KR100980000B1 - Revision and offer system for position information of crane - Google Patents

Abstract

PURPOSE: A location information correction and providing system of an automatic cart is provided to maintain the accurate moving action of an automatic cart by compensating the operation signal of an electric motor. CONSTITUTION: A controller(11) presently collects the location information of an automatic cart. An electric motor driving part(12) converts a control signal from the controller into a drive signal. A distance information detection part(13) detects the movement distance of an automatic cart using the electric motor. An outer detection signal transform part changes the translation distance from the distance information detection part into a pulse signal. The differential detection part compares the movement distance signal and the electric motor convolution signal of the outer detection signal transform part. The differential detection part transmits the difference of the electric motor convolution signal and translation distance signal to the electric motor driving part.

Description

Position information correction and provision system of automatic balance {REVISION AND OFFER SYSTEM FOR POSITION INFORMATION OF CRANE}

The present invention relates to a system for correcting and providing position information of an automatic bogie, and more particularly, to compare the distance signal generated from an auto bogie drive motor with a signal of an actually moved distance, and to operate an electric motor as much as an error occurs. The present invention relates to a system for correcting and providing position information of an auto balance that compensates for a signal.

In general, an automatic bogie generally refers to a moving or conveying means for performing a desired task while traveling on a predetermined path (rail) including a moving equipment such as a train crane.

The automatic balance is moved through a programmable logic controller (PLC); a controller capable of executing arithmetic operations, logic functions, adjustment operations and data processing as well as sequential control by creating a program. And the operation is controlled.

Conventionally, there is a method of calculating the number of revolutions of the wheel through the encoder during automatic balance control using a PLC, which calculates the position arrival in the following order.

First, an encoder attached to a motor shaft or a wheel shaft of an auto bogie, which is a moving subject, detects the rotation amount of the shaft, and when the encoder reads the rotation amount of the shaft and converts it into pulses, the number of pulses generated is read and read. When the distance value calculated by calculating the movement distance through the number of pulses reaches the previously set movement distance value, the movement to the next section or other work is performed.

In this case, the problem may be less when the weight and load weight of the auto balance are small, but when the weight and load weight of the balance are heavy, the wheel that is rotated by the electric motor rotates while idling. At the time of stopping, the inertia law causes the wheel to slide even when the rotation of the wheel is stopped.

The method of calculating the number of revolutions of the wheel through the encoder during the automatic balance control using the conventional PLC as described above, when the weight and load weight of the automatic balance is heavy, the wheel rotated by the motor at the time to move idle idle While rotating, and the automatic bogie stops because of the law of inertia, the wheel is slid and moved even when the rotation of the wheel is stopped, resulting in an error caused by the movement distance calculation.

That is, even if the wheel is idling, the encoder provided on the motor shaft or the wheel shaft generates pulse as much as idling and calculates the moving distance through the generated pulse. Therefore, it is regarded as moved by the calculated value. This will cause an error. In addition, at the time when the automatic bogie stops, since the wheel is slid and moved even when the rotation of the wheel is stopped by the law of inertia, there is a problem in that the position and the error stop after the movement by a preset movement distance occur.

This acts as a problem that the greater the moving distance of the automatic truck, the larger the error.

In addition, in the case of the conventional automatic bogie as described above, since the encoder is provided on the motor shaft or the wheel shaft, there is a problem in that the operation of the production line such as moving the automatic bogie or other work when the encoder is replaced. This is a problem that affects the lack of continuity of the work and the peripheral work.

The present invention relates to a system for correcting and providing position information of an automatic bogie, and more particularly, to compare the distance signal generated from an auto bogie drive motor with a signal of an actually moved distance, and to operate an electric motor as much as an error occurs. It is aimed to provide a system for correcting and providing position information of auto balance that compensates for signals.

The present invention provides a control unit for providing an electric motor control signal according to the movement path and conditions of the pre-stored automatic balance for achieving the above object; An electric motor driving unit converting the driving signal into a driving signal when the control signal is input from the control unit and providing the motor to the motor while compensating for the difference between the motor rotation signal and the actual moving distance signal of the internal motor detector; A signal detection means is provided in the automatic balance and the signal response means is provided on the movement path, the distance information detecting unit for detecting the changed moving distance by the automatic balance travel; An external detection signal conversion unit for converting and providing a moving distance provided from the distance information detection unit into a pulse signal; And a differential detection unit comparing the movement distance signal of the external signal detection unit and the motor rotation signal and providing the difference value to the electric motor drive unit.

According to the present invention, the operation signal of the motor is compensated for the portion where the error occurs by comparing the operation signal of the motor for driving the motor vehicle with the detected actual movement distance, thereby inducing the accurate movement of the motor vehicle.

BRIEF DESCRIPTION OF THE DRAWINGS Prior to describing the present invention, the accompanying drawings, which are presented to help understand the technology, FIG. 1 is a block diagram schematically showing a configuration according to an embodiment of the present invention, and FIG. 3 is a block diagram showing a configuration according to an embodiment of the external detection signal conversion unit of the present invention, Figure 4 is a sequence block diagram showing the operation of the present invention step by step, Figure 5 The waveform diagram showing the pulse output state of the present invention is shown.

The present invention will be described below with reference to the accompanying drawings presented as above.

First, the present invention provides an electric motor 1 control signal according to a moving path (information recognized by pre-learning or a set program) of a pre-stored auto balance, as shown in FIGS. 1 and 2. On the other hand, the control unit 11 for collecting position information of the current automatic balance; When the motor control signal is input from the controller 11, the motor control signal is converted into a drive signal and provided to the motor 1, while compensating for the difference between the motor rotation signal of the motor internal detector 1 'and the actual travel distance signal to rotate the motor. An electric motor drive unit 12 for converting and providing a signal; A distance information detector (13) for detecting a moving distance when the motor (1) operates to drive the automatic cart; An external detection signal conversion unit 14 for converting and providing a moving distance provided from the distance information detection unit 13 into a pulse signal; And a differential detection unit 15 comparing the movement distance signal of the external signal detection unit 14 and the motor rotation signal and providing the difference value to the electric motor drive unit 12.

Here, the control unit 11 of the present invention is a programmable logic controller (PLC) that controls the automatic bogie to repeatedly perform a cycle of returning to its original position through a plurality of moving-stopping sections. Further, a power supply 11a for converting power supplied from the outside into a voltage required by the system, and a communication card 11b for providing a communication path with the respective parts, in particular, the external detection signal conversion unit 15 is further provided. It can be configured to include.

On the other hand, in the present invention, when the electric motor control signal is input from the control unit 11, the electric motor drive unit 12 converts into a drive signal and provides the motor 1 with the rotation signal of the motor internal detector 1 '. When the difference value of the actual moving distance signal detected by the distance information detector 13 is input from the differential detector 15, the driving circuit may have a comparison circuit that compensates for the difference and converts it into an electric motor rotation signal. .

On the other hand, the distance information detection unit 13 of the present invention is provided in the lower portion of the main body of the automatic bogie, sensing means (13a) for transmitting and receiving detection signals; It is provided on the movement path, the reaction means (13b) for providing information to the signal transmitted from the sensing means (13a) or reflects the signal; may be configured to include.

In this case, the sensing means 13a may be a barcode reader or an optical sensor. In addition, the reaction means (13b) may be a bar code line (bar code ruler) provided along the movement path, or may be a light reflecting plate formed with irregularities or holes.

On the other hand, in the present invention, the external detection signal conversion unit 14 reads the code which is the reaction means 13b of the distance information detection unit 13, counts the number of unevenness (including holes), or reflects the transmitted laser light. And a count and oscillation circuit for counting the received time to generate a pulse provided as a movement distance signal.

On the other hand, the differential detection unit 15 outputs the difference between the rotation signal of the electric motor 1 and the actual moving distance signal detected by the distance information detection unit 13 as a pulse signal to provide to the electric motor drive unit 12 Can be.

At this time, the differential detection unit 15 is included in the electric motor drive unit 12, and constitutes a package with the electric motor eastern part 12, so that the electric motor drive unit 12 is a rotation signal of the electric motor 1 and the The difference value of the actual moving distance signal detected by the distance information detector 13 may be obtained, and the difference may be compensated by the difference to be converted into an electric motor rotation signal.

In the present invention configured as described above, the control unit 11 sends the position information and the speed information to the electric motor drive unit 12, the electric motor drive unit 12 sends a rotation signal to the electric motor (1).

Thus, when the electric motor 1 starts to rotate, the bar code recognizer of the sensing means 13a of the distance information detector 13 recognizes the bar code of the reaction means 13b, or the optical sensor which is the sensing means 13a The laser beam is emitted and the arrival time of the laser beam reflected by the unevenness of the light reflection plate, which is the reaction means 13b, is counted and provided to the external detection signal conversion unit 14 as moving distance information.

Then, the external detection signal conversion unit 14 converts the movement distance information into pulses and provides them to the differential detection unit 15.

Then, the differential detection unit 15 combines the motor rotation related signal provided by the electric motor 1 with the moving distance information signal provided by the external detection signal conversion unit 14 and provides it to the electric motor drive unit 12.

As the above-described flow is repeated, the electric motor 1 moves appropriately to the information commanded by the controller 11. If necessary, when the communication unit 11b of the control unit 11 requests the automatic balance position value, the external detection signal conversion unit 14 provides a current position of the automatic balance.

Next, the detailed configuration and operation of the external detection signal conversion unit 14 in the present invention are as follows.

First, as shown in FIG. 3, when the external detection signal conversion unit 14 operates normally, the normal indicator of the status indicator 14-10 blinks, and the latch relay 14-14 receives a normal signal. Is sent to the PLC I / O 14-15, and the PLC I / O 14-15 outputs the drive signal of the motor so that the motor 1 can be operated.

At this time, when the motor 1 operates by outputting a drive signal of the motor from the PLC I / O 14-15, the controller 14-1 via the communication unit 1 14-2. The distance information detection unit 13 requests the movement distance information , and the distance information detection unit 13 then sends the distance information at that time to the controller 14-1 through the communication unit 1 14-2. The controller 14-1 converts the distance to generate the rotation detector signal through the rotation detector waveform converter 14-4, and passes through the external noise canceller 14-6 through the communication unit 3-14-3. Or to an electric amplifier 14-7.

At this time, when the external detection signal conversion unit 14 operates abnormally, the abnormality indicator of the status indicator 14-10 blinks, and the PLC I / O 14-15 outputs the motor stop signal to output the motor 1. To stop.

Next, the operation state of the present invention will be described in more detail as shown in FIG.

First, the board and sensor initialization step (S1) can be divided into the board initialization and the sensor initialization, the board initialization is initialized by automatically resetting after a certain time when a problem that the computer system including the control unit 11 can not handle Initialize memory, I / O registers, or interrupts, flags, and reset vectors.

In addition, the sensor initialization, the controller 11 waits for the sensor reset, read the sensor state, and requests the current position value to the external detection signal conversion unit 14, after repeated requests, if the returned position value is the same, the stop state The sensor initialization is divided into recognize and initialize the previous value and the current position value to the same value. At this time, some sensors do not need to read the state for initialization, and do not need to request the current position value, and since the sensor resets the current position value regularly and repeatedly after a certain time, the position value is adjusted according to the period. Without request, you can get the current position value.

On the other hand, the signal confirmation step (S2) is the control unit 11 confirms the signal of the current position value request, Z-phase counter value request, Z-phase counter setting, etc., when there is such a request, the corresponding part is Respond to the request and then proceed.

On the other hand, the board status check and display step (S3) is a step of detecting whether the power supply state of the board on which the present invention is mounted is normal, or if an error occurs in the sensor and displays the state by LED and non-contact output.

On the other hand, the current position value detection step (S4) sends a position value request signal to the distance information detector 13, when receiving a response of the normal position value, recognizes the value as the current position value.

On the other hand, if the output limit signal checking step (S5), if there is an output limit signal from the control unit 11 to return to the signal checking step (S2) to stop the automatic bogie, the motion can be stopped by preventing the output of any more pulses To be.

On the other hand, in step S6 of calculating the difference between the previous position and the current position, if there is a difference between the previously read position value and the current read position value, the output of the pulse should be generated by that much. .

1) The difference that the current position value is larger than the previous position value, that is, the traveling direction is the forward direction.

2) The difference that the current position value is smaller than the previous position value, that is, the traveling direction is the backward direction.

3) Difference caused by changing the traveling direction from forward direction to backward direction or backward direction to forward direction.

4) Difference in position value that is greater than the difference that can generate pulse at one time (occurs in acceleration section when moving the auto balance)

5) Difference due to position value which cannot be regarded as normal (occurs due to problems such as ambient noise)

If the absolute position value is 0 or if the maximum value that can be read is read as the position value, the difference is more than twice the difference that can generate a pulse at one time. If the difference is larger than the difference that can generate a pulse at one time but less than two times, the difference is recognized as the maximum size that can generate the pulse at one time. If it is less than or equal to the difference that can generate a pulse at one time, the difference is regarded as the difference. Before the pulse is issued, first add or subtract the previous position value as determined by the difference in position value to match the current read value or change the value closer to the current position.

On the other hand, the pulse calculation step (S7) to be generated calculates the number of pulses for the pulse generation of the A, B phase by the difference of the above value. In the case of a Z-phase pulse, a pulse is generated for each of the constant times A and B phase pulses, so that a predetermined constant multiple, that is, a Z phase counter, is calculated before the pulse is generated. This prevents the Z-phase counter from overflowing on the next output if a change in travel direction occurs or if Z-phase indicates zero or the last value of the counter.

On the other hand, the pulse generating step (S8) is a pulse generated is composed of three phases of A, B, Z, when the distance information detection unit 13 recognizes 1mm as the difference between the minimum position value, Assuming three generated pulses, a waveform as shown in FIG. 5 is drawn.

Depending on the difference between the forward and reverse directions, phases A and B can be preceded or followed by one quarter of the phase period. Z phase is pulsed in 1 state by one period of A phase or B phase. If a difference of 3 mm is recognized, nine pulses are generated in such a pulse generation form.

The calculation condition of the pulse is as follows.

1.Pulse QT'y when moving the auto balance 1mm

-Wheel diameter of auto balance-500mm

-Won ratio-3.14159265358979

-Circumference of the wheel 1,570.796mm

-Reduction gear ratio-18: 1

-Travel distance per revolution of motor-87.266mm

-Pulse Qt'y per motor revolution-131,072 Pulse

-When moving the bogie 1mm-Pulse Qt'y 131,072

Pulse / 87.266mm = 1,501.974Pulse / mm

2. Error of distance measurement part measurement distance at maximum speed

-Auto balance Speed-160m / Min

-Sensing means Updata-Time 2.5ms

Calculation of travel distance for 2.5ms

  2.5ms travel (160,000mm X 2.5ms) / 60,000ms = 6.667mm

-If this value is converted into motor pulse

  (131,072 Pulse X 6.667mm) / 87.266mm = 10,013.216 Pulse

3. Pulse Qt'y, width and multiplication of external detection signal conversion part

-Pulse Width 2us (500Kpps) Acceptable by Motor

-Receive value unit 0.1mm

-Pulse Pulse Receive Increase / Decrease Value X 150.1974 Pulse

-Pulse Qt'y of converted Encoder

  0,013.216 Pulse / 4 = 2,503.304 Pulse

(The reason for dividing by 4 above is that the motor pulses are multiplied by 4 times.)

Total Pulse Output Time-2,503.304 Pulse X 2us = 5,006.608us

 This value is 5.006608ms, so it cannot be used more than 2.5ms.

4. When setting the electronic gear ratio to 4: 1

-Receiving Pulse (Receive Increase / Decrease Value X 150.1974 Pulse) / 4

-Converted Motor Pulse Qt'y 10,013.216 Pulse / 4/4 = 625.826

Total Pulse Output Time = 625.826 Pulse X 2us = 1,251.652us

  This value is 1.252652ms, so it can be used within 2.5ms.

* Set high sampling rate for fast response and low sampling rate when precision is required.

Under the above conditions, the calculation of the motor pulse of the automatic bogie is made, and after the output of all pulses by the difference, the process returns to the signal confirmation step (S2) of the equipment and repeats the execution.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments.

In addition, those skilled in the art will appreciate that many modifications and variations of the present invention are possible without departing from the spirit and scope of the appended claims.

Accordingly, all such suitable changes and modifications and equivalents should be considered to be within the scope of the present invention.

1 is a block diagram schematically showing a configuration according to an embodiment of the present invention.

Figure 2 is a block diagram showing in more detail the configuration according to an embodiment of the present invention.

Figure 3 is a block diagram showing the configuration according to an embodiment of the external detection signal conversion unit of the present invention.

Figure 4 is a sequence block diagram showing the operation of the present invention step by step.

5 is a waveform diagram showing a pulse output state of the present invention;

<Description of the symbols for the main parts of the drawings>

10: location information correction and provision system 11: control unit

11a: power supply 11b: communication card

12: electric drive unit 13: distance information detection unit

13a: sensing means 13b: reaction means

14: external detection signal conversion unit 15: differential detection unit

1: electric motor

Claims (4)

A control unit 11 for providing a control signal of the electric motor 1 according to the movement path of the pre-stored auto balance, and collecting position information of the current auto balance; When the motor control signal is input from the controller 11, the motor control signal is converted into a drive signal and provided to the motor 1, while compensating for the difference between the motor rotation signal of the motor internal detector 1 'and the actual travel distance signal to rotate the motor. An electric motor drive unit 12 for converting and providing a signal; A distance information detector (13) for detecting a moving distance when the motor (1) operates to drive the automatic cart; An external detection signal conversion unit 14 for converting and providing a moving distance provided from the distance information detection unit 13 into a pulse signal; The position of the auto balance, comprising: a differential detection unit (15) which compares the movement distance signal of the external detection signal conversion unit (14) with the motor rotation signal and provides the difference value to the electric motor drive unit (12). Information correction and provision system. According to claim 1, wherein the electric motor drive unit 12 is converted into a drive signal when the motor control signal is input from the control unit 11 and provided to the motor (1), while the rotation signal of the motor internal detector (1 ') And when the difference value of the actual moving distance signal detected by the distance information detector 13 is input from the differential detection unit 15, it is a drive circuit having a comparison circuit for compensating for the difference and converting the motor rotation signal to provide Position information correction and provision system of automatic balance. The apparatus of claim 1, wherein the distance information detector (13) comprises: sensing means (13a) provided at a lower portion of the main body of the vehicle for transmitting and receiving detection signals; A reaction means 13b provided on the movement path and providing information or reflecting the signal to the signal transmitted from the sensing means 13a, wherein the sensing means 13a is any one of a barcode reader or an optical sensor. And the reaction means (13b) is any one of a bar code line provided along a moving path or a light reflecting plate having irregularities or holes formed therein. The method of claim 1, wherein the external detection signal conversion unit 14 receives the code that is the reaction means 13b of the distance information detection unit 13, counts the number of irregularities, or receives and outputs the reflected laser light. A system for correcting and providing position information of an automatic truck, characterized in that the counting and oscillating circuit generates a pulse provided as a moving distance signal by counting time.

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