CN113406660B - Maintenance-free laser bar code and laser ranging traveling crane double-positioning system - Google Patents
Maintenance-free laser bar code and laser ranging traveling crane double-positioning system Download PDFInfo
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- CN113406660B CN113406660B CN202110690086.5A CN202110690086A CN113406660B CN 113406660 B CN113406660 B CN 113406660B CN 202110690086 A CN202110690086 A CN 202110690086A CN 113406660 B CN113406660 B CN 113406660B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G65/00—Loading or unloading
- B65G65/30—Methods or devices for filling or emptying bunkers, hoppers, tanks, or like containers, of interest apart from their use in particular chemical or physical processes or their application in particular machines, e.g. not covered by a single other subclass
- B65G65/32—Filling devices
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K19/00—Record carriers for use with machines and with at least a part designed to carry digital markings
- G06K19/06—Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code
- G06K19/06009—Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code with optically detectable marking
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
- G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
- G06K7/10544—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation by scanning of the records by radiation in the optical part of the electromagnetic spectrum
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Abstract
The invention provides a maintenance-free laser bar code and laser ranging travelling crane double-positioning system, which relates to a maintenance-free travelling crane double-positioning system for a spinning workshop, and comprises a first controller, a reflecting plate arranged on a travelling crane and a laser range finder in communication connection with the controller, and is characterized in that: the bar code reading device also comprises a bar code strip arranged along the track direction of the travelling crane bracket and a bar code reading head arranged on one side of the travelling crane facing the bar code strip; the bar code reading head is in communication connection with the first controller; the first controller is provided with a redundancy cache and a deviation rectifying program module. The invention provides a technical scheme, solves the problem that a single laser range finder in a material distribution travelling system of the existing leaf storage system in a silk manufacturing workshop is unreliable by using two modes of redundancy and fault signal shielding, and reduces the problems of mixed batch mixing, material throwing, upstream material accumulation and the like under the condition of keeping the control logic of the control program module of the original material distribution travelling system.
Description
Technical Field
The invention relates to the technical field of workshop travelling crane positioning, in particular to a maintenance-free travelling crane double-positioning system for a wire manufacturing workshop.
Background
The existing tobacco leaf storage system of the tobacco enterprise cut-tobacco manufacturing workshop consists of a storage cabinet, a cloth traveling crane, a feeding belt and other systems which are arranged from bottom to top. The leaf-storage system controller is configured to include a control process: carry the tobacco leaf blade to the cloth driving by the feeding belt on, the cloth driving is storing up the even cloth of cabinet feed inlet to each of reciprocating walking between the material mouth above the cabinet, and the tobacco leaf blade sets up the ejection of compact process of appointed storage cabinet after a certain time in storing up the cabinet. The cloth traveling crane system needs to collect the position information of the cloth traveling crane in the moving and batching process of the cloth traveling crane, but the existing traveling crane positioning system cannot provide stable and reliable positioning signals, the requirement on the mixed quantity of the batch grade of tobacco leaves is strict, and when the stability of the position information of the cloth traveling crane is in problem, serious quality accidents such as the mixed batch grade and the like are easily caused.
Disclosure of Invention
The invention aims to provide a maintenance-free laser bar code and laser ranging travelling crane double-positioning system to provide reliable and stable position signals for a material distribution travelling crane system of a silk making workshop.
The invention provides a maintenance-free laser bar code and laser ranging travelling crane double-positioning system, which comprises a first controller, a reflecting plate arranged on a travelling crane and a laser range finder in communication connection with the controller, and is characterized in that: the device also comprises a bar code strip arranged along the track direction of the travelling crane bracket and a bar code reading head arranged at one side of the travelling crane facing the bar code strip; the bar code reading head is in communication connection with the first controller; the first controller is provided with a redundancy cache and a deviation rectifying program module;
the redundant cache is used for storing left boundary position information and right boundary position information of each storage cabinet calibrated by using data returned by the bar code reading head, and last position records of the laser range finder and the bar code reading head;
the deviation rectifying program module is configured to realize the following control processes:
under the working condition I, when only the laser range finder is abnormal, the driving position information returned by the bar code reading head in real time is used for replacing the driving position information returned by the laser range finder in real time;
under the working condition II, when the laser range finder and the bar code reading head are abnormal, using the position record in the last position record of the laser range finder and the bar code reading head, which is closest to the abnormal occurrence moment, as driving position information provided for a control program module of the cloth driving system;
and under the third working condition, when the laser range finder and the bar code reading head are not abnormal and the deviation of the driving position information returned by the laser range finder and the bar code reading head in real time is larger than a threshold value, the left boundary position information and the right boundary position information of each storage cabinet calibrated by the data returned by the bar code reading head in the redundant cache are used for updating the left boundary position information and the right boundary position information of each storage cabinet calibrated by the data returned by the laser range finder and provided for a control program module of the cloth driving system.
The improvement of one aspect of the technical scheme is that a control program module and a deviation rectifying program module of the cloth traveling system are both deployed in the first controller, and the deviation rectifying program module and the control program module realize data coupling through an internal cache and an interface cache; registers for storing left boundary position information and right boundary position information of each storage cabinet calibrated by data returned by the laser range finder are distributed in the internal cache; and the interface cache is distributed with a register for mapping real-time return data of the laser range finder.
The improvement of one aspect of the technical scheme is that a control program module of the cloth traveling system is deployed in a second controller, and the deviation rectifying program module and the control program module realize data coupling through a bus between the first controller and the second controller; registers for storing left boundary position information and right boundary position information of each storage cabinet calibrated by data returned by the laser range finder are distributed in the internal cache; and the interface cache is distributed with a register for mapping the real-time return data of the laser range finder.
The improvement of one aspect of the technical scheme is that the deviation rectifying program module further comprises the following steps when realizing the control process of the working condition I: and when only the bar code reading head is abnormal, replacing the driving position information returned by the bar code reading head in real time with the driving position information returned by the laser range finder in real time.
The improvement of one aspect of the technical scheme is that when the working condition I and/or the working condition II is/are executed, if the travelling crane is positioned above the left boundary and the boundary of a storage cabinet, the deviation rectifying program module provides a signal to the control program module, and the signal enables the control program module to keep the discharging belt of the travelling crane not to stop running.
The improvement of one aspect of this technical scheme lies in, the guardrail is all installed along the track paralleling in the both sides of driving support, the bar code area install in the inboard of one of them guardrail.
The technical proposal is further improved in that the bar code reading head moves to a moment between two adjacent bar codes on the bar code strip, simultaneously obtains more than two adjacent bar codes on the bar code strip, and is processed into position information between the position information corresponding to the two adjacent bar codes.
In a preferred embodiment, the bar code strip is provided with more than two layers of bar codes, and the bar codes of each layer are arranged in a staggered manner.
In a preferred embodiment, a Fresnel transparent film layer is arranged on one side of the bar code strip towards the bar code reading head, and a plurality of prisms are arranged on the Fresnel transparent film layer on two sides of each bar code of the bar code strip; for any barcode, the prism on its left refracts the barcode further to the left, and the prism on its right refracts the barcode to the right.
In a preferred embodiment, the barcode tape reading head is a laser barcode tape reading head, and the barcode tape is a laser barcode tape.
The invention provides a technical scheme, which solves the problem of unreliable single laser range finders in a cloth travelling system of the existing leaf storage system in a silk manufacturing workshop in two modes of redundancy and fault signal shielding, and reduces the accident occurrence probability of easily giving mixed batch and mixing and the like by realizing the function of correcting laser ranging boundary self-calibration and operation boundary judgment signals by using discontinuous bar codes containing absolute position information within an error range under the condition of keeping the control logic of a control program module of the original cloth travelling system.
Drawings
FIG. 1 is a schematic top view of an actuator of a distribution traveling system used in a leaf storage system in the prior art;
FIG. 2 is a diagram of a control system of a prior art leaf storage system using a material distribution driving system;
FIG. 3 is a schematic top view of a deployment structure of a maintenance-free laser barcode and laser ranging vehicle dual-positioning system according to an embodiment of the present invention;
FIG. 4 is a schematic representation of the bar code distribution on the deployed bar code strip of FIG. 3;
FIG. 5 is a schematic structural diagram of a maintenance-free laser barcode and laser ranging vehicle dual-positioning system according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a system structure of a maintenance-free laser barcode and laser ranging vehicle dual-positioning system according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of a barcode tape structure deployed with a maintenance-free laser barcode and a laser ranging vehicle dual positioning system in one embodiment;
FIG. 8 is a schematic diagram of the distribution of barcodes on barcode strips deployed by the maintenance-free laser barcode and the laser ranging vehicle dual-positioning system in one embodiment;
wherein one or more of the figures illustrate at least the following devices or components referenced in connection with the embodiments: the system comprises storage cabinets 1, 2 and 3, a travelling crane support 10, a travelling crane 20, a laser range finder 21, a reflecting plate 22, a bar code reading head 23, a bar code belt 24, a bar code 25, a feeding belt 30, a Fresnel transparent thin film layer 26 and a travelling crane double-positioning system 100.
Detailed Description
It should be noted that, in the prior art, the material distribution traveling system of the wire manufacturing workshop has a stability problem, and as shown in fig. 1 and 2, in a specific demonstration of the prior art, the material distribution traveling system of the wire manufacturing workshop includes a traveling crane 20 shuttled in a track of a traveling crane support 10 above each storage cabinet 1, 2 and 3, and a PLC controller for scheduling and controlling the traveling crane to operate. Near the near-end of driving support 10 is equipped with feeding belt 30, the distal end is equipped with laser range finder 21, driving 20 distal end one side fixed mounting has the reflecting plate, the laser irradiation that laser range finder 21 sent acquires the distance between driving 20 and the laser range finder 21 the two through the reflecting plate reflection light on the reflecting plate to convey to the PLC controller, the PLC controller turns into driving 20's positional information with distance information after handing over by storing cloth driving system or other system analysis processes in the leaf system. The following description will refer to fig. 1 and take the storage cabinet 1 as an example to illustrate the operation principle of driving location in the control process of the cloth driving system in the background art.
During calibration, the trolley 20 is manually started and position calibration is performed. When the travelling crane 20 walks to the left boundary of the storage cabinet 1, recording the numerical value Z1 of the laser range finder 21 in the PLC; when the user walks to the right boundary, the value Y1 of the laser range finder 21 is recorded in the PLC, and the other storage cabinets are analogized so as to calibrate the left and right boundary positions of the travelling crane 20 running on each storage cabinet.
In the production process, the PLC controller of the material distribution traveling crane system controls the traveling crane 20 to operate. The driving 20 is originally located and stores up 1 right side boundary outside the cabinet, if store up the cabinet top in other, if PLC controller received on the driving 20 material and advanced the signal that stores up cabinet 1, when driving 20 moves the right boundary Y1 who stores up cabinet 1, the belt of unloading of driving 20 starts, when driving 20 moves the left boundary Z1 who stores up cabinet 1, driving 20 stall 2 seconds, then the reverse operation, driving stall 2 seconds when driving moves the right boundary Y1 who stores up cabinet 1, then the reverse operation once more, just evenly distributed is right-left orientation in storing up cabinet 1 for the material like this.
The cloth of other storage cabinets 2, 3 can often examine the above-mentioned working mode, and it is easy to see that the cloth driving location of the cloth driving system in the prior art mainly depends on the measurement value of the laser range finder.
Based on the above working principle, one concrete demonstration of the prior art has the following problems: in the demonstration, the laser range finder 21 is connected to the PLC through a network bus, when a network is in a flash state or an operator blocks a laser beam unintentionally, the numerical value of the laser range finder 21 becomes zero instantaneously, at this time, a control program configured by the PLC considers that the travelling crane 20 is not above the storage cabinet 1, and the PLC controls the travelling crane 20 to run back and forth above all the storage cabinets according to a program module configured by the PLC so as to reposition the relative position of the travelling crane 20 and the storage cabinet 1, and meanwhile, the discharging belt on the travelling crane 20 stops running, so that materials are prevented from falling into other storage cabinets, and serious accidents such as mixed batch mixing and the like are avoided. In some implementations, due to the abnormal state of the material distribution process, in order to avoid the material accumulation on the feeding belt 30, the feeding operation of the process upstream of the feeding belt 30 is stopped, and a chain reaction is caused, resulting in a production loss.
It is easy to understand that in the prior art, in the leaf storage system, the measuring head part of the laser range finder 21 in the cloth traveling system is fixedly installed at one side of the traveling crane bracket 10, the laser reflector is installed on the traveling crane 20, and the laser range finding value changes when the traveling crane 20 moves. The technical scheme has the advantages that no movable part is arranged, the operation is stable, and one aspect of the technical scheme has the defects that numerical values are easy to drift, the laser ranging numerical values are deviated frequently, materials fall outside the storage cabinets, and maintenance workers need to manually recalibrate and set the left and right boundaries of each storage cabinet. On the other hand, the device is easily interfered by external environment, and dust, vibration, materials, personnel shelter from and the like can cause measurement deviation.
The concept of the technical scheme provided by the invention is to acquire the relative driving position information through the redundant signal correction laser range finder so as to solve the problem of poor robustness in the process of acquiring the driving position information in the cloth driving system.
Example one
The embodiment is a maintenance-free laser bar code and laser ranging traveling crane double-positioning system which is arranged in a material distribution traveling crane system of a silk making workshop. The embodiment is a technically improved embodiment, and the running double-positioning system 100 of the embodiment is additionally arranged for the material distribution running system by additionally arranging a bar code strip and a bar code reading head and additionally arranging a redundancy cache and a deviation correction program module on the basis of the material distribution running system of the original silk manufacturing workshop.
Referring to fig. 3 and 4, in the present embodiment, a laser barcode strip 24 is installed on the carriage support 10 of the carriage 20 along the track direction, and a laser barcode reading head 23 is installed on the carriage 20. When the traveling crane 20 moves, the barcode reading head 23 continuously reads different barcodes 25 distributed on the barcode strip 24 along the extending direction of the barcode strip, and absolute position information corresponding to each barcode is obtained. In this embodiment, the traveling vehicle 20 deploys a power cable and a network cable of the barcode reading head 23. It is easy to see out, the advantage of this scheme lies in, uses the absolute position information of bar code mark can provide accurate location, and the shortcoming lies in, and bar code reading head 23 takes power cable and network cable to remove, drags the easy wearing and tearing cable crust of process, under the circumstances of cable armor protection, produces the noise easily.
Referring to fig. 5, in the embodiment, a PLC controller of the cloth traveling system is used as a first controller, in which a redundancy buffer and a deviation rectifying program module are configured,
wherein, the PLC controller operates the instruction of the deviation rectifying program module to cause the PLC controller to complete the following processing steps.
The traveling crane 20 is driven to move to one end of the traveling crane support 10, namely, the left boundary or the right boundary of the traveling crane support 10, so as to record the initial position value of the traveling crane for static or dynamic calibration. Taking the right boundary as an example, the deviation rectifying program reads the value of the limit switch of the right boundary of the travelling crane support 10 to serve as a travelling crane in-position trigger signal, and collects and stores the real-time value M0 returned by the barcode reading head 23 at the moment and the real-time value Y0 returned by the laser range finder in the redundant cache. Then, the carriage 20 is controlled to gradually move towards the left of the carriage, and when the carriage passes through each storage cabinet, the real-time values Yn of the laser range finders corresponding to the right boundary of the storage cabinet n, the real-time values M (2 n-1) of the barcode reading heads corresponding to the right boundary, the real-time values Zn of the laser range finders corresponding to the left boundary and the real-time values M (2 n) of the barcode reading heads corresponding to the left boundary are respectively recorded. For example, after the initialization is finished, the right boundary values Y1, M1 and the left boundary values Z1, M2 of the storage cabinet 1, and the right boundary values Y2, M3 and the left boundary values Z2, M4 of the storage cabinet 2 are stored in the redundant cache directly or in a compressed manner. It is easy to understand that, due to the linear relationship of the distances, in general, there is an ideal proportionality coefficient k, as follows:
the coefficient k may be adjusted by the setting of the barcode.
For simplicity of description, in the embodiments of the present invention, k is designed to be 1, or substantially 1 within an allowable error, and when the present invention is implemented in real time under the condition that k is not 1, the embodiments of the present invention can be implemented by referring to the case of the embodiments of the present invention by setting k in the controller and normalizing k to be 1 at the time of processing. It is easy to understand that even in the case of design k being 1, when data of two sensors, namely a laser range finder and a barcode reading head, are at left and right boundaries of the same storage cabinet, non-linear errors caused by partial cheapness or precision may occur, in a preferred improved embodiment, a threshold value is fixedly stored in a redundant cache, or a threshold value obtained through a calculation method is temporarily stored, and when a difference between values returned by the two sensors is smaller than the threshold value, a deviation rectification program is configured to consider that the two data are both accurate, and then the start and stop of a traveling crane are controlled by the value of the laser barcode. In other embodiments where k is other than 1, the constant k is configured in the control program or the deskewing program to perform real-time or non-real-time conversion between absolute position information acquired by the barcode reader and relative position information acquired by the laser rangefinder throughout the process.
The deviation correction program is configured to implement the following control procedures at this stage:
under the first working condition, when any one of the two sensors is a fault position, the numerical value returned by the other sensor is sent to an interface cache of the controller, and the numerical value is used for providing position information of the travelling crane for a control program to control the left and right operation of the travelling crane and keep the normal operation of the feeding belt.
Specifically, when one of the two sensors has a fault, when the barcode tape is blocked or the barcode reading head has a fault, data cannot be read normally, the barcode reading head can send out an error state bit or a 0 value, and similarly, when the laser range finder has a fault or is blocked, a fault state bit or a 0 value can be output. When any one of the two sensors is a fault bit, the deviation correcting program provides the real-time numerical value of the other sensor to the control program, so that the control program controls the left and right running of the travelling crane by using the data and keeps the normal running of the cloth travelling crane system, in particular the normal running of the discharging belt of the cloth travelling crane system.
And under the second working condition, data returned by the bar code reading head and the laser range finder are recorded in the redundant cache in real time, and when two sensors both have faults, the data recorded in the redundant cache by the sensor with the last fault is used for providing the data for a control program.
Specifically, due to the scanning execution characteristics of the PLC, the data returned by the laser range finder updated in the interface cache and the data returned by the barcode reader updated in the redundant cache necessarily have a time difference, that is, it is understood that the two sensors fail in sequence. When two sensors respectively fail, the barcode (ranging) position data before the failure of the sensor which fails at last is recorded, a null variable in a redundant cache is used for storing the barcode (ranging) data before the failure of the sensor which fails at last, if the barcode (ranging) value is changed into 0 (the blocked value is changed into 0) or the failure state of the sensor is 1, the barcode (ranging) value stored in the redundant cache before the failure is temporarily sent to a control program, a motor driving stop signal of a material distribution travelling crane track wheel set is sent to prevent a travelling crane from moving left and right to other storage cabinets, the control program continuously keeps the running of a feeding belt according to travelling crane position information represented by the received data, and when the data returned by any one of a barcode reading head or a laser range finder is recovered to be normal, namely not 0, the corresponding real-time barcode (ranging) value is directly sent back to the control program of the PLC. It is easy to understand that the deviation rectifying program obtained by the configuration method can prevent the parking phenomenon and serious quality accidents such as mixed batch and mixed cards even if two sensors simultaneously break down.
And under the third working condition, when both the two sensors have no faults and the numerical deviation of the two sensors is larger, the left and right boundary information of each storage cabinet, which is stored in the redundant cache and is from the bar code reading head, is used for updating the left and right boundary information of each storage cabinet, which is stored in the internal cache and is calibrated by using the data of the laser range finder.
Specifically, assuming that the real-time value of the barcode reading head is M and the real-time value of the laser range finder is Y, when both the two sensors have no fault and the deviation of the values of the two sensors is large, it needs to determine whose data is accurate. When the real-time value M of the bar code is equal to M (2 n-1) or M (2 n), the travelling crane is considered to be located at the boundary position of the storage cabinet, and the real-time value Y returned by the laser range finder is read, because an error may have a large difference from the left boundary Y (2 n-1) or the right boundary Y (2 n) in the program, if the difference is larger than the threshold in the step 10, the return value of the laser range finder needs to be automatically corrected, and when the error is detected to be larger than the threshold, the real-time value Y returned by the bar code reading head is written into a register corresponding to the return value of the laser range finder to be used as the new left boundary Y (2 n-1) and right boundary Y (2 n) of the storage cabinet n.
It is easy to understand that the traveling double-positioning system provided by the embodiment is additionally arranged in the original cloth traveling system, short-term non-stop operation of the cloth traveling can be realized, and the position data represented by the bar code can automatically correct the nonlinear error of the laser range finder caused by drift or operation, so that maintenance-free operation of the system is realized. In an improvement of this embodiment, the barcode reader uses a laser barcode reader for improving data accuracy, the barcode tape uses a laser barcode tape adapted to the laser probe, and a laser component of the laser barcode reader selects a far infrared laser frequency band. In other embodiments, referring to FIG. 8, a visually identifiable bar code reader may be used to place multiple bar code distributions on the bar code strip to eliminate measurement accuracy and/or spacing between failures due to bar code spacing.
Example two
The embodiment is a set of independent maintenance-free laser bar code and laser ranging driving double-positioning system 100 which is matched as a subsystem under a cloth driving system. Referring to fig. 6, the present embodiment is different from the first embodiment in that: on one hand, the deviation correcting program module is configured on the independent PLC controller B, namely the first controller, so that the deviation correcting program module and the control program module independently executed by the PLC controller A, namely the second controller use unrelated and independent scanning periods, the coupling relation of internal data generated by the shared scanning period is reduced, and the response speed is improved; on the other hand, the returned data of the laser range finder 21 is directly buffered in a redundant buffer created by the controller B, and meanwhile, the error correcting program reads real-time data returned by the barcode reading head 23 and the laser range finder 21 which are received and temporarily stored by the redundant buffer and the boundary information (the left boundary and the right boundary) of each storage cabinet stored in the initialization, and provides a driving in-place signal for the PLC controller a.
EXAMPLE III
This embodiment is two positioning system of one set of non-maintaining laser bar code and laser rangefinder driving, is applied to cloth driving system, and driving and feeding belt are 90 degrees contained angles, and the driving belt of unloading is parallel with feeding belt, and feeding belt frame is in the top of driving, and the driving is equipped with the drive wheel and moves about on the driving track, and the reflector panel is fixed on the driving, and the skeleton of driving is the metal material, at the iron plate of the fixed reflector panel of head of driving. The travelling crane of this embodiment is a set of belt feeder of band pulley, and the travelling crane slides on the track of driving support to and fro. When the belt of driving stops above the storage cabinet, the motor of the discharging belt is operated to convey the material to the outer side of the driving track, and the material naturally drops into the designated storage cabinet at the edge of the belt.
The difference between this embodiment and the first, second and their modified embodiments is that, referring to fig. 7, the barcode strip 24 is provided with a fresnel transparent film layer 26 toward one side of the barcode reading head, the fresnel transparent film layer 26 is substantially a plane at each barcode 25, and two sides of the barcode 25 are respectively prisms that refract light toward the outside, that is, for any barcode 25, the prism on the left side refracts the barcode 25 toward the left side, and the prism on the right side refracts the barcode 25 toward the right side, so that when the barcode reading head is between two barcodes, it is easy to read the two barcodes simultaneously, and at this time, the data returned by the barcode reading head is marked as an average value that the two barcodes represent absolute positions. If the adjacent bar code C corresponds to 1290cm and the bar code D corresponds to 1230cm, when two bar codes are read simultaneously, the returned data is processed to 1295cm, the width of the bar code is 2cm, and when the open angle of the view of the bar code reading head is projected on the bar code strip, the width is 5cm. It is easy to understand that the above scheme reduces the absolute reading error from about 5 + -2 cm to about 2.5 + -2 cm, almost eliminates the detection blind area between the bar codes, improves the measurement accuracy of the bar code reading head, and can provide better measurement accuracy for the laser range finder.
It is easy to see that, in the above embodiments, the configuration of the PLC register coils such as the registers of the left boundary position information and the right boundary position information of each storage cabinet calibrated by the return data of the laser range finder, and the registers for mapping the real-time return data of the laser range finder are involved, and for those skilled in the art, according to the new functional description of the above embodiments, the configuration can be made unambiguously by the known configuration means of the specific PLC controller. In the embodiments, the basic principle and the calibration object of the present invention are mainly illustrated in a linear calibration manner, and those skilled in the art can implement the calibration steps of the technical idea of the present invention or the configuration of the calculation steps corresponding to the calibration process according to any calibration means provided in the prior art, which also belong to the specific embodiments of the present invention.
Claims (10)
1. The utility model provides a non-maintaining laser bar code and laser rangefinder driving two positioning system, contains first controller, set up in driving the vehicle reflecting plate and with controller communication connection's laser range finder, its characterized in that: the device also comprises a bar code strip arranged along the track direction of the travelling crane bracket and a bar code reading head arranged on one side of the travelling crane facing the bar code strip; the bar code reading head is in communication connection with the first controller; the distance between adjacent bar codes on the bar code strip is satisfied, and the adjacent bar codes on the bar code strip can be simultaneously obtained at the moment when the bar code reading head moves to a position between the two adjacent bar codes on the bar code strip; the first controller is provided with a redundancy cache and a deviation rectifying program module;
the redundant cache is used for storing left boundary position information and right boundary position information of each storage cabinet calibrated by using data returned by the bar code reading head, and last position records of the laser range finder and the bar code reading head;
the deviation rectifying program module is configured to realize the following control processes:
under the working condition I, when only the laser range finder is abnormal, the driving position information returned by the bar code reading head in real time is used for replacing the driving position information returned by the laser range finder in real time;
under the working condition II, when the laser range finder and the bar code reading head are abnormal, using the position record in the last position record of the laser range finder and the bar code reading head, which is closest to the abnormal occurrence moment, as driving position information provided for a control program module of the cloth driving system;
and under the third working condition, when the laser range finder and the bar code reading head are not abnormal and the deviation of the driving position information returned by the laser range finder and the bar code reading head in real time is larger than a threshold value, the left boundary position information and the right boundary position information of each storage cabinet calibrated by the data returned by the bar code reading head in the redundant cache are used for updating the left boundary position information and the right boundary position information of each storage cabinet calibrated by the data returned by the laser range finder and provided for a control program module of the cloth driving system.
2. A vehicular traffic dual-positioning system according to claim 1, wherein: the control program module and the deviation rectifying program module of the cloth traveling system are both deployed in the first controller, and the deviation rectifying program module and the control program module realize data coupling through an internal cache and an interface cache; registers for storing left boundary position information and right boundary position information of each storage cabinet calibrated by data returned by the laser range finder are distributed in the internal cache; and the interface cache is distributed with a register for mapping real-time return data of the laser range finder.
3. A dual cart positioning system as claimed in claim 1, wherein: the control program module of the cloth traveling system is deployed in a second controller, and the deviation rectifying program module and the control program module realize data coupling through a bus between the first controller and the second controller; and the redundant cache is distributed with a register for storing left boundary position information and right boundary position information of each storage cabinet calibrated by the data returned by the laser range finder and a register for mapping the real-time returned data of the laser range finder.
4. A driving dual-positioning system according to claim 1, wherein the deviation correcting program module further comprises, when implementing the control process of the first operating condition: and when only the bar code reading head is abnormal, replacing the driving position information returned by the bar code reading head in real time with the driving position information returned by the laser range finder in real time.
5. A vehicular traffic dual-positioning system according to claim 1, wherein: and when the working condition I and/or the working condition II is/are executed, if the travelling crane is positioned above the space between the left boundary and the right boundary of the storage cabinet, the deviation rectifying program module provides a signal to the control program module, and the signal enables the control program module to keep the discharging belt of the travelling crane not to stop running.
6. A dual cart positioning system as claimed in claim 1, wherein: the guardrail is all installed along the track parallel in the both sides of driving support, the bar code area install in the inboard of one of them of guardrail.
7. A travelling crane dual location system according to any one of claims 1 to 6 wherein: the bar code reading head moves to a moment between two adjacent bar codes on the bar code strip, more than two adjacent bar codes on the bar code strip are obtained simultaneously, and the bar code reading head is processed into position information between the position information corresponding to the two adjacent bar codes.
8. A vehicular traffic dual-positioning system according to claim 7, wherein: the bar code belt is provided with more than two layers of bar codes, and the bar codes of all the layers are arranged in a staggered mode.
9. A vehicular traffic dual-positioning system according to claim 7, wherein: a Fresnel transparent film layer is arranged on one side of the bar code strip towards the bar code reading head, and a plurality of prisms are arranged on two sides of each bar code of the bar code strip by the Fresnel transparent film layer; for any barcode, the prisms on its left side refract the barcode further to the left, and the prisms on its right side refract the barcode to the right.
10. A vehicular traffic dual-positioning system according to claim 7, wherein: the bar code strip reading head is a laser bar code reading head, and the bar code strip is a laser bar code strip.
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| CN115385033A (en) * | 2022-09-29 | 2022-11-25 | 深圳市兰星琪科技有限公司 | Double-feedback positioning movement module and annular production line |
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