基于BPS的集装箱起重机自动定位控制系统研究

发布时间：2018-05-24 15:52

本文选题：条码定位系统 + 自动化控制　；参考：《西南交通大学》2015年硕士论文

【摘要】：随着全球化物流的迅猛发展,特别是我国集装箱运输吞吐量的高速持续增长,传统的人工操作集装箱装卸模式越来越难以满足物流运输自动化的发展需要。针对集装箱起重机装卸过程中,需人工操作起重机使集装箱吊具到达目标集装箱正上方这一最费时最耗力的难题。集装箱起重机自动定位控制系统采用BPS(条码定位系统),用条码定位来代替人工肉眼定位,使这一过程完全自动化,实现了集装箱起重机运行的自动定位,大大提高了集装箱装卸效率。以集装箱起重机自动定位控制系统为开发目标,首先分析了系统的功能需求,搭建了系统仿真实验平台,完成了系统的总体设计。然后依据位移条码编码理论,解析了定位条码的设计制作步骤,完成了条码定位系统在集装箱仿真平台上的安装。最后应用软件Unity Pro XL编写集装箱起重机PLC控制程序。具体研究工作内容如下：1、对不同类型的条码,即一维条码和二维条码,分别分析其结构组成、功能特点,并归纳了两者之间的区别。结合集装箱起重机大车、小车运行定位的特点,选择一维条码作为定位条码表现形式,并确定激光式扫描设备作为定位条码识读设备。2、依据集装箱起重机自动定位控制系统的工作流程,解析集装箱起重机自动定位控制系统的功能需求,并将系统划分为：条码定位系统、起重机自动控制系统和人机交互操作与实时监控界面三部分,明确了各部分所实现功能。最后在上述基础上构建系统总体逻辑结构。3、为降低系统开发实验风险,也为减少系统开发成本,以1：15的比例搭建了集装箱起重机机械模型,作为自动定位控制系统开发的实验平台硬件基础。集装箱起重机机械模型各机械和电气部件能如真实起重机一样正常运行,并能够按照集装箱吊运工作原理和流程吊装模型集装箱。4、在条码定位系统开发过程中,依据位移条码编码理论,对起重机大、小车位置信息进行信源编码和信道编码。选定Code39码作为定位系统条码转换码制,对照Code39码的字符编码表,运用软件Visual Basic编程将表示起重机大、小车位置信息的数字编码值转换为对应的Code39条形码图形。5、配置了以施耐德PLC为核心的集装箱起重机自动定位控制系统的硬件基础,并设计了包括安全限位和安全启动开关的起重机大车行走、小车行走和起升机构的电机控制电路图。基于起重机大、小车条码定位系统的实时位置反馈定位,在Unity ProXL上用顺序设计法,编写PLC控制程序,并导入运行调试,实现集装箱起重机的自动控制。最后应用WinCC软件建立一套具有较强移植性的工控机控制系统界面,使集装箱起重机自动定位控制系统具有较好的人机交互性。
[Abstract]:With the rapid development of global logistics, especially the rapid growth of container transportation throughput in China, the traditional manual handling mode of container handling becomes more and more difficult to meet the development needs of logistics transportation automation. In the course of loading and unloading of container crane, it is the most time-consuming and consuming problem that the crane should be operated manually to make the container crane reach the top of the target container. The automatic positioning control system of container crane adopts BPS (bar code positioning system) instead of manual eye positioning, which makes the process completely automatic and realizes the automatic positioning of container crane. The container handling efficiency is greatly improved. Taking the automatic positioning control system of container crane as the development goal, the functional requirements of the system are analyzed, and the system simulation experimental platform is built, and the overall design of the system is completed. Then, according to the theory of displacement bar code coding, the design and manufacture steps of the positioning bar code are analyzed, and the installation of the bar code positioning system on the container simulation platform is completed. Finally, the software Unity Pro XL is used to write the PLC control program of container crane. The main contents of this paper are as follows: 1: 1. The structure and functional characteristics of different types of bar codes, namely, one-dimensional bar codes and two-dimensional bar codes, are analyzed, and the differences between them are summarized. Combined with the characteristics of container crane trolley and trolley, one dimensional bar code is selected as the expression of positioning bar code. The laser scanning equipment is determined as the location barcode reading equipment. According to the working flow of the container crane automatic positioning control system, the functional requirements of the container crane automatic positioning control system are analyzed. The system is divided into three parts: barcode positioning system, crane automatic control system and man-machine interactive operation and real-time monitoring interface. Finally, the overall logical structure of the system. 3. In order to reduce the risk of system development experiment and to reduce the cost of system development, the mechanical model of container crane is built at 1:15. As the hardware base of the experimental platform for the development of automatic positioning control system. The mechanical model of container crane can operate normally as the real crane, and can hoist the model container. 4 according to the working principle and flow of container hoisting, in the course of the development of barcode positioning system, According to the theory of displacement barcode coding, the information of crane's big and small car's position is encoded by source code and channel code. The Code39 code is chosen as the barcode conversion code system of the positioning system. Compared with the character coding table of the Code39 code, the use of software Visual Basic programming will indicate that the crane is large. The digital coding value of the vehicle position information is converted to the corresponding Code39 bar code figure. 5. The hardware foundation of the automatic positioning control system of container crane based on Schneider PLC is provided. The motor control circuit diagram of the crane trolley, the trolley walking and the lifting mechanism including safety limit and safety start switch are designed. Based on the real-time position feedback positioning of large crane and small barcode positioning system, the PLC control program is written on Unity ProXL with sequential design method, and the automatic control of container crane is realized by introducing and debugging. Finally, a set of industrial computer control system interface with strong transplantability is established by using WinCC software, which makes the automatic positioning control system of container crane have better man-machine interaction.
【学位授予单位】：西南交通大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：U653.921

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