Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Method for accurately positioning transverse moving trolley
The invention discloses a method for accurately positioning a transverse moving trolley. A laser range finder is installed on the transverse moving trolley. A reflecting plate is arranged on the end part of a transverse moving trolley walking guide rail; and an encoder is installed on a motor shaft of a transverse moving trolley walking motor. In the process that the transverse moving trolley walks to a designated parking space, the laser range finder measures the distance between the transverse moving trolley and the reflecting plate in real time, when the difference between the distance and the numerical value of the laser range finder at the initial target position of the transverse moving trolley reaches a set fixed numerical value, a control system increases (or decreases) the numerical value of the current encoder by a calibration numerical value, and the encoder numerical value is used as the calibrated encoder numerical value of the target position; then the transverse moving trolley continues to run according to the calibrated encoder numerical value to reach the target position of the calibrated transverse moving trolley; and the condition that the pulse value of the encoder is inconsistent with the actual distance value caused by slipping of traveling wheels of the transverse moving trolley can be eliminated. After in-place verification, the actual position measured by the laser range finder is compared with the preset target position, so that the in-place verification effect is achieved.
本发明公开了一种对横移台车精确定位的方法。横移台车上安装激光测距仪，横移台车行走导轨端部设置反光板；横移台车行走电机的电机轴上安装有编码器。横移台车行走至指定车位的过程中，激光测距仪实时测量横移台车与反光板之间的距离，当此距离与初始横移台车目标位置的激光测距仪数值之差达到设定的固定数值时，控制系统将当前编码器数值增加（或减少）校准数值，并将其作为校准后的目标位置的编码器数值；然后横移台车按校准后的编码器数值继续运行，到达校准横移台车目标位置；可消除之前横移台车行走轮打滑引起的编码器脉冲值与实际距离值不符的情况。到位之后，激光测距仪测量的实际位置与预设目标位置比较，起到到位验证作用。
Method for accurately positioning transverse moving trolley
The invention discloses a method for accurately positioning a transverse moving trolley. A laser range finder is installed on the transverse moving trolley. A reflecting plate is arranged on the end part of a transverse moving trolley walking guide rail; and an encoder is installed on a motor shaft of a transverse moving trolley walking motor. In the process that the transverse moving trolley walks to a designated parking space, the laser range finder measures the distance between the transverse moving trolley and the reflecting plate in real time, when the difference between the distance and the numerical value of the laser range finder at the initial target position of the transverse moving trolley reaches a set fixed numerical value, a control system increases (or decreases) the numerical value of the current encoder by a calibration numerical value, and the encoder numerical value is used as the calibrated encoder numerical value of the target position; then the transverse moving trolley continues to run according to the calibrated encoder numerical value to reach the target position of the calibrated transverse moving trolley; and the condition that the pulse value of the encoder is inconsistent with the actual distance value caused by slipping of traveling wheels of the transverse moving trolley can be eliminated. After in-place verification, the actual position measured by the laser range finder is compared with the preset target position, so that the in-place verification effect is achieved.
本发明公开了一种对横移台车精确定位的方法。横移台车上安装激光测距仪，横移台车行走导轨端部设置反光板；横移台车行走电机的电机轴上安装有编码器。横移台车行走至指定车位的过程中，激光测距仪实时测量横移台车与反光板之间的距离，当此距离与初始横移台车目标位置的激光测距仪数值之差达到设定的固定数值时，控制系统将当前编码器数值增加（或减少）校准数值，并将其作为校准后的目标位置的编码器数值；然后横移台车按校准后的编码器数值继续运行，到达校准横移台车目标位置；可消除之前横移台车行走轮打滑引起的编码器脉冲值与实际距离值不符的情况。到位之后，激光测距仪测量的实际位置与预设目标位置比较，起到到位验证作用。
Method for accurately positioning transverse moving trolley
一种对横移台车精确定位的方法
LIU ZHAO (Autor:in) / GUO PENG (Autor:in) / WANG YANSHAN (Autor:in) / WANG YENING (Autor:in)
13.07.2021
Patent
Elektronische Ressource
Chinesisch
IPC:
E04H
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