CN100495270C - Snow melt agent intelligent spreading control system for snow-fighting vehicle - Google Patents
Snow melt agent intelligent spreading control system for snow-fighting vehicle Download PDFInfo
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- CN100495270C CN100495270C CNB2006100475665A CN200610047566A CN100495270C CN 100495270 C CN100495270 C CN 100495270C CN B2006100475665 A CNB2006100475665 A CN B2006100475665A CN 200610047566 A CN200610047566 A CN 200610047566A CN 100495270 C CN100495270 C CN 100495270C
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Abstract
The invention comprises: a central controller (PLC), whose input end is connected to each sensor and whose output is used to control the electric actuator, used for transmitting the real-time working state to the man-machine interface; a signal collecting and converting system used for measuring and converting the signals outputted from each sensor and transmitting them to the central controller. The electric actuator includes a stepping motor linked with the lock gate of the snow removing vehicle and used for receiving the signal from PLC; the man-machine interaction system includes a touch screen and is connected to the central control; the controlling program containing a control algorithm is saved in the central controller; the spreading amount of the thaw agent is controlled by the height of the lifted gate.
Description
Technical field
The present invention relates to control and engineering truck field automatically, specifically a kind of snow melt agent intelligent spreading control system for snow-fighting vehicle, it is as control center with central control unit (PLC), combined sensor technology, digital circuit technique are transformed the control mode manually of traditional engineering truck, to reach the purpose of its construction action of accurate control.
Background technology
The Snow Agent truck spreader is a kind of vehicle relatively more commonly used in engineering truck, all can see its figure northerly winter after snowing, and is bringing into play very big effect aspect the accumulated snow of removing road surface.But the spreading of traditional spreading vehicle Snow Agent is manually operated, is a kind of spreading mode of extensive style.Can cause a lot of problems like this: the one, amount that might spreading is not enough, do not reach the purpose of snow melt; The 2nd, the amount of spreading is many, causes the wasting of resources and environmental pollution.In order to address this is that a kind of automaton that can more accurately control spreading amount of special needs, can regulate the spreading amount of Snow Agent automatically according to vehicle ' situation and road surface situation.But the system that can satisfy this aspect requirement does not appear in the newspapers so far as yet.
Summary of the invention
The purpose of this invention is to provide a kind of can more accurately control spreading amount, can regulate the snow sweeper snow-melting agent intelligent spreading control system of the spreading amount of Snow Agent automatically according to vehicle ' situation and road surface situation, adopt the present invention, operating personnel can be according to the Snow Agent spreading amount of following snowfall input needs by man-machine interface, according to width of roadway input spreading width, control system can be controlled spreading amount automatically according to the speed of the speed of a motor vehicle and conveying belt, makes spreading evenly reasonable.
In order to reach above purpose, technical scheme of the present invention comprises:
-central control unit, its switching value input end links to each other with the sensor output of each controlled variable respectively, after obtaining to control each parameter that needs, calculate real-time gate height according to built-in control algolithm, produce the output control signal and give electric operator, control gate rises to desired height; And send the real-time working situation to man-machine interactive system by the RS-422 interface;
-signals collecting and converting system, by the conveying belt speed probe of measuring the conveying belt rotating speed directly gather the velocity of rotation of conveying belt rotation axis, the initial position limit signal of the restriction gate sheet position of the signal that has or not from the monitoring material of material sensor, limit sensors and gather the vehicle speed signal of vehicle speed sensor, in order to amplify vehicle speed signal, to determine the system original position sensor output signal to be sent into the spreading amount that central control unit is controlled Snow Agent;
-electric operator and man-machine interactive system, electric operator is made of linear stepping motor, and its output shaft links to each other with gate, accepts to come from the pulse drive signal of PLC, man-machine interactive system is made of touch-screen, links to each other with central control unit by the RS-422 cable;
-comprise the control program of control algolithm, be stored in the central control unit, control the spreading amount of Snow Agent by the hoisting depth of control discharging opening gate;
Wherein: the pulse signal and the conveying belt rotation axis rotating speed of the output of material conveyer belt speed probe are directly proportional; Can between vehicle speed sensor and central control unit, add chromacoder; Described chromacoder amplifies late-class circuit by penetrating of high input impedance with front stage circuits and voltage ratio and constitutes, be used to obtain faint electric signal, and convert thereof into the electric signal that can satisfy central control unit input needs from the vehicle speed sensor of electronic vehicle speed table; The voltage pulse signal of this signal for being directly proportional with the speed of a motor vehicle; On described linear stepping motor, manual controller can be set;
The idiographic flow of described control program is: carry out the setting of groundwork parameter after powering on, detect the position of gate sheet then, whether the catch that detects on the gate sheet by limit sensors makes limit sensors that signal output is arranged, set up the reference by location of motion, and whether the surface of detectability level sensor has dirt to cover, if gate sheet is not at origin position, the original point return first of executive system work then, again by touch screen human-computer interface input spreading density and spreading width, and the running parameter of artificial input carried out the correctness inspection, if vicious words will provide necessary prompting, require to re-enter; Begin the collection of the speed of a motor vehicle after the running parameter input is correct, system does not work when having the speed of a motor vehicle and conveying belt sensor not to have signal output; Obtaining vehicle speed signal and conveying belt velocity of rotation signal calculates acquisition with the late gate hoisting depth by formula 1, is that number of drive pulses in the electric operator drives the electric operator action with this height conversion;
Formula 1:
S＝(K×β×δ×V
1)/V
2
Wherein: S is the gate hoisting depth, V
1Be Vehicle Speed, V
2Be the conveying belt rotating speed, β is a spreading density, and δ is the spreading width, and K is the scale factor relevant with the gate shape;
In the scope that the spreading error of system allows, change and the variation of the gate height that brings does not drive the electric operator action by the speed of a motor vehicle.
The invention solves a plurality of key technical problems, obtained following beneficial effect:
1. the invention solves from the speed pickup of electronic vehicle speed table and directly obtain the needed vehicle speed signal of PLC and don't influence the normal Signal Matching problem that shows of electronic vehicle speed table, the accurately travel speed of measuring vehicle.
2. the present invention adopts the method preset the on-the-spot real work parameter of simulation job, and the simulation control function is provided, and also can realize control function under the situation that does not have controlled variable such as actual vehicle speed.
3. the invention provides the directly manual control function of stepper motor (direct manual adjustments controller is set, can selects automatically and manual two kinds of working methods) on stepper motor driver, as the redundancy backup of automatic control by change-over switch.
4. owing to adopt control algolithm, the present invention has realized that the spreading of Snow Agent accurately controls.
5. the present invention is the accurate spreading control system of snow sweeper Snow Agent, and its core technology is the PLC control technology, sensor application technology, Signal Matching (application chromacoder) technology.It has following characteristics:
1) system architecture is simple, mainly is made up of PLC, sensor, man-machine interface and electric operator four parts.
2) system controls reliable and secure property height, and the PLC control system is used very extensive in industrial process control, can adapt to complicated bad working environment.
3) application is installed simply, the mechanism that does not need to change original vehicle.
6. owing to adopt control algolithm of the present invention, solve the problem that causes the frequent lifting of height because of speed of a motor vehicle subtle change, realized the accurate control of gate height.
Description of drawings
Fig. 1-the 1st, control system block diagram of the present invention.
Fig. 1-2 is a control system schematic diagram of the present invention.
Fig. 2 is reflective material sensor scheme of installation.
Fig. 3-the 1st, transmission-type limit sensors scheme of installation (gate leaves initial point).
Fig. 3-the 2nd, transmission-type limit sensors scheme of installation (gate is in initial point (closed fully)).
Fig. 4 is a conveying belt speed probe synoptic diagram.
Fig. 5 is the chromacoder theory diagram.
Fig. 6 is the systematic control algorithm process flow diagram.
Embodiment
Below in conjunction with accompanying drawing the present invention is described in further detail.
The PLC control system is applied on the engineering truck to be implemented in the reliable control in the rugged surroundings with using more widely in the industrial process control in the present invention.As shown in Figure 1, the framework of total system is to be core with PLC, and each controlled variable of sensor acquisition is also exported to PLC, and touch-screen is accepted the controlled variable of staff input and sent to PLC and the duty of system is shown to the staff.Specifically comprise:
-central control unit adopts the small-sized controller (PLC) of compiling, and has the concrete control program that comprises control algolithm, and its system's connected mode and workflow are: the switching value input end of PLC links to each other with the sensor output of each control parameter respectively; PLC calculates real-time gate height according to control algolithm after obtaining to control each parameter that needs, thereby converts the action of pulse signal drive stepping motor again to, makes the height that gate reaches to be needed; Also will be in this process through the having or not of the real-time monitoring material of material sensor, and do not having material in time to report to the police, and send the real-time working situation to human-computer interaction interface by the RS-422 interface.
-signals collecting and converting system, it constitutes and the course of work is: shared sensor to 3 types, measure the conveying belt speed probe (as encoder sensor) of conveying belt rotating speed, measure the material sensor (as the photoelectric reflection sensor) that material has or not, the limit sensors (as the photoelectricity transmission sensors) of restriction gate sheet position.The rotation axis of conveying belt speed probe and conveying belt links to each other, and directly gathers the velocity of rotation of rotation axis, the pulse signal that output of conveying belt speed probe and rotating speed are directly proportional.The material sensor is installed in the discharging opening of Snow Agent, is used for monitoring having or not of material, and light can reflect in the time of material, and the material sensor can obtain to reflect the signal of light, and the material sensor has electric signal output, otherwise does not have electric signal output.Limit sensors is installed in the complete make-position of gate sheet, obtains the initial position of gate by blocking of gate sheet upper stop piece, makes total system that original reference by location be arranged.Because vehicle speed sensor and electronic vehicle speed epiphase connect, so in order not influence the operate as normal of electronic vehicle speed table, present embodiment does not directly link to each other vehicle speed sensor with PLC, between vehicle speed sensor and PLC, increase a chromacoder, this chromacoder is made of penetrating with circuit and voltage ratio amplifier of high input impedance, can gather faint voltage signal and convert the input signal that PLC needs to.The voltage pulse signal of this signal for being directly proportional with the speed of a motor vehicle.
-electric operator and man-machine interactive system (referring to touch screen human-computer interface), its formation with the course of work is: electric operator is enough become by linear stepping motor, accept to come from the pulse drive signal of PLC through electric machine controller, if: importing the distance that a pulse moves step motor shaft is a step-length, the gate of step motor shaft and container links to each other, the turnover up and down of step motor shaft drives the unlatching and the closure of gate, the amount of movement of step motor shaft is obtained by control algolithm, and the translational speed of step motor shaft and the frequency of driving pulse are directly proportional; The advantage of selecting linear stepping motor for use is not need position feedback just to know the actual shift position of motor shaft; On stepper motor the manual adjustments controller can be set, this adjustment control is a square-wave pulse generator, can select automatically and manual two kinds of working methods by change-over switch.Man-machine interactive system is made of touch-screen, links to each other with PLC by the RS-422 cable.All realizations (comprising the input of spreading parameter, the demonstration of working state of system etc.) on touch-screen mutual (comprising: parameter inputting interface, working condition monitoring interface) of all and control system.
-control algolithm (control algolithm is built in the PLC), the framework of The whole control system and the basis of control procedure all realize according to this control algolithm.Snow Agent is loaded in the vehicle-mounted funnel container, and it is outer and drain in the spreading rotating disk by conveying belt Snow Agent to be transported to container through a control gate.The spreading amount of the hoisting depth control Snow Agent by control discharging opening gate, the spreading amount of theoretical and actual proof Snow Agent is followed following simple equation relation:
Formula 1:
S＝(K×β×δ×V
1)/V
2
Wherein: S is gate hoisting depth (unit is m), V
1Be Vehicle Speed (unit is m/s), V
2Be conveying belt rotating speed (unit is m/s), β is that (unit is g/m to spreading density
2), δ is spreading width (unit is m), (unit is m to K
2/ g) be the scale factor relevant with the gate shape.
As can be seen, have two parameters to gather in real time from above equation, one is Vehicle Speed V
1, the 2nd, conveying belt rotating speed V
2So two speed acquisition sensors are installed.Spreading density β and spreading width δ are artificial input.K is the scale factor relevant with the gate shape, and K is a constant under the certain situation of gate shape.Obtain the needed hoisting depth of gate what obtain that these five parameters later on just can be real-time, be exemplified below:
K=7.2 in the native system * 10
-7m
2/ g
Vehicle Speed V1=5.56m/s (20Km/h)
Conveying belt rotating speed V2=0.1m/s
Spreading density β=50g/m
2
Spreading width δ=10m
Can get S=(7.2 * 10 by formula 1
-7* 50 * 10 * 5.56)/0.1=0.02 (m).
Cause the frequent variations of hoisting depth for fear of the subtle change of the speed of a motor vehicle, in the control algolithm program, to adopt measures necessary, be the real-time gate height change of spreading error in allowed band, PLC does not drive order to topworks's output, thereby avoids occurring the frequent adjusting of unnecessary hoisting depth.
As shown in Figure 2, material sensor 1 (present embodiment employing reflection sensor) is installed in the discharging opening of Snow Agent, be used for monitoring having or not of material 2, light can reflect in the time of material, then material sensor 1 can obtain to reflect the signal of light, material sensor 1 has electric signal output, otherwise does not have electric signal output.Wherein 3 is conveying belt.
As shown in Figure 3, limit sensors 5 is installed in the complete make-position of gate sheet 4, and the initial position that obtains gate that blocks by gate sheet 4 upper stop pieces makes total system that original reference by location be arranged.
As shown in Figure 4, measure the conveying belt speed probe 8 of conveying belt rotating speed and the rotation axis 7 of conveying belt and link to each other, directly gather the speed of rotation axis 7, the pulse signal that 8 outputs of conveying belt speed probe and rotating speed are directly proportional.
As shown in Figure 5, the electronic vehicle speed table is in parallel with vehicle speed sensor, when gathering the vehicle speed sensor signal, in order not influence the normal demonstration of electronic vehicle speed table, present embodiment is installed a chromacoder, and this device amplifies late-class circuit by penetrating of high input impedance with front stage circuits and voltage ratio and constitutes, and can obtain faint electric signal, and converting thereof into the electric signal that satisfies PLC input needs, this satisfies the voltage pulse signal that signal is and the speed of a motor vehicle is directly proportional of PLC input needs.
As shown in Figure 6, comprise that the concrete control program flow process of control algolithm is: when system powers on, at first will carry out the initial parameter setting of system's operation; Detect gate sheet just the position of step motor shaft with as the reference by location of initially controlling etc.Idiographic flow is as follows:
The groundwork parameter that will carry out control system after system powers on is provided with (duty initialization), comprises the toggle speed, acceleration and deceleration time, operating rate of stepper motor in the electric operator etc.; After finishing, the running parameter setting to detect the position (limit sensors detection) of gate sheet, whether the catch that detects on the gate sheet by limit sensors makes limit sensors that signal output is arranged exactly, two purposes are wherein arranged, the one, carry out the demarcation of electric operator (gate sheet) initial point, set up the reference by location of motion; Another purpose is whether the surface of detectability level sensor has the dirt covering to influence operate as normal; Used the flag register M1 of a PLC inside here, have defeated and flag register M1 is in SM set mode if (present embodiment 10 seconds) is consecutively detected limit sensors in the time in 10 seconds, then to be in complete closure state be origin position to gate sheet; Have defeated and flag register M1 is in reset mode if be consecutively detected limit sensors in the time in 10 seconds, then gate sheet is at origin position, and limit sensors is covered by dirt.
If by top process judge gate sheet not origin position will executive system work original point return first, after system's original point return is finished, carry out ensuing engineering; Import spreading density (as: 50 restrain 200 grams) and spreading width (as: 2 meters to 12 meters) by the staff by touch screen human-computer interface, running parameter to artificial input carries out the correctness inspection, if vicious words will provide necessary prompting, require to re-enter; Begin the collection of the speed of a motor vehicle after running parameter input is correct, the collection of the speed of a motor vehicle is that the method for averaging after adding up by continuous 5 sampling speed of a motor vehicle realizes, instantaneous variation that like this can the filtering speed of a motor vehicle; The condition of work of The whole control system is limited in the 50Km/h the requirement of the speed of a motor vehicle, and system does not work when having the speed of a motor vehicle, when the speed of a motor vehicle greater than the upper limit time system default speed of a motor vehicle be 50Km/h and reduce the speed of a motor vehicle by man-machine interface prompting driver; Effective output of conveying belt sensor also is the necessary condition of system works, the rotation of driven roller drives the conveying belt speed probe, the output pulse of conveying belt speed probe and the rotating speed of driven roller are directly proportional, if the conveying belt sensor does not have signal to export then system does not work and points out the staff to check conveying belt simultaneously; Having or not of material sensor material, do not having under the situation of material system be failure to actuate, and carrying out the alarm of empty material; Obtaining vehicle speed signal and conveying belt velocity of rotation signal calculates acquisition with the late gate hoisting depth by formula 1, is that the number of drive pulses of stepper motor in the electric operator drives the electric operator action with this height conversion; The variation of the speed of a motor vehicle is very small sometimes, the height change that is changed the gate that causes by the speed of a motor vehicle also is very small, for fear of the frequent action of stepper motor that makes because of the subtle change of the speed of a motor vehicle in the electric operator, in the scope that the spreading error of system allows, change and the variation PLC of the gate height that brings does not drive the electric operator action by the speed of a motor vehicle.
Claims (6)
1. snow melt agent intelligent spreading control system for snow-fighting vehicle is characterized in that comprising:
-central control unit, its input end links to each other with the sensor output of each controlled variable respectively, calculate real-time gate height according to built-in control algolithm after obtaining to control each parameter that needs, produce the output control signal to electric operator, control gate rises to desired height; And send the real-time working situation to man-machine interactive system;
-signals collecting and converting system, by the conveying belt speed probe of measuring the conveying belt rotating speed directly gather the velocity of rotation of conveying belt rotation axis, the initial position limit signal of the restriction gate sheet position of the signal that has or not from the monitoring material of material sensor, limit sensors and gather the vehicle speed signal of vehicle speed sensor, in order to amplify vehicle speed signal, to determine the system original position sensor output signal to be sent into the spreading amount that central control unit is controlled Snow Agent;
-electric operator and man-machine interactive system, electric operator is made of linear stepping motor, and its output shaft links to each other with gate, accepts to come from the pulse drive signal of central control unit; Man-machine interactive system is made of touch-screen, links to each other with central control unit;
-comprise the control program of control algolithm, be stored in the central control unit, control the spreading amount of Snow Agent by the hoisting depth of control discharging opening gate;
The idiographic flow of described control program is: carry out the setting of groundwork parameter after powering on, detect the position of gate sheet then, whether the catch that detects on the gate sheet by limit sensors makes limit sensors that signal output is arranged, set up the reference by location of motion, and whether the surface of detectability level sensor has dirt to cover, if gate sheet is not at origin position, the original point return first of executive system work then, again by touch screen human-computer interface input spreading density and spreading width, and the running parameter of artificial input carried out the correctness inspection, if vicious words will provide necessary prompting, require to re-enter; Begin the collection of the speed of a motor vehicle after the running parameter input is correct, system does not work when having the speed of a motor vehicle and conveying belt sensor not to have signal output; Obtaining vehicle speed signal and conveying belt velocity of rotation signal calculates acquisition with the late gate hoisting depth by formula 1, is that number of drive pulses in the electric operator drives the electric operator action with this height conversion;
Formula 1:
S＝(K×β×δ×V
1)/V
2
Wherein: S is the gate hoisting depth, V
1Be Vehicle Speed, V
2Be the conveying belt rotating speed, β is a spreading density, and δ is the spreading width, and K is the scale factor relevant with the gate shape.
2. according to the described snow melt agent intelligent spreading control system for snow-fighting vehicle of claim 1, it is characterized in that: the pulse signal and the conveying belt rotation axis rotating speed of the output of material conveyer belt speed probe are directly proportional.
3. according to the described snow melt agent intelligent spreading control system for snow-fighting vehicle of claim 1, it is characterized in that: can between vehicle speed sensor and central control unit, add chromacoder.
4. according to the described snow melt agent intelligent spreading control system for snow-fighting vehicle of claim 3, it is characterized in that: described chromacoder amplifies late-class circuit by penetrating of high input impedance with front stage circuits and voltage ratio and constitutes, be used to obtain electric signal, and convert thereof into the electric signal that can satisfy central control unit input needs from the vehicle speed sensor of electronic vehicle speed table; This satisfies the voltage pulse signal of electric signal for being directly proportional with the speed of a motor vehicle of central control unit input needs.
5. according to the described snow melt agent intelligent spreading control system for snow-fighting vehicle of claim 1, it is characterized in that: on described linear stepping motor, manual controller can be set.
6. according to the described snow melt agent intelligent spreading control system for snow-fighting vehicle of claim 1, it is characterized in that: in the scope that the spreading error of system allows, change and the variation of the gate height that brings does not drive the electric operator action by the speed of a motor vehicle.
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|---|---|---|---|
| CNB2006100475665A CN100495270C (en) | 2006-08-30 | 2006-08-30 | Snow melt agent intelligent spreading control system for snow-fighting vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006100475665A CN100495270C (en) | 2006-08-30 | 2006-08-30 | Snow melt agent intelligent spreading control system for snow-fighting vehicle |
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| CN101135902A CN101135902A (en) | 2008-03-05 |
| CN100495270C true CN100495270C (en) | 2009-06-03 |
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ID=39160025
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103362100B (en) * | 2013-08-06 | 2015-07-15 | 东风斯诺威科技（北京）有限公司 | Snow-melting agent dispensing device |
| CN106368158A (en) * | 2016-10-31 | 2017-02-01 | 苏州立源信智能科技有限公司 | Automatic spraying and snow removal robot |
| CN106516648A (en) * | 2016-11-24 | 2017-03-22 | 蓬溪斌鹏科技有限公司 | Conveyor control system |
| CN110254452A (en) * | 2019-07-05 | 2019-09-20 | 上海宏英智能科技有限公司 | A kind of electric control system of railway maintenance car |
| CN110359412A (en) * | 2019-07-22 | 2019-10-22 | 浙江美通筑路机械股份有限公司 | A kind of self-mountable & dismountuble deicing salt dispenses the integrated control system filled and its control method |
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| CN2562886Y (en) * | 2002-08-19 | 2003-07-30 | 北京农业信息技术研究中心 | Variable volume pesticide spray machine |
| KR20050018213A (en) * | 2003-08-14 | 2005-02-23 | 주식회사 자동기 | Controll System of Spreading for Snow Removal Material |
| CN1633536A (en) * | 2002-07-05 | 2005-06-29 | G&G诺芙尼威德米和克斯克德米有限公司 | Weeding procedure for a railway vehicle |
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|---|---|---|---|---|
| CN1379171A (en) * | 2001-04-02 | 2002-11-13 | 杜卡提·恩勒基公司 | Method and device for controlling discharge of harmful matter of internal combustion engine |
| CN1633536A (en) * | 2002-07-05 | 2005-06-29 | G&G诺芙尼威德米和克斯克德米有限公司 | Weeding procedure for a railway vehicle |
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| KR20050018213A (en) * | 2003-08-14 | 2005-02-23 | 주식회사 자동기 | Controll System of Spreading for Snow Removal Material |
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| CN101135902A (en) | 2008-03-05 |
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