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
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- 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]
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- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
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Abstract
本发明属于输送机卸料技术领域，尤其是涉及一种皮带输送机卸料小车的定位装置及定位方法，其特征在于包括锚节点A，锚节点B，标签节点，与此标签节点相连接的无线数据传输RF433模块II，与此无线数据传输RF433模块II相连接的控制系统，锚节点A、锚节点B分别与标签节点完成测距，经过空间定位算法后，计算出卸料小车的位置，并将定位结果通过无线数据传输RF433模块II无线传送到控制系统。本发明可以实现对皮带输送机卸料小车的精确定位，解决由于皮带输送机下料依靠操作工人观察料仓料位控制下料而导致的料仓布矿不合理、工人容易被皮带输送机卷伤，被卸料小车撞伤，卸料小车出轨等安全事故。
The invention belongs to the technical field of conveyor unloading, and in particular relates to a positioning device and a positioning method for a belt conveyor unloading trolley, which is characterized in that it includes an anchor node A, an anchor node B, a tag node, and a The wireless data transmission RF433 module II, the control system connected with the wireless data transmission RF433 module II, the anchor node A and the anchor node B respectively complete the distance measurement with the tag node, and after the spatial positioning algorithm, calculate the position of the unloading trolley, And the positioning result is wirelessly transmitted to the control system through the wireless data transmission RF433 module II. The invention can realize the precise positioning of the unloading trolley of the belt conveyor, and solve the unreasonable layout of the silo and the workers who are easily caught by the belt conveyor because the unloading of the belt conveyor relies on the operator to observe the material level of the silo to control the unloading. Injured, injured by the unloading trolley, derailed by the unloading trolley and other safety accidents.
Description
技术领域technical field
本发明属于输送机卸料技术领域，尤其是涉及一种皮带输送机卸料小车的定位装置及定位方法。The invention belongs to the technical field of conveyor unloading, and in particular relates to a positioning device and a positioning method for a belt conveyor unloading trolley.
背景技术Background technique
皮带输送机卸料小车是矿山矿石缓冲仓的下料装置，由于卸料小车是移动装置，并且存在活动空间广，粉尘大、电磁干扰严重等情况，一直没有有效的距离测量装置，从而导致下料依靠操作工人控制，料仓布矿不合理，工人劳动强度大，容易造成矽肺等职业病。此外，还存在以下缺点：The unloading trolley of the belt conveyor is the unloading device of the ore buffer bin in the mine. Since the unloading trolley is a mobile device and has a wide range of activities, large dust, and serious electromagnetic interference, there has been no effective distance measuring device, resulting in The materials are controlled by the operators, the distribution of the silos is unreasonable, the labor intensity of the workers is high, and it is easy to cause occupational diseases such as silicosis. In addition, there are the following disadvantages:
(1)手动控制卸料小车，致使料仓布矿不合理，容易发生料仓拉空或压矿事故。(1) The unloading trolley is manually controlled, resulting in unreasonable distribution of ore in the silo, and accidents of silo emptying or crushing are prone to occur.
(2)操作人员观察料仓料位时容易被皮带输送机卷伤，或被卸料小车撞伤，卸料小车还经常出现出轨等安全事故。(2) When the operator observes the material level of the bin, it is easy to be wounded by the belt conveyor or hit by the unloading trolley, and the unloading trolley often has safety accidents such as derailment.
(3)无法远程监控，更无法与PLC行车控制系统集成，形成自动布料系统。(3) It cannot be monitored remotely, and it cannot be integrated with the PLC driving control system to form an automatic material distribution system.
发明内容Contents of the invention
本发明的目的是提供一种对皮带卸料小车进行精确定位的定位装置和定位方法，从而进行远程控制或者接入PLC行车控制系统进行自动控制，提高生产效率。The purpose of the present invention is to provide a positioning device and a positioning method for accurately positioning the belt unloading trolley, so as to perform remote control or access to a PLC driving control system for automatic control and improve production efficiency.
本发明的目的是通过下述技术方案来实现的：The purpose of the present invention is achieved through the following technical solutions:
本发明的皮带输送机卸料小车的定位装置，其特征在于包括锚节点A，锚节点B，标签节点，与此标签节点相连接的无线数据传输RF433模块II，与此无线数据传输RF433模块II相连接的控制系统，所述的锚节点A、锚节点B分别与所述的标签节点完成测距，经过空间定位算法后，计算出卸料小车的位置，并将定位结果通过无线数据传输RF433模块II无线传送到控制系统。The positioning device of the belt conveyor unloading trolley of the present invention is characterized in that it comprises an anchor node A, an anchor node B, a tag node, a wireless data transmission RF433 module II connected to the tag node, and the wireless data transmission RF433 module II The connected control system, the anchor node A and the anchor node B respectively complete the distance measurement with the tag node, after the spatial positioning algorithm, calculate the position of the unloading trolley, and transmit the positioning result through wireless data transmission RF433 Module II transmits wirelessly to the control system.
所述的锚节点A和锚节点B均包括DW1000定位芯片、STM32微处理器和电源转换模块。Both the anchor node A and the anchor node B include a DW1000 positioning chip, an STM32 microprocessor and a power conversion module.
所述的标签节点包括DW1000定位芯片、STM32微处理器、电源转换模块和无线数据传输RF433模块I。The tag node includes DW1000 positioning chip, STM32 microprocessor, power conversion module and wireless data transmission RF433 module I.
所述的控制系统为PC机或者PLC行车控制系统。The control system is a PC or a PLC driving control system.
所述的锚节点A、锚节点B分别与所述的标签节点的测距均通过无载波通信进行测距。The ranging between the anchor node A and the anchor node B and the tag node is all performed by carrierless communication.
一种利用皮带输送机卸料小车的定位装置的定位方法，其特征在于包括如下步骤：A positioning method using a positioning device of a belt conveyor unloading trolley is characterized in that it comprises the following steps:
步骤一：锚节点A和锚节点B与标签节点间采用基于信号到达时间(Time ofArrival，TOA)的距离测量方法；Step 1: A distance measurement method based on signal time of arrival (Time of Arrival, TOA) is adopted between the anchor node A and the anchor node B and the tag node;
步骤二：对步骤一得到的距离进行均值滤波，提高测距精度；Step 2: Perform mean filtering on the distance obtained in step 1 to improve ranging accuracy;
步骤三：以传送带为X轴，垂直于传送带为Y轴，建立空间坐标系，对步骤二得到的距离结合建立的空间坐标系，计算得到标签节点的坐标；Step 3: Take the conveyor belt as the X-axis and the Y-axis perpendicular to the conveyor belt to establish a spatial coordinate system, and combine the distance obtained in step 2 with the established spatial coordinate system to calculate the coordinates of the label nodes;
步骤四：对步骤三得到的定位结果采用卡尔曼滤波，以提高定位精度。Step 4: Apply Kalman filter to the positioning result obtained in step 3 to improve the positioning accuracy.
本发明的优点：Advantages of the present invention:
本发明的皮带输送机卸料小车的定位装置可以实现对皮带输送机卸料小车的精确定位，解决由于皮带输送机下料依靠操作工人观察料仓料位控制下料而导致的料仓布矿不合理、工人容易被皮带输送机卷伤，被卸料小车撞伤，卸料小车出轨等安全事故；由于采用无载波通信技术测距和无线数据传输，具有抗粉尘干扰能力强，测量精度高、低功耗、低成本、高可靠性等特点，特别适合安装在不方便布线、粉尘多的皮带输送机卸料小车上使用，快速的确定卸料小车的空间位置。The positioning device of the unloading trolley of the belt conveyor of the present invention can realize the precise positioning of the unloading trolley of the belt conveyor, and solves the problem of silo distribution caused by the unloading of the belt conveyor relying on the operator to observe the material level of the silo and control the unloading. Unreasonable, workers are easily wounded by the belt conveyor, injured by the unloading trolley, derailed by the unloading trolley and other safety accidents; due to the use of carrier-free communication technology for distance measurement and wireless data transmission, it has strong anti-dust interference ability and high measurement accuracy , low power consumption, low cost, high reliability and other characteristics, it is especially suitable for installation on the unloading trolley of belt conveyors with inconvenient wiring and a lot of dust, and can quickly determine the spatial position of the unloading trolley.
附图说明Description of drawings
图1为本发明的定位原理图。Fig. 1 is a positioning schematic diagram of the present invention.
图2为本发明的定位算法流程图。Fig. 2 is a flow chart of the positioning algorithm of the present invention.
图3为本发明的TOA测距原理图。Fig. 3 is a principle diagram of TOA ranging in the present invention.
图4为本发明的定位算法原理图。Fig. 4 is a schematic diagram of the positioning algorithm of the present invention.
具体实施方式detailed description
下面结合附图进一步说明本发明的具体实施方式。The specific implementation manner of the present invention will be further described below in conjunction with the accompanying drawings.
如图1、2、3和4所示，本发明的皮带输送机卸料小车的定位装置，其特征在于包括锚节点A1，锚节点B2，标签节点3，与此标签节点3相连接的无线数据传输RF433模块II5，与此无线数据传输RF433模块II5相连接的控制系统8，所述的锚节点A1、锚节点B2分别与所述的标签节点3完成测距，经过空间定位算法后，计算出卸料小车6的位置，并将定位结果通过无线数据传输RF433模块II5无线传送到控制系统8。As shown in Figures 1, 2, 3 and 4, the positioning device of the belt conveyor unloading trolley of the present invention is characterized in that it includes an anchor node A1, an anchor node B2, a tag node 3, and a wireless The data transmission RF433 module II5, the control system 8 connected to the wireless data transmission RF433 module II5, the anchor node A1 and the anchor node B2 respectively complete the distance measurement with the tag node 3, and after the spatial positioning algorithm, calculate Find the position of the unloading trolley 6, and wirelessly transmit the positioning result to the control system 8 through the wireless data transmission RF433 module II5.
所述的锚节点A1和锚节点B2均包括DW1000定位芯片、STM32微处理器和电源转换模块。Both the anchor node A1 and the anchor node B2 include a DW1000 positioning chip, an STM32 microprocessor and a power conversion module.
所述的标签节点3包括DW1000定位芯片、STM32微处理器、电源转换模块和无线数据传输RF433模块I4。The tag node 3 includes a DW1000 positioning chip, an STM32 microprocessor, a power conversion module and a wireless data transmission RF433 module I4.
所述的控制系统8为PC机或者PLC行车控制系统。The control system 8 is a PC or a PLC driving control system.
所述的锚节点A1、锚节点B2分别与所述的标签节点3的测距均通过无载波通信进行测距。The ranging between the anchor node A1 and the anchor node B2 and the tag node 3 is all performed by carrierless communication.
一种利用皮带输送机卸料小车的定位装置的定位方法，其特征在于包括如下步骤：A positioning method using a positioning device of a belt conveyor unloading trolley is characterized in that it comprises the following steps:
步骤一：锚节点A1和锚节点B2与标签节点3间采用基于信号到达时间(Time ofArrival，TOA)的距离测量方法；Step 1: A distance measurement method based on signal time of arrival (Time of Arrival, TOA) is adopted between the anchor node A1 and the anchor node B2 and the tag node 3;
步骤二：对步骤一得到的距离进行均值滤波，提高测距精度；Step 2: Perform mean filtering on the distance obtained in step 1 to improve ranging accuracy;
步骤三：以传送带为X轴，垂直于传送带为Y轴，建立空间坐标系，对步骤二得到的距离结合建立的空间坐标系，计算得到标签节点3的坐标；Step 3: Take the conveyor belt as the X axis and the Y axis perpendicular to the conveyor belt to establish a spatial coordinate system, and combine the distance obtained in step 2 with the established spatial coordinate system to calculate the coordinates of the label node 3;
步骤四：对步骤三得到的定位结果采用卡尔曼滤波，以提高定位精度。Step 4: Apply Kalman filter to the positioning result obtained in step 3 to improve the positioning accuracy.
图1为本发明一个实施例的皮带输送机卸料小车定位原理图。Fig. 1 is a schematic diagram of positioning of a belt conveyor unloading trolley according to an embodiment of the present invention.
如图1所示，在皮带输送机7上方安装锚节点A1和锚节点B2，在活动的卸料小车6上安装标签节点3，两个锚节点1和2与标签节点3完成测距，标签节点3根据接收到的距离信息完成定位由无线数据传输RF433模块I4发出信号，并将定位数据发送给无线数据传输RF433模块II5，无线数据传输RF433模块II5将信息传送到控制系统8的PC机或PLC行车控制系统上。As shown in Figure 1, the anchor node A1 and the anchor node B2 are installed above the belt conveyor 7, and the label node 3 is installed on the active unloading trolley 6. The two anchor nodes 1 and 2 and the label node 3 complete the distance measurement, and the label Node 3 completes the positioning according to the received distance information, and the wireless data transmission RF433 module I4 sends a signal, and sends the positioning data to the wireless data transmission RF433 module II5, and the wireless data transmission RF433 module II5 transmits the information to the PC of the control system 8 or PLC driving control system.
微处理器对采集到的距离数据，即标签节点3接收到的距离数据进行处理和计算，以得到卸料小车6的定位数据；本发明中的定位方法算法流程如图2所示，包括以下步骤：The microprocessor processes and calculates the distance data collected, that is, the distance data received by the tag node 3, to obtain the positioning data of the unloading trolley 6; the positioning method algorithm flow in the present invention is as shown in Figure 2, including the following step:
步骤一，锚节点A1和锚节点B2与标签节点3间采用无线测量基于信号到达时间(Time of Arrival，TOA)的距离测量方法，其工作原理如图3所示；TAG和ANCHOR为进行TOA测距的两个节点；T1为TAG向ANCHOR发送Ranging Data的时刻；T2为ANCHOR收到RangingData的时刻；T3为ANCHOR向TAG发送ACK的时刻；T4为TAG收到ACK的时刻；TAG和ANCHOR通过本地时钟分别测量的时间长度，计算出信号在两个设备之间的传输时间；Step 1, between the anchor node A1 and the anchor node B2 and the tag node 3, a distance measurement method based on signal time of arrival (Time of Arrival, TOA) is used for wireless measurement, and its working principle is shown in Figure 3; TAG and ANCHOR are used for TOA measurement T1 is the moment when TAG sends Ranging Data to ANCHOR; T2 is the moment when ANCHOR receives RangingData; T3 is the moment when ANCHOR sends ACK to TAG; T4 is the moment when TAG receives ACK; The length of time measured by the clock respectively, calculates the transmission time of the signal between the two devices;
其中，C为光速。where C is the speed of light.
步骤二，对测距结果进行均值滤波，采用邻域平均法；Step 2, performing mean filtering on the ranging results, using the neighborhood averaging method;
步骤三，假设传送带为X轴，标签节点3在X轴上移动，已知有两个锚节点AnchorA(XA，YA)和AnchorB(XB，YB)，未知标签节点Tag(X，0)，AnchorA到Tag的测得的距离为DISA，位于X轴且距离AnchorA为DISA的点为X1和X2；AnchorB到Tag的测得的距离为DISB，位于X轴且距离AnchorA为DISB的点为X3和X4；Step 3, assuming that the conveyor belt is the X axis, and the tag node 3 moves on the X axis, there are two known anchor nodes AnchorA (X A , Y A ) and AnchorB (X B , Y B ), and the unknown tag node Tag (X, 0), the measured distance from AnchorA to Tag is DIS A , which is located on the X axis and the distance from AnchorA to DIS A is X 1 and X 2 ; the measured distance from AnchorB to Tag is DIS B , which is located on the X axis and the distance The points where AnchorA is DIS B are X 3 and X 4 ;
找出差值最小的两个点，Find the two points with the smallest difference,
|Xa-Xb|＝MIN(|X1-X3|，|X2-X3|，|X2-X4|)|X a -X b |＝MIN(|X 1 -X 3 |, |X 2 -X 3 |, |X 2 -X 4 |)
求两个点的平均值即为标签节点的横坐标值；The average value of the two points is the abscissa value of the label node;
步骤四，对定位结果采用卡尔曼滤波，以提高定位精度。Step 4, apply Kalman filter to the positioning result to improve the positioning accuracy.
本发明的皮带输送机卸料小车的定位装置可以实现对皮带输送机7上卸料小车6的精确定位，解决由于皮带输送机7下料依靠操作工人观察料仓料位控制下料而导致的料仓布矿不合理、工人容易被皮带输送机7卷伤，被卸料小车6撞伤，卸料小车6出轨等安全事故；由于采用无载波通信技术测距和无线数据传输，具有抗粉尘干扰能力强，测量精度高、低功耗、低成本、高可靠性等特点，特别适合安装在不方便布线、粉尘多的皮带输送机卸料小车6上使用，快速的确定卸料小车6的空间位置。The positioning device of the unloading trolley of the belt conveyor of the present invention can realize the precise positioning of the unloading trolley 6 on the belt conveyor 7, and solve the problem caused by the unloading of the belt conveyor 7 relying on the operator to observe the material level of the bin to control the unloading. Unreasonable distribution of silos, workers are easily wounded by belt conveyor 7, injured by unloading trolley 6, derailment of unloading trolley 6 and other safety accidents; due to the use of non-carrier communication technology for distance measurement and wireless data transmission, it is dust-resistant Strong interference ability, high measurement accuracy, low power consumption, low cost, high reliability, etc., especially suitable for installation on the unloading trolley 6 of the belt conveyor with inconvenient wiring and a lot of dust, and quickly determine the position of the unloading trolley 6 Spatial location.
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Cited By (3)
| 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 |
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