CN107340760A - The positioner and localization method of belt conveyor dump car - Google Patents
The positioner and localization method of belt conveyor dump car Download PDFInfo
- Publication number
- CN107340760A CN107340760A CN201710603949.4A CN201710603949A CN107340760A CN 107340760 A CN107340760 A CN 107340760A CN 201710603949 A CN201710603949 A CN 201710603949A CN 107340760 A CN107340760 A CN 107340760A
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- China
- Prior art keywords
- dump car
- belt conveyor
- anchor node
- node
- positioner
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- 238000000034 method Methods 0.000 title claims abstract description 11
- 230000004807 localization Effects 0.000 title claims abstract description 9
- 230000005540 biological transmission Effects 0.000 claims abstract description 20
- 238000004891 communication Methods 0.000 claims description 5
- 238000001914 filtration Methods 0.000 claims description 4
- 238000000691 measurement method Methods 0.000 claims description 4
- 238000012546 transfer Methods 0.000 claims description 4
- 239000004744 fabric Substances 0.000 abstract description 5
- 238000007599 discharging Methods 0.000 abstract description 4
- 239000000428 dust Substances 0.000 description 5
- 238000005259 measurement Methods 0.000 description 5
- 238000012935 Averaging Methods 0.000 description 1
- 208000028571 Occupational disease Diseases 0.000 description 1
- 201000010001 Silicosis Diseases 0.000 description 1
- 206010052428 Wound Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/4189—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system
- G05B19/41895—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system using automatic guided vehicles [AGV]
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- General Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Quality & Reliability (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Control Of Conveyors (AREA)
Abstract
The invention belongs to discharging of conveyor technical field, more particularly, to a kind of positioner and localization method of belt conveyor dump car, it is characterized in that including anchor node A, anchor node B, label node, the wireless data transmission RF433 module iis being connected with this label node, the control system being connected with this wireless data transmission RF433 module iis, anchor node A, anchor node B completes ranging with label node respectively, after space orientation algorithm, calculate the position of dump car, and positioning result is wirelessly transmitted to control system by wireless data transmission RF433 module iis.The present invention can realize to be accurately positioned to belt conveyor dump car, solution feed bin cloth ore deposit caused by bin-level control blanking is observed in belt conveyor blanking by operator is unreasonable, worker easily rolls up wound by belt conveyor, wounded by dump car, the security incidents such as dump car is overstepped the limit.
Description
Technical field
The invention belongs to discharging of conveyor technical field, the positioning more particularly, to a kind of belt conveyor dump car fills
Put and localization method.
Background technology
Belt conveyor dump car is the blanking device of mine ore surge bunker, because dump car is mobile device,
And situations such as it is wide activity space to be present, and dust is big, electromagnetic interference is serious, never effective distance-measuring device, so as to
Blanking is caused to be controlled by operator, feed bin cloth ore deposit is unreasonable, and labor strength is big, easily causes the occupational diseases such as silicosis.
In addition, also have the following disadvantages：
(1) dump car is controlled manually, causes feed bin cloth ore deposit unreasonable, and feed bin easily occurs and draws empty or pressure ore deposit accident.
(2) easily rolled up and hinder by belt conveyor when operating personnel observe bin-level, or wounded by dump car, discharging is small
Also often there is the security incident such as derailed in car.
(3) can not remote monitoring, can not more be integrated with PLC running control systems, formed automatic distributing system.
The content of the invention
Pinpoint positioner and localization method are carried out to belt dump car it is an object of the invention to provide a kind of,
Automatically controlled so as to carry out remote control or access PLC running control systems, improve production efficiency.
The purpose of the present invention is realized by following technical proposals：
The positioner of the belt conveyor dump car of the present invention, it is characterised in that including anchor node A, anchor node B, mark
Sign node, the wireless data transmission RF433 module iis being connected with this label node, with this wireless data transmission RF433 modules
The control system that II is connected, described anchor node A, anchor node B complete ranging with described label node respectively, by space
After location algorithm, the position of dump car is calculated, and positioning result is wirelessly passed by wireless data transmission RF433 module iis
It is sent to control system.
Described anchor node A and anchor node B includes DW1000 positioning chips, STM32 microprocessors and Power convert mould
Block.
Described label node includes DW1000 positioning chips, STM32 microprocessors, power transfer module and wireless data
Transmit RF433 module Is.
Described control system is PC or PLC running control systems.
Described anchor node A, anchor node B is surveyed with the ranging of described label node by no-load wave communication respectively
Away from.
The localization method of a kind of positioner using belt conveyor dump car, it is characterised in that including following step
Suddenly：
Step 1：Used between anchor node A and anchor node B and label node and be based on time of arrival (toa) (Time of
Arrival, TOA) distance measurement method；
Step 2：The distance obtained to step 1 carries out mean filter, improves range accuracy；
Step 3：Using conveyer belt as X-axis, it is Y-axis perpendicular to conveyer belt, establishes space coordinates, step 2 is obtained
Distance combines the space coordinates established, and the coordinate of label node is calculated；
Step 4：The positioning result obtained to step 3 uses Kalman filtering, to improve positioning precision.
Advantages of the present invention：
The positioner of the belt conveyor dump car of the present invention can realize the essence to belt conveyor dump car
It is determined that position, solves the feed bin cloth ore deposit caused by bin-level control blanking is observed in belt conveyor blanking by operator
Unreasonable, worker is easily rolled up by belt conveyor to be hindered, and is wounded by dump car, the security incidents such as dump car is overstepped the limit；Due to adopting
With the ranging of no-load communication techniques and wireless data transmission, have that anti-dust interference ability is strong, it is the high and low power consumption of measurement accuracy, low
The features such as cost, high reliability, being particularly suitable for mounting at is inconvenient to connect up, makes on the belt conveyor dump car more than dust
With the quick locus for determining dump car.
Brief description of the drawings
Fig. 1 is the positioning schematic of the present invention.
Fig. 2 is the location algorithm flow chart of the present invention.
Fig. 3 is the TOA range measurement principle figures of the present invention.
Fig. 4 is the location algorithm schematic diagram of the present invention.
Embodiment
The embodiment of the present invention is further illustrated below in conjunction with the accompanying drawings.
As shown in Fig. 1,2,3 and 4, the positioner of belt conveyor dump car of the invention, it is characterised in that including
Anchor node A1, anchor node B2, label node 3, the wireless data transmission RF433 module iis 5 being connected with this label node 3, with
The control system 8 that this wireless data transmission RF433 module iis 5 are connected, described anchor node A1, anchor node B2 respectively with it is described
Label node 3 complete ranging, after space orientation algorithm, calculate the position of dump car 6, and positioning result is passed through
Wireless data transmission RF433 module iis 5 are wirelessly transmitted to control system 8.
Described anchor node A1 and anchor node B2 includes DW1000 positioning chips, STM32 microprocessors and Power convert
Module.
Described label node 3 includes DW1000 positioning chips, STM32 microprocessors, power transfer module and without line number
According to transmission RF433 module Is 4.
Described control system 8 is PC or PLC running control systems.
Described anchor node A1, anchor node B2 is entered with the ranging of described label node 3 by no-load wave communication respectively
Row ranging.
The localization method of a kind of positioner using belt conveyor dump car, it is characterised in that including following step
Suddenly：
Step 1：Used between anchor node A1 and anchor node B2 and label node 3 and be based on time of arrival (toa) (Time of
Arrival, TOA) distance measurement method；
Step 2：The distance obtained to step 1 carries out mean filter, improves range accuracy；
Step 3：Using conveyer belt as X-axis, it is Y-axis perpendicular to conveyer belt, establishes space coordinates, step 2 is obtained
Distance combines the space coordinates established, and the coordinate of label node 3 is calculated；
Step 4：The positioning result obtained to step 3 uses Kalman filtering, to improve positioning precision.
Fig. 1 is the belt conveyor dump car positioning schematic of one embodiment of the invention.
As shown in figure 1, anchor node A1 and anchor node B2 is installed above belt conveyor 7, on the dump car 6 of activity
Label node 3 is installed, two anchor nodes 1 and 2 complete ranging with label node 3, and label node 3 is according to the range information received
Complete positioning and signal is sent by wireless data transmission RF433 module Is 4, and location data is sent to wireless data transmission RF433
Module ii 5, wireless data transmission RF433 module iis 5 transmit information to the PC or PLC running control systems of control system 8
On.
To the range data that collects, i.e., the range data that label node 3 receives is handled and calculated microprocessor,
To obtain the location data of dump car 6；Localization method algorithm flow in the present invention is as shown in Fig. 2 comprise the following steps：
Step 1, time of arrival (toa) is based on using wireless measurement between anchor node A1 and anchor node B2 and label node 3
The distance measurement method of (Time of Arrival, TOA), its operation principle are as shown in Figure 3；TAG and ANCHOR is progress TOA
Two nodes of ranging；T1 be TAG to ANCHOR send Ranging Data at the time of；T2 is that ANCHOR receives Ranging
At the time of Data；T3 be ANCHOR to TAG send ACK at the time of；At the time of T4 is that TAG receives ACK；TAG and ANCHOR pass through
The time span that local clock measures respectively, calculate the transmission time of signal between both devices；
Wherein, C is the light velocity.
Step 2, mean filter is carried out to distance measurement result, using neighborhood averaging；
Step 3, it is assumed that conveyer belt is X-axis, and label node 3 moves in X-axis, it is known to two anchor node AnchorA
(XA, YA) and AnchorB (XB, YB), Unknown Label node Tag (X, 0), AnchorA to the Tag distance measured are DISA, position
In X-axis and distance AnchorA be DISAPoint be X1And X2；AnchorB to the Tag distance measured is DISB, positioned at X-axis and
Distance AnchorA is DISBPoint be X3And X4；
Two minimum points of difference are found out,
|Xa-Xb|=MIN (| X1-X3|, | X2-X3|, | X2-X4|)
The average value for seeking two points is the abscissa value of label node；
Step 4, Kalman filtering is used to positioning result, to improve positioning precision.
The positioner of the belt conveyor dump car of the present invention can be realized to the loading and unloading material dolly 6 of belt conveyor 7
Be accurately positioned, solve due to the blanking of belt conveyor 7 by operator observe bin-level control blanking caused by expect
Storehouse cloth ore deposit is unreasonable, worker easily by belt conveyor wounds of volume 7, is wounded by dump car 6, the safe things such as dump car 6 is overstepped the limit
Therefore；It is strong with anti-dust interference ability due to using the ranging of no-load communication techniques and wireless data transmission, measurement accuracy height,
The features such as low-power consumption, low cost, high reliability, be particularly suitable for mounting at be inconvenient to connect up, the belt conveyor discharging more than dust
Used on dolly 6, quickly determine the locus of dump car 6.
Claims (6)
1. a kind of positioner of belt conveyor dump car, it is characterised in that including anchor node A, anchor node B, label section
Point, the wireless data transmission RF433 module iis being connected with this label node, with this wireless data transmission RF433 module ii phases
The control system of connection, described anchor node A, anchor node B complete ranging with described label node respectively, by space orientation
After algorithm, the position of dump car is calculated, and positioning result is wirelessly transmitted to by wireless data transmission RF433 module iis
Control system.
2. the positioner of belt conveyor dump car according to claim 1, it is characterised in that described anchor node A
Include DW1000 positioning chips, STM32 microprocessors and power transfer module with anchor node B.
3. the positioner of belt conveyor dump car according to claim 1, it is characterised in that described label section
Point includes DW1000 positioning chips, STM32 microprocessors, power transfer module and wireless data transmission RF433 module Is.
4. the positioner of belt conveyor dump car according to claim 1, it is characterised in that described control system
Unite as PC or PLC running control systems.
5. the positioner of belt conveyor dump car according to claim 1, it is characterised in that described anchor node
A, rangings of the anchor node B respectively with described label node carries out ranging by no-load wave communication.
6. the localization method of a kind of positioner using belt conveyor dump car, it is characterised in that comprise the following steps：
Step 1：Between anchor node A and anchor node B and label node use based on time of arrival (toa) (Time of Arrival,
TOA distance measurement method)；
Step 2：The distance obtained to step 1 carries out mean filter, improves range accuracy；
Step 3：The distance obtained to step 2 combines the space coordinates established, and the coordinate of label node is calculated；
Step 4：The positioning result obtained to step 3 uses Kalman filtering, to improve positioning precision.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710603949.4A CN107340760A (en) | 2017-07-21 | 2017-07-21 | The positioner and localization method of belt conveyor dump car |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710603949.4A CN107340760A (en) | 2017-07-21 | 2017-07-21 | The positioner and localization method of belt conveyor dump car |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107340760A true CN107340760A (en) | 2017-11-10 |
Family
ID=60216475
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710603949.4A Pending CN107340760A (en) | 2017-07-21 | 2017-07-21 | The positioner and localization method of belt conveyor dump car |
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| Country | Link |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108946200A (en) * | 2018-05-04 | 2018-12-07 | 兰州理工大学 | A kind of control device for steel silo cloth |
| CN109987422A (en) * | 2019-03-25 | 2019-07-09 | 日昌升集团有限公司 | A kind of bar shaped library automatic distributing device and distributing method |
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| CN201322855Y (en) * | 2008-11-21 | 2009-10-07 | 长沙有色冶金设计研究院 | Laser-location automatic feeding control system |
| CN205097980U (en) * | 2015-11-12 | 2016-03-23 | 北京天格高通科技有限公司 | Contact net detects tool car based on laser radar |
| CN105720943A (en) * | 2016-01-27 | 2016-06-29 | 厦门市美亚柏科信息股份有限公司 | RSSI (Received Signal Strength Indication)-based filtering method and system |
| CN105866734A (en) * | 2016-06-08 | 2016-08-17 | 北京科技大学 | Target tracking-positioning system on conveying belt |
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2017
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Patent Citations (5)
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|---|---|---|---|---|
| JPS5656434A (en) * | 1979-10-15 | 1981-05-18 | Sumitomo Metal Ind Ltd | Apparatus for determining shifting order of shuttle conveyer on tank |
| CN201322855Y (en) * | 2008-11-21 | 2009-10-07 | 长沙有色冶金设计研究院 | Laser-location automatic feeding control system |
| CN205097980U (en) * | 2015-11-12 | 2016-03-23 | 北京天格高通科技有限公司 | Contact net detects tool car based on laser radar |
| CN105720943A (en) * | 2016-01-27 | 2016-06-29 | 厦门市美亚柏科信息股份有限公司 | RSSI (Received Signal Strength Indication)-based filtering method and system |
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Non-Patent Citations (1)
| Title |
|---|
| 王志忠等: "基于TOA的布料车定位***", 《物联网技术》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108946200A (en) * | 2018-05-04 | 2018-12-07 | 兰州理工大学 | A kind of control device for steel silo cloth |
| CN109987422A (en) * | 2019-03-25 | 2019-07-09 | 日昌升集团有限公司 | A kind of bar shaped library automatic distributing device and distributing method |
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Application publication date: 20171110 |