system according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a rotation detection system according to an embodiment of the present invention;
FIG. 4 is a schematic structural view of a walking detection box according to an embodiment of the present invention;
FIG. 5 is a schematic structural view of a rotation detection box according to an embodiment of the present invention;
fig. 6 is a schematic view of an expansion structure of the encoding cable according to the embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
Referring to fig. 1-5, a positioning system for a bucket wheel machine comprises a walking detection system 100, a rotation detection system 200, and a boom detection unit 300;
the walking detection system 100 comprises a walking antenna control box 110, a walking position detection box 120 and a walking coding cable 130; the walking coded cable 130 is arranged along the walking direction of the bucket wheel machine; the traveling antenna control box 110 runs along the path of the traveling encoding cable 130; the walking antenna control box 110 is electrically connected with the walking position detection box 120, and is used for acquiring walking position signals of corresponding positions from the walking encoding cable 130 in an electromagnetic coupling mode; the walking position detection box 120 is used for receiving, processing and transmitting the walking position signal acquired by the walking antenna control box 110;
the walking position detection box 120 comprises a walking address detector 121 and a ground communicator 122; the input end of the walking address detector 121 is electrically connected to the walking antenna control box 110, and the output end is electrically connected to the ground communicator 122.
The gyration detecting system 200 comprises a gyration antenna control box 210, a gyration position detecting box 220 and a gyration encoding cable 230; the rotary encoding cable 230 is arranged along the rotary direction of the bucket wheel machine; the slewing antenna control box 210 runs along the path of the slewing encoding cable 230; the gyration antenna control box 210 is electrically connected with the gyration position detection box 220 and is used for acquiring gyration position signals of corresponding positions from the gyration encoding cable 230 in an electromagnetic coupling mode; the rotation position detection box 220 is used for receiving, processing and transmitting the rotation position signal acquired by the rotation antenna control box 210;
the swing position detection box 220 includes a swing address detector 221, and an on-vehicle communicator 222; the input end of the revolving address detector 221 is electrically connected to the revolving antenna control box 210, and the output end is electrically connected to the vehicle-mounted communicator 222.
The big arm detection unit 300 is used for detecting and transmitting a pitch angle signal of the bucket wheel machine; in this embodiment, the large arm detection unit 300 employs a common angle sensor or a dual-mode tilt sensor;
in the embodiment, the angle sensor is specifically TMM88A-PKC090, the measurement accuracy can reach 0.01 degrees, and the angle measurement accuracy is greatly improved compared with the angle measurement accuracy adopted by the conventional bucket wheel machine positioning.
A first head end junction box and a first tail end junction box are arranged at two ends of the walking code cable 130; a second head end junction box and a second tail end junction box are arranged at two ends of the rotary encoding cable 230; the first head end junction box and the second head end junction box are used for signal access; the first tail end junction box is used for controlling the magnetic field emitted by the walking code cable 130; the second tail junction box is used for controlling the magnetic field emitted by the rotary encoding cable 230;
referring to fig. 6, the traveling encoding cable is composed of an RX transmission reference line and i +1 pairs of GX transmission pairs, where the i +1 pairs of GX transmission pairs are GX0, GX1, GX2, … …, GXi, respectively; the rotary encoding cable 230 consists of an RH transmission reference line and j +1 pairs of GH transmission paired lines, wherein the j +1 pairs of GH transmission paired lines are GH0, GH1, GH2, … … and GHj respectively; i and j are determined by the positioning accuracy and the positioning distance.
In this embodiment, 11 pairs of GX transmission lines and GH transmission lines are used.
In this embodiment, the positioning accuracy mainly depends on the transmission reference line in the walking encoding cable 130 and the rotation encoding cable 230 and the precision of the multi-strand transmission pair line;
in this embodiment, a first encoding device is further disposed in the first tail-end junction box, and is configured to control the walking encoding cable 130 to emit a magnetic field with a specific change rule; a second encoding device is further arranged in the second tail end junction box and used for controlling the rotary encoding cable 230 to emit a magnetic field with a specific change rule;
the walking antenna control box 110 and the walking coding cable 130 are installed in a non-contact mode; the gyration antenna control box 210 and the gyration encoding cable 230 are installed in a non-contact way;
in this embodiment, the walking antenna control box 110 runs along the walking code cable 130, and the revolving antenna control box 210 runs along the revolving code cable 230;
in this embodiment, when the walking antenna control box 110 is at different positions of the walking code cable 130, the RX transmission reference line and the i +1 pair GX transmission pair line of the walking code cable 130 generate different sensing signals, and the first encoding device generates an original walking position signal after acquiring the signals and transmits the original walking position signal to the walking antenna control box 110; when the slewing antenna control box 210 is at different positions of the slewing encoding cable 230, the RH transmission reference line and the j +1 pair GH transmission pair line of the slewing encoding cable 230 generate different sensing signals, and the second encoding device generates an original slewing position signal after acquiring the signals and transmits the original slewing position signal to the slewing antenna control box 210;
the walking antenna control box 110 is also used for amplifying walking position signals; the slewing antenna control box 210 is also used to amplify the slewing position signal;
in this embodiment, the accuracy and stability of the walking position signal and the turning position signal are effectively enhanced by adding signal enhancement and preliminary preprocessing measures to the walking antenna control box 110 and the turning antenna control box 210.
The walking antenna control box 110 is also used for controlling the walking code cable 130 in an electromagnetic coupling mode; the gyro-antenna control box 210 is also used to implement control of the gyro-encoded cable 230 by means of electromagnetic coupling.
The bucket wheel machine positioning system further comprises a main control unit, wherein the main control unit is electrically connected with the walking position detection box 120, the rotation position detection box 220 and the large arm detection unit 300 respectively;
in the embodiment, the main control unit adopts Siemens S7-1200;
in this embodiment, the main control unit plays a role of centralized control, and can generate the positioning information of the attitude of the bucket wheel machine after receiving the pitch angle signal, the walking position signal and the rotation position signal.
In this embodiment, when the system has only one coding device in total, the coding of the two paths of coded cables can still be completed, taking only the first coding device as an example: the first coding device controls the walking coding cable 130 to generate a specific magnetic field, and simultaneously, signals for controlling the magnetic field are transmitted to the main control unit through the walking position detection box 120, the main control unit is further transmitted to the rotary position detection box 220, the rotary position detection box 220 controls the rotary coding cable 230 through the rotary antenna control box 210 in an electromagnetic coupling mode, then the rotary antenna control box 210 collects the magnetic field generated by the electromagnetic coupling of the rotary coding cable 230, the position of the rotary coding cable is determined, and finally coding of the two coding cables is achieved through one coding device.
The following briefly describes the operation of this embodiment:
when the system starts to operate, the first coding device controls the walking coding cable 130 to generate a specific magnetic field, the walking antenna control box 110 induces the magnetic field generated by the walking coding cable 130 at the position through electromagnetic coupling, the walking antenna control box 110 processes the induced magnetic field and converts the magnetic field into an electric signal, the electric signal is transmitted to the walking position detection box 120, the walking position detection box 120 further processes the electric signal to generate a walking position signal, and the walking position signal is transmitted to the main control unit;
meanwhile, the second encoding device controls the rotary encoding cable 230 to generate a specific magnetic field, the rotary antenna control box 210 induces the magnetic field generated by the rotary encoding cable 230 at the position through electromagnetic coupling, the rotary antenna control box 210 processes the induced magnetic field and converts the magnetic field into an electric signal, the electric signal is transmitted to the rotary position detection box 220, the rotary position detection box 220 further processes the electric signal to generate a rotary position signal, and the rotary position signal is transmitted to the main control unit;
meanwhile, an angle sensor or an inclination angle sensor in the large arm detection unit 300 also collects a pitch angle signal and transmits the pitch angle signal to the main control unit;
the main control unit generates final positioning information of the attitude of the bucket wheel machine after receiving the pitch angle signal, the walking position signal and the rotation position signal.
In the embodiment, the expansion interface is connected with the main control unit, and finally realizes data interaction and remote control with the outside through the main control unit, even realizes unmanned operation, or provides a software system with a bucket wheel machine track query track playback and the like.
The embodiment can also be applied to positioning of strip-shaped stock ground bucket-wheel stacker/reclaimers, gate-type stacker/reclaimers and round stock ground stacker/reclaimers.
In this embodiment, the coding modes of the walking code cable 130 and the revolving code cable 230 are the same, and the positioning accuracy in this embodiment is further described below by taking the walking code cable 130 as an example:
the traveling encoding cable 130 is internally provided with an RX transmission reference line and a plurality of groups of GX transmission reference lines, wherein the plurality of groups of pairs are named GX0, GX1, … … and GX 10; if the standard step length of the cable is W, the step lengths of GX0, GX1, … … and GX10 are respectively 1W, 2W, … … and 1024W, each pair of lines is twisted by taking the step length of each pair of lines as a unit, and RX transmission reference lines do not intersect in the whole cable segment; taking GX0 as an example, a closed coil with the basic length of W/2 can be formed after the double twisting, the first encoding device is used for further encoding, and a variable magnetic field with the positioning precision of W/40 can be generated within the length of W/2; referring to fig. 6, vertical lines in the figure indicate the encoding accuracy of the first encoding apparatus, and the length of each 40 vertical line intervals is W;
then the maximum walking distance which can be positioned in the embodiment with the positioning accuracy of W/40 can be simply calculated to be W/40 (2^ 11);
as can be seen from the above process, the smaller the distance of W, the higher the accuracy, but in the practical use process, the smaller the distance of W, the smaller the value of B must be, the smaller the change of magnetic flux Φ — S × B must be considered, which further results in the smaller the change of magnetic flux, so that it is difficult to technically implement the process of electromagnetic coupling, in this embodiment, W can be 200mm, that is, the positioning accuracy is 200/40mm, that is, 5 mm;
in this embodiment, the selection of the specific W value needs to be selected based on actual requirements.
The above is only the preferred embodiment of the present invention, the present invention is not limited to the above embodiment, and the technical solution of the present invention is all within the protection scope of the present invention as long as the present invention is realized by the substantially same means.
Claims (10)
1. A bucket wheel machine positioning system characterized in that: comprises a walking detection system (100), a rotation detection system (200) and a large arm detection unit (300);
the walking detection system (100) comprises a walking antenna control box (110), a walking position detection box (120) and a walking coding cable (130); the walking coded cable (130) is arranged along the walking direction of the bucket wheel machine; the walking antenna control box (110) runs along the path of the walking coding cable (130); the walking antenna control box (110) is electrically connected with the walking position detection box (120) and is used for acquiring walking position signals of corresponding positions from the walking encoding cable (130) in an electromagnetic coupling mode; the walking position detection box (120) is used for receiving, processing and transmitting the walking position signals acquired by the walking antenna control box (110);
the gyration detecting system (200) comprises a gyration antenna control box (210), a gyration position detecting box (220) and a gyration coding cable (230); the rotary coding cable (230) is arranged along the rotary direction of the bucket wheel machine; the slewing antenna control box (210) runs along the path of the slewing encoding cable (230); the gyration antenna control box (210) is electrically connected with the gyration position detection box (220) and is used for acquiring gyration position signals of corresponding positions from the gyration encoding cable (230) in an electromagnetic coupling mode; the gyration position detection box (220) is used for receiving gyration position signals acquired by the gyration antenna control box (210), processing and transmitting the gyration position signals;
the big arm detection unit (300) is used for detecting and transmitting a pitch angle signal of the bucket wheel machine.
2. The bucket wheel machine positioning system of claim 1, wherein: the walking position detection box (120) comprises a walking address detector (121) and a ground communicator (122); the input end of the walking address detector (121) is electrically connected with the walking antenna control box (110), and the output end of the walking address detector is electrically connected with the ground communicator (122).
3. The bucket wheel machine positioning system of claim 1, wherein: the rotary position detection box (220) comprises a rotary address detector (221) and a vehicle-mounted communicator (222); the input end of the rotary address detector (221) is electrically connected with the rotary antenna control box (210), and the output end of the rotary address detector is electrically connected with the vehicle-mounted communicator (222).
4. The bucket wheel machine positioning system of claim 1, wherein: a first head end junction box and a first tail end junction box are arranged at two ends of the walking coding cable (130); a second head end junction box and a second tail end junction box are arranged at two ends of the rotary coding cable (230); the first head end junction box and the second head end junction box are used for signal access; the first tail end junction box is used for controlling the magnetic field emission of the walking code cable (130); the second end connection box is used for controlling the magnetic field emission of the rotary encoding cable (230).
5. The bucket wheel machine positioning system of claim 1, wherein: the walking encoding cable (130) consists of an RX transmission reference line and i +1 pairs of GX transmission paired lines, wherein the i +1 pairs of GX transmission paired lines are GX0, GX1, GX2, … … and GXi respectively; the rotary encoding cable (230) consists of an RH transmission reference line and j +1 pairs of GH transmission pairs, wherein the j +1 pairs of GH transmission pairs are GH0, GH1, GH2, … … and GHj respectively; the i and j are determined by the positioning accuracy and the positioning distance.
6. The bucket wheel machine positioning system of claim 1, wherein: the walking antenna control box (110) is also used for controlling the walking coding cable (130) in an electromagnetic coupling mode; the gyration antenna control box (210) is also used for realizing the control of the gyration encoding cable (230) by means of electromagnetic coupling.
7. The bucket wheel machine positioning system of claim 1, wherein: the walking antenna control box (110) is also used for amplifying the walking position signal; the slewing antenna control box (210) is further configured to amplify the slewing position signal.
8. The bucket wheel machine positioning system of claim 1, wherein: the walking and rotating position detection device is characterized by further comprising a main control unit, wherein the main control unit is electrically connected with the walking position detection box (120), the rotating position detection box (220) and the large arm detection unit (300) respectively.
9. The bucket wheel machine positioning system of claim 1, wherein: the system also comprises an expansion interface which is used for realizing data interaction or remote control with an external data center.
10. The bucket wheel machine positioning system of claim 1, wherein: the large arm detection unit (300) adopts a common angle sensor or a dual-mode tilt sensor.
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| CN201921431079.8U CN211109987U (en) | 2019-08-30 | 2019-08-30 | Bucket wheel machine positioning system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110606379A (en) * | 2019-08-30 | 2019-12-24 | 湖南大唐先一科技有限公司 | Bucket wheel machine positioning system and method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110606379A (en) * | 2019-08-30 | 2019-12-24 | 湖南大唐先一科技有限公司 | Bucket wheel machine positioning system and method |
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