CN110058589A - Guide rail localization method and its device based on bar codes technique - Google Patents
Guide rail localization method and its device based on bar codes technique Download PDFInfo
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- CN110058589A CN110058589A CN201910216562.2A CN201910216562A CN110058589A CN 110058589 A CN110058589 A CN 110058589A CN 201910216562 A CN201910216562 A CN 201910216562A CN 110058589 A CN110058589 A CN 110058589A
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- 238000004891 communication Methods 0.000 claims description 10
- 230000003252 repetitive effect Effects 0.000 claims description 7
- 238000004364 calculation method Methods 0.000 claims description 5
- 238000001514 detection method Methods 0.000 claims description 3
- 239000000835 fiber Substances 0.000 claims description 3
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Control Of Position Or Direction (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention relates to a kind of guide rail localization method and its device based on bar codes technique, the step of this method includes: the operating parameter in industrial personal computer interface input motion trolley, these parameters are transferred to the first functional module by industrial personal computer, first functional module, which handles and calculates trolley equipment, runs actually required speed, the engineering unit of bar code physical location runs to control trolley on guide rail, it drives the bar code read head being arranged on trolley to read barcode strip simultaneously and the location information of trolley is transmitted back to the first functional module, first functional module calculates real-time interpolation position and the dynamic acceleration of the servo motor in trolley according to the location information of trolley to complete accurately resetting.For the present invention compared to traditional coder locating system, the mark of physical location is more acurrate, resetting more precisely, starting, stop, accelerate and slow down it is also more smooth.
Description
Technical field
The present invention relates to field of locating technology, and in particular to a kind of guide rail localization method and its dress based on bar codes technique
It sets.
Background technique
Trolley is generally complete using servo positioning system as indispensable a part in the stage facility of theater
At its accurate resetting, traditional servo positioning system is made of console, encoder, servo-driver and servo motor.
A kind of Position servo control is disclosed in the patent application document that patent document number is CN201410140669.0
System, including position ring control unit, position command receiving unit, instruction surplus computing unit and interpolation are displaced computing unit
In: the position command receiving unit, for receiving the position command from host computer with communication cycle T；Described instruction surplus
Computing unit, for according to the position command surplus from the received position command iterative calculation current communication cycle of host computer；Institute
Interpolation displacement computing unit is stated, it is each in current communication cycle for being calculated according to the position command and position command surplus
The interpolation shift value of dispatching cycle；The position ring control unit is with position of the T0 dispatching cycle output comprising the interpolation shift value
Ring dispatch command is set, T=n*T0 and n are positive integer.
The method that above-mentioned file is stated is according to the pass in servo-driver between position ring dispatching cycle and communication cycle
System, plans the position command of each communication cycle again, avoids the Spline smoothing of position command, do not influencing to respond
Speed smooth change is realized while speed, solves the problems, such as the speed shake in servo positioning system, but above-mentioned positioning system
There is still a need for servo motors by the way of frictional drive when system running, and this kind of drive can be because internal friction influence be entire
The repetitive positioning accuracy of equipment causes equipment error occur in positioning.
Summary of the invention
To solve the above-mentioned problems, the present invention provides a kind of guide rail localization method based on bar codes technique, compared to biography
The control method that encoder device of uniting positions, the mark of physical location is more acurrate, starts, stops, accelerating and slows down and is smoother,
The problem for the repetitive positioning accuracy difference that frictional drive is brought is improved simultaneously.
Technical scheme is as follows: a kind of guide rail localization method based on bar codes technique, specific step is as follows
It is shown: the delay of trolley, speed, angle, circle number and direction of rotation parameter to be input to industrial personal computer, industrial personal computer is by above-mentioned ginseng
The first functional module that number is transmitted in programmable logic controller.
Device parameter information calculates trolley and runs actually required speed first functional module based on the received
Degree, bar code physical location engineering unit and be transmitted to the second functional module, second functional module receives above- mentioned information
And it is handled.
The servo-driver that is set in trolley receives the second functional module treated information and controls servo motor band
Dynamic trolley is run on guide rail, while the bar code read head being arranged on trolley reading being driven to be set in guide rail
Barcode strip, the location information of trolley is transmitted in the first functional module by the decoder built in bar code read head.
First functional module calculates the interpolation position of servo motor according to the location information of trolley and moves
State acceleration is simultaneously transmitted to third functional block, and above- mentioned information are handled to lay equal stress on for spike train and are newly transmitted to by the third functional module
In servo-driver in trolley.
Servo-driver, which receives the spike train of third functional module output and controls servo motor, carries out essence to trolley
Certainly position.This method is by the functional module that is set in advance in programmable logic controller to the parameter inputted in industrial personal computer
Trolley is handled and is started, the barcode strip in the bar code read head real time scan guide rail in trolley is set,
And the location information of barcode strip is transmitted back to programmable logic controller, while by third functional module in real time to servo motor
New interpolation position and new acceleration are transmitted, this method is using bar code position as override reference level, in real time to servo
Motor carries out the adjustment of location information and acceleration, therefore in position fixing process, servo motor not will receive the shadow of internal friction
It rings and fulfils positioning ahead of schedule, to improve the repetitive positioning accuracy of trolley.
Preferably, first functional module is the position and speed functional block of bar code mapped actuation, second function
Module is contextual data calculation block, and the third functional module is free positioning functional block.Utilize three function write
Can module complete the data processing and transmission that carry out in entire position fixing process, the wherein position and speed of bar code mapped actuation
Functional block is responsible for calculating various processing data, and contextual data calculation block is responsible for the field that transmission process calculates movement stop place
Scape data, free positioning functional block are responsible for real-time interpolation position and the dynamic acceleration information of transmission process servo motor, and this
Three modules are integrated on programmable logic controller and are mounted in control cabinet.
Preferably, the control errors of the trolley repetitive positioning accuracy are within 3mm.It can make this by the above method
The repeatable accuracy of positioning system is significantly improved.
Preferably, the invention also includes a kind of guide rail locating device based on bar codes technique, including application apparatus are small
Vehicle foundation pit guide rail and trolley, application apparatus foundation pit guide rail are provided with circular guideway and barcode strip, set in the trolley
It is equipped with servo-drive machine, servo motor and bar code read head, the trolley is by the Serve Motor Control that is disposed therein
It runs the trolley and is fitted with application apparatus.Wherein application apparatus can be scrim, baffle, dance & art stage property, LED screen
Deng application apparatus trolley foundation pit guide rail is settable a plurality of, and corresponding trolley and servo-drive are designed in each guide rail
System, the quantity of trolley depends on needing the size of the application apparatus run, and the application apparatus on each guide rail was both
Operation can be synchronized, can also be industrial personal computer with isolated operation, control terminal, and realize entire dance by bar code method
The operation of platform operating facility.
Preferably, trolley further includes including by industrial personal computer, programmable logic controller, wireless access point, leaky wave electricity
Cable client and optical fiber ring network is formed by industrial grade switch.
Preferably, the industrial personal computer and leaky wave cable client incoming fiber optic looped network.
Preferably, the wireless access point realizes Profinet communication by non-contact detection leaky wave cable signal, can
Editorial logic controller, servo-driver, bar code read head and trolley are communicated by Profinet.
Beneficial effects of the present invention: in bar code localization method position record belong to it is untouchable, compared to tradition compile
Code device positioning method, it is more acurrate to the mark of physical location, be capable of real-time reception outside bar code location information, and by
Carry out the interpolation mesh new to servo motor in the position and speed functional block of the free positioning functional block and bar code mapped actuation write
The new velocity amplitude of cursor position improves the problem for the repetitive positioning accuracy difference that traditional servo system is brought by frictional drive, so that
It positions more acurrate, the starting of servo motor, stopping, acceleration and slows down smoother.
Detailed description of the invention
Fig. 1 is the relational graph of method and step and each component part of the invention.
Fig. 2 is the schematic diagram of the speed of service of the trolley in position fixing process in the present invention.
Specific embodiment
The present invention is done below with reference to embodiment and attached drawing and is further explained.The following example is merely to illustrate this hair
It is bright, but be not used to limit practical range of the invention.
As shown in Figure 1, the embodiment of the invention provides a kind of guide rail localization method based on bar codes technique, including it is following
Step: being input to industrial personal computer for the delay of trolley, speed, angle, circle number and direction of rotation parameter, and industrial personal computer is by above-mentioned ginseng
The first functional module that number is transmitted in programmable logic controller.
Device parameter information calculates trolley and runs actually required speed, item first functional module based on the received
The engineering unit of shape code physical location is simultaneously transmitted to the second functional module, and the second functional module receives above- mentioned information and located
Reason.
The servo-driver that is set in trolley receives the second functional module treated information and controls servo electricity
Machine drives trolley to run on guide rail, while driving the bar code read head being arranged on trolley reading to be set to and leading
The location information of trolley is transmitted to the first functional module by the barcode strip in rail, the decoder built in bar code read head
In.
First functional module calculates the interpolation position of servo motor according to the location information of trolley and dynamic adds
Speed is simultaneously transmitted to third functional block, and third functional module, which handles above- mentioned information to lay equal stress on for spike train, is newly transmitted to trolley
In servo-driver in.
Servo-driver, which receives the spike train of third functional module output and controls servo motor, carries out essence to trolley
Certainly position.The speed of service of trolley can make nonlinear curve figure, as shown in Figure 2.
First functional module is the position and speed functional block of bar code mapped actuation, and second functional module is scene number
According to calculation block, the third functional module is free positioning functional block.
The control errors of trolley repetitive positioning accuracy are within 3mm.
The embodiment of the invention also provides the invention also includes a kind of guide rail locating device based on bar codes technique, includes and answer
With equipment trolley foundation pit guide rail and trolley, application apparatus foundation pit guide rail is provided with circular guideway and barcode strip, the movement
Servo-drive machine, servo motor and bar code read head are provided in trolley, the trolley is fitted with application apparatus,
Wherein application apparatus can be scrim, baffle, dance & art stage property, LED screen etc..
It further include by industrial personal computer, programmable logic controller, wireless access point, leaky wave cable client and by technical grade
Group of switches is at optical fiber ring network, industrial personal computer and leaky wave cable client incoming fiber optic looped network.
Wireless access point realizes Profinet communication, Programmadle logic control by non-contact detection leaky wave cable signal
Device, servo-driver, bar code read head and trolley pass through Profinet communication connection.
In currently preferred one embodiment, a kind of guide rail locating device based on bar codes technique is provided, including
Scrim foundation pit guide rail, scrim foundation pit guide rail are provided with circular guideway and barcode strip, are coupled on circular guideway in trolley,
Servo-drive machine, servo motor and bar code read head are provided in trolley, the trolley is fitted with scrim.
The design parameter needed for industrial personal computer interface input scrim operation, wherein setting delayed startup as 10s, speed and being
2000r/min, angle initial position are 90 degree, circle number is set as 2 circles, direction of rotation is clockwise.
These data are transferred to programmable logic controller, three have been pre-set in programmable logic controller
Functional module, wherein the first functional module calculates the work of the operation actually required speed and bar code physical location of trolley
Cheng Danwei is simultaneously transmitted to the second functional module, and the second functional module receives above- mentioned information and handled.
The servo-driver that is set in trolley receives the second functional module treated information and controls servo motor band
Dynamic trolley operation, while the bar code read head being arranged on trolley being driven to read the bar code being set in guide rail
Band sends editable to by bus and specific message by the current location information of built-in decoder output trolley and patrols
Collect controller.
First functional module is calculated by barcode position information represented by trolley needed for trolley positioning
Interpolation position and acceleration are spike train by the processing of third functional module and are transferred in servo-driver.
Servo-driver receives above- mentioned information and calculates analysis, and the final servo motor that controls completes positioning.
It is tested by above-mentioned real data, resetting error is that 2.5mm meets the standard being originally arranged.
In another currently preferred embodiment, a kind of guide rail locating device based on bar codes technique is provided, is wrapped
Scrim foundation pit guide rail and dance & art stage property foundation pit guide rail are included, is provided with circular guideway, barcode strip, circular guideway on scrim foundation pit guide rail
On be coupled the servo-drive machine that is provided in trolley, trolley, servo motor and bar code read head, move small
Vehicle, which is respectively cooperating with, is equipped with scrim；It is provided with circular guideway, barcode strip on dance & art stage property foundation pit guide rail, cooperates peace on circular guideway
Loaded on trolley, it is provided with servo-drive machine, servo motor and bar code read head, trolley in trolley and matches respectively
Conjunction is equipped with corresponding dance & art stage property.
Design parameter needed for inputting scrim and the synchronous operation of dance & art stage property at industrial personal computer interface, wherein setting delay is opened
Moving as 30s, speed 2500r/min, angle initial position is 180 degree, number is set as 0.5 circle to circle, direction of rotation is side counterclockwise
To.
These data are transferred to programmable logic controller, three have been pre-set in programmable logic controller
Functional module, wherein the first functional module calculates the work of the operation actually required speed and bar code physical location of trolley
Cheng Danwei is simultaneously transmitted to the second functional module, and the second functional module receives above- mentioned information and handled.
The servo-driver that is set in trolley receives the second functional module treated information and controls servo motor band
Dynamic trolley operation, while the bar code read head being arranged on trolley being driven to read the bar code being set in guide rail
Band sends editable to by bus and specific message by the current location information of built-in decoder output trolley and patrols
Collect controller.
First functional module is calculated by barcode position information represented by trolley needed for trolley positioning
Interpolation position and acceleration are spike train by the processing of third functional module and are transferred in servo-driver.
Servo-driver receives above- mentioned information and calculates analysis, and the final servo motor that controls completes positioning.
It is tested by above-mentioned real data, resetting error is that 2.8mm meets the standard being originally arranged.
Above to a kind of guide rail localization method based on bar codes technique provided by the present invention, one kind being based on bar code skill
The guide rail locating device of art is described in detail, specific case used herein to the principle of the present invention and embodiment into
Elaboration is gone, the above description of the embodiment is only used to help understand the method for the present invention and its core ideas；Meanwhile for this
The those skilled in the art in field, according to the thought of the present invention, there will be changes in the specific implementation manner and application range,
In conclusion the contents of this specification are not to be construed as limiting the invention.
Claims (7)
1. a kind of guide rail localization method based on bar codes technique, which comprises the following steps:
A. the delay of trolley, speed, angle, circle number and direction of rotation parameter are input to industrial personal computer, industrial personal computer will be above-mentioned
Parameter is transmitted to the first functional module in programmable logic controller；
B. first functional module based on the received device parameter information calculate trolley run actually required speed,
The engineering unit of bar code physical location is simultaneously transmitted to the second functional module, and second functional module receives above- mentioned information and goes forward side by side
Row processing；
C. the servo-driver that is set in trolley receives the second functional module treated information and controls servo motor drive
Trolley is run on guide rail, while the bar code read head being arranged on trolley reading being driven to be set in guide rail
The location information of trolley is transmitted in the first functional module by barcode strip, the decoder built in bar code read head；
D. first functional module calculates the interpolation position and dynamic of servo motor according to the location information of trolley
Acceleration is simultaneously transmitted to third functional block, and the third functional module, which handles above- mentioned information to lay equal stress on for spike train, is newly transmitted to fortune
In servo-driver in dynamic trolley；
E. servo-driver receives the spike train of third functional module output and controls servo motor and carries out precisely to trolley
Positioning.
2. the guide rail localization method according to claim 1 based on bar codes technique, which is characterized in that first function
Energy module is the position and speed functional block of bar code mapped actuation, and second functional module is contextual data calculation block,
The third functional module is free positioning functional block.
3. the guide rail localization method according to claim 1 based on bar codes technique, which is characterized in that the movement is small
Error≤3mm of vehicle repetitive positioning accuracy.
4. a kind of guide rail locating device based on bar codes technique, which is characterized in that described including foundation pit guide rail and trolley
Foundation pit guide rail is provided with guide rail and barcode strip, and servo-drive machine, servo motor and bar code are provided in the trolley and is read
Take head.
5. the guide rail locating device according to claim 4 based on bar codes technique, which is characterized in that further include including
By industrial personal computer, programmable logic controller, wireless access point, leaky wave cable client and optical fiber formed by industrial grade switch
Looped network.
6. the guide rail locating device according to claim 5 based on bar codes technique, which is characterized in that the industrial personal computer
With leaky wave cable client incoming fiber optic looped network.
7. the guide rail locating device according to claim 5 based on bar codes technique, which is characterized in that described wirelessly to connect
Access point realizes Profinet communication by non-contact detection leaky wave cable signal, and the programmable logic controller, servo are driven
Dynamic device, bar code read head and trolley use Profinet communication connection.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910216562.2A CN110058589A (en) | 2019-03-21 | 2019-03-21 | Guide rail localization method and its device based on bar codes technique |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910216562.2A CN110058589A (en) | 2019-03-21 | 2019-03-21 | Guide rail localization method and its device based on bar codes technique |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110977984A (en) * | 2019-12-23 | 2020-04-10 | 上海钛米机器人科技有限公司 | Control strip, mechanical arm control method, device and system and storage medium |
| CN111028533A (en) * | 2019-12-27 | 2020-04-17 | 上海多路信息技术有限公司 | Control method for accurate box parking of RTG (real time railway) cart |
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Application publication date: 20190726 |