ABB S800 I/O模块SD834 DP840
ABB S800 I/O模块SD834 DP840
ABB S800 I/O模块SD834 DP840
-------------------------------------------------------------------------------------------------------------------
本文主要介绍了仓储式机器人停车设备的主要机械结构和该设备的硬件系统和软件系统的组成。该设备控制系统的安全可靠、通讯***等优点。
摘要词：
仓储式智能机器人 智能化电气控制 反馈系统 控制策略 故障编码 无线通讯 组态
随着人民生活水平的提高，汽车的社会占有量大幅度增长，这不仅给人们生活带来了极大的方便，而且也大大加快了我国经济发展。但同时也带来了一个比较严重的社会问题：在城市、特别是在大城市，停车难，乱停车的现象比较普遍，这种现象使得交通更加拥堵。为此，我公司已经陆续开发了几套自动停车设备，并***开发了相应的计算机控制系统。该计算机控制系统具有按钮、读卡操作、自动出入库、自动寻址***、计算机自动调度和信息管理等特点，在技术上处于国内***地位，尤其适合中小型立体停车库。本文以20车位的仓储式智能机器人停车设备为例对该系统作一个简单分析。
一．主要机械结构
停车设备出入口设在地面，20个车位分布在地上单排四层五列，由一台升降机负责平运载小车板的垂直升降，一台横移大车负责横向的移动，一台运载小车在垂直升降的平台载车板上，可以前后双向移动，负责将汽车运送到相应的车位。所谓的智能机器人控制原理模型就是这三种机械结构的组成，加上智能化电气控制。见下图：
二．主要硬件系统结构
停车设备控制系统的人机界面是一台PC机，该PC机带有1套读卡装置和一台***打印机，通过串行通讯线与PLC控制系统相连。控制系统由一个三菱FX系列PLC为主，加上编码器反馈系统和外围检测电路。PC机通过RS232串行通讯口采集控制系统的数据，并将数据以文字的形式或图像的形式动态地显示在计算机屏幕上，同时，操作管理员可以通过人机界面向控制系统发出命令。人机界面为触摸屏，可以直接用手指点击屏幕上的相关位置，其效果与鼠标相同。计算机由一台不间断电源（UPS）供电。如下图
三．计算机软件系统结构
1．主控程序
软件系统的核心是主控程序，安全、稳定、***是控制程序的基本原则。主控程序的任务是：完成对出入口的信号检测，车辆出入的引导，安全门的控制，一台升降机平台的控制，横移大车的控制，一辆运载小车的控制。与此同时，将各种状态信息传送给上位机监控系统，并接收来自于上位机监控系统的指令。由于设备之间的关系密切，设备启动的随机性较大，因此，设备之间的安全连锁就更加至关重要。在本系统的主控程序中，我们采用了许多***的控制策略，不仅保证系统及车辆的安全，而且使得系统的运行效率大大提高。每次启动时，升降机平台和横移大车可以以任何组合方式运行，如11车位，运载小车可以前后运转，12、13、14、15车位是横移大车和运载小车的组合运转，21、31、41是升降平台和运载小车的组合运转，其余车位是升降平台、横移大车和运载小车的三者组合运转，为了保证安全其中运载小车的运行和升降平台、横移大车之间是互锁的，升降平台和横移大车只有全部到合适位置后运载小车才能运转。由于变频的应用存取车***快速度可以控制在一分中内。
2．运载小车控制程序
运载小车控制程序的主要任务是：接收来自主控程序的指令，根据指令的内容及运载小车自身的状态，确定需要完成的动作及其完成这些动作的顺序。首先，运载小车需要根据存取车指令及自己的位置，确定运行的方向；在运行过程中，运载小车需要实时检测车位，到目的车位时，及时减速，保证停车准确；根据车位的编排顺序和一定的算法，确定水平移动的方向。由于受物理空间的限制，有些停车场的结构呈现出不规则形状，为了充分利用有效空间，我们在机械设计方面做了许多有益的尝试，除了常规的直线型巷道外，我们还设计了前后双面直线型、L型和T型巷道。非标准的机械结构，大大地增加了控制程序的复杂性。为了完成这些控制功能，我们在检测方式、控制思想、控制算法以及控制设备的选型方面都作了许多精心的考虑，以保证运载小车安全***地运行。
3．上位机监控系统
上位机监控系统我们通常采用不同厂家的组态系统的软件来完成。上位机监控的主要任务是从主控程序中采集数据，并实时地以文字或图像的形式显示在计算机屏幕上；随时接受操作员发出的指令，并将这些指令传送到主控程序。屏幕上显示的内容包括：各个设备的状态信息，各PLC的通讯状态，各运载小车的位置，升降机的位置，故障信息等等。
4．停车收费系统
停车收费系统是存车人与停车设备信息传输的接口。停车收费感应触头有几种：IC卡，感应卡、读卡器等。存车者都有一张感应卡，在卡上记录着该卡的有关信息，如：卡号、车位号、预存金额、剩余金额、有效期等等信息。当需要存/取车时，持卡人将卡放在门口的感应卡阅读器上，计算机自动识别卡上的信息，自动判断是存车还是取车，自动计算存车时间及本次收费金额，并通过打印机打印出收费条。除了存/取车的管理外，停车收费系统还具有存车卡管理功能、存车信息查询功能等。
772B388G56 8MSP8 MSP Board + 2ea 1SBA2 daughters 7380A72G01 4
7381A01G04
/
772B388G56 8MSP16 MSP Board + 2ea 1SBA2 daughters 7380A72G01 1
7381A01G04
/
772B388G57 8MSP8 MSP Board + 2ea 1SBA2 daughters 7380A72G01 1
7381A01G04
/
772B388G57 8MSP8 Multibus Shared Processor Board 9
7381A01G04
/
772B388G57 8MSP8 MSP Board w/ 249-06-02 Matrox MSBX-900 daughter 1
7381A01G04
/
772B388G57 8MSP8 MSP Board w/ 249-06-04 Matrox MSBX-900 daughter 15
7381A01G04
/
772B388G57 8MSP8
MSP Board w/ 249-06-04 Matrox MSBX-900 & Intel PBA
146040-001 Dtrs 7
7381A01G04
/
772B388G57 8MSP16 MSP Board w/ 249-06-04 Matrox MSBX-900 daughter 5
7381A01G04
/
772B388G57 8MSP22 MSP Board w/ 249-06-04 Matrox MSBX-900 daughter 1
7381A01G06
/
772B388G52 8MSP6 MSP Board w/ Intel PBA 146040-001 daughter 2
7381A01G06
/
772B388G59 8MSP6 Multibus Shared Processor Board 3
7381A01G06
/
772B388G59 8MSP24 Multibus Shared Processor Board 1
7381A06G01 3MUA7 MUA Board PC terminated 9
7381A06G02 3MUA8 MUA Board PC terminated 1
7381A06G02 3MUA9 MUA Board PC terminated 2
7381A08G01 6MSL9 Multibus Sequential Logic Board 3
7381A08G01 6MSL16 Multibus Sequential Logic Board 4
7381A08G01 6MSL19 Multibus Sequential Logic Board 1
7381A08G01 6MSL24 Multibus Sequential Logic Board 1
7381A08G01 8MSL5 Multibus Sequential Logic Board 6
7381A08G01
/
772B400G04 6MSL18 Multibus Sequential Logic Board 1
7381A08G01
/
772B400G04 8MSL5 Multibus Sequential Logic Board 6
7381A09G01 3M***35 Multibus Shared Memory Board 1
7381A09G01 3M***36 Multibus Shared Memory Board 1
7381A09G03 3M***37 Multibus Shared Memory Board 1
7381A10G01 3QLI32 QLI G01 10V card 1
7381A10G01 3QLI47 QLI G01 10V card 1
7381A10G02 3QLI60 QLI G02 5V card 1
7381A10G03 3QLI18 QLI G03 20mA card 4
7381A10G03 3QLI27 QLI G03 20mA card Sub K 7
7381A10G03 3QLI28 QLI G03 20mA card 1
7381A10G03 3QLI31 QLI G03 20mA card 2
7381A10G03 3QLI37 QLI G03 20mA card 1
7381A10G03 3QLI49 QLI G03 20mA card 5
7381A10G03 3QLI51 QLI G03 20mA card 1
7381A10G03 3QLI64 QLI G03 20mA card 1
7381A10G03 3QLI76 QLI G03 20mA card 1
7381A26G01 1FILM2 FILM MMI back plane dtr card 2
7381A26G02 1FILM3 FILM MMI back plane dtr card 3
7381A27G01 3LIM5 LIM Board inside LIM Station 4
7381A28G02 4MBR18 MBR Board 1
7381A29G01 3MSQ23 MSQ G01 Board 10
7381A29G01 5MSQ7 MSQ G01 Board 7
7381A29G01 5MSQ25 MSQ G01 Board 9
7381A29G05 5MSQ10 MSQ G05 Board 6
7381A30H02
/
772B398G02 PBA card PBA 152185-005 INTEL card 1
7381A34G01 4MME11 Multibus Memory Extended Board 23
7381A34G02 4MME12 Multibus Memory Extended Board 16
7381A46G01 2MVAQ1 WDPF Adapter Board 2
7381A59G01 2FILM2 FILM Board inside 3D04057G01 Ctrl Stn 1
7381A61G01 4MBB2 Back Plane MMI 0
7381A61G02 2MBB2 Back Plane MMI 2
7381A61G02 3MBB2 Back Plane MMI 1
7381A61G02 4MBB2 Back Plane MMI 2
7381A66G01 FTC Board FTC in FOR G01 5
7381A66G03 FTC Board FTC in FOR G04 5
7381A73G01 2QSS5 QSS Speed Sensor card sub F 5
7381A73G01 2QSS7 QSS Speed Sensor card sub K 13
7381A81G01 5MDM4 MDM Board 1
7381A81G01 5MDM2 MDM Board w/ 7381A88G01 2MDMD1 dtr 1
7381A81G01 5MDM4 MDM Board w/ 7381A88G01 2MDMD1 dtr 1
7381A81G01
/
772B452G01 5MDM2 MDM Board w/ 7381A88G02 2MDMD1 dtr 4
7381A81G01
/
772B452G01 5MDM4 MDM Board w/ 7381A88G01 2MDMD1 dtr 15
7381A81G01
/
772B452G01 5MDM4 Multibus DM Board 1
7381A81G01
/
772B452G01 5MDM8 MDM Board w/ 7381A88G01 2MDMD1 dtr 2
7381A81G01
/
772B452G01 5MD*** Multibus DM Board 1
7381A81G01
/
772B452G02 5MDM2 Multibus DM Board 1
7381A81G01
/
772B452G02 5MDM4 Multibus DM Board 1
7381A81G01
/
772B452G02 5MDM2 MDM Board w/ 7381A88G01 2MDMD1 dtr 2
7381A81G01
/
772B452G02 5MDM4 MDM Board w/ 7381A88G01 2MDMD1 dtr 3
7381A81G01
/
772B452G02 5MDM4 Multibus DM Board 5
7381A81G01
/
772B452G02 5MDM8 Multibus DM Board 1
7381A81G01
/
772B452G03 5MDM4 Multibus DM Board 2
7381A81G01
/
772B452G04 5MDM8 Multibus DM Board 1
7381A81G01
/
772B452G05 5MDM2 Multibus DM Board 2
7381A81G01
/
772B452G05 5MDM4 Multibus DM Board 2
7381A81G01
/
772B452G05 5MDM8 Multibus DM Board 1
7381A83G01 MSE Multibus Shared Extended Memory Board 0
7381A83G02 4MSE10 Multibus Shared Extended Memory Board 31
7381A83G02 4MSE12 Multibus Shared Extended Memory Board 34
7381A83G02 4MSE14 Multibus Shared Extended Memory Board 24
7381A86G01 Module NL-1032 120VAC Module (in blue plastic) 4
7381A87G01 Module NL-1062 120VAC Module (in blue plastic) 3
7381A88G01 2MDMD1 MDMD Dtr card on MDM Board 20
7381A93G01 4MHC9 Multibus Highway Controller Board 7
7381A93G01 4MHC13 Multibus Highway Controller Board 3
7381A93G01 4MHC15 Multibus Highway Controller Board 9
7381A93G01 4MHC17 Multibus Highway Controller Board 1
7381A93G01 4MHC19 Multibus Highway Controller Board 3
7381A93G01 4MHC31 Multibus Highway Controller Board 5
7381A93G01 4MHC35 Multibus Highway Controller Board 2
7381A93G01 7MHC5 Multibus Highway Controller Board 8
7381A93G03
/
4D33737G03 4MHC29 Multibus Highway Controller Board 1
7381A93G03
/
4D33737G03 4MHC31 Multibus Highway Controller Board 8
7381A93G03
/
4D33737G03 4MHC35 Multibus Highway Controller Board 17
7381A93G03 7MHC9 Multibus Highway Controller Board 26
7381A93G03 7MHC12 Multibus Highway Controller Board 1
7381A93G03 7MHC18 Multibus Highway Controller Board 6
7381A93G03 7MHC22 Multibus Highway Controller Board 30
7381A93G03 9MH*** Multibus Highway Controller Board 1
7381A93G03
/ 11MHC1 Multibus Highway Controller Board 6
3A99166G03
7381A93G03
/
3A99166G05 11MHC1 Multibus Highway Controller Board 1
7381A93G05 7MHC24 Multibus Highway Controller Board 31
7381A93G05 7MHC27 Multibus Highway Controller Board 35
7381A93G05 9MHC6 Multibus Highway Controller Board 2
7381A93G05
/
3A99166G05 11MHC3 Multibus Highway Controller Board 83
7412C33G01 Fan Assy Dual Fan Assy in 486 WEStation Cabinets (Bottom) 6
7412C33G02 Fan Assy Dual Fan Assy in 486 WEStation Cabinets (Top) 6
772B217G01 PBA card PBA 152148-001 INTEL card ISBC254S 1
772B217G02 PBA card PBA 152148-001 INTEL card ISBC254S 1
772B246G03 ***S ***S 8006 Board 0
772B246G04 ***S ***S 8006 Board 0
772B379G01
/
7380A27H01 SBC SBC card Intel PBA134422-004 1
772B379G01 SBC SBC card Intel PBA134422-005 1
772B379G01 SBC SBC card Intel PBA134422-006 1
772B379G01 SBC SBC card Intel PBA134422-007 4
772B379G01 SBC SBC card Intel PBA143472-004 1
772B387G01 Tapemaster card CIPRICO Tapemaster card 4
772B398G01 Memtech Memtech card 2
82402025 Card BIT 3 Corp Model 464-202 card 4
8580A64G03 Power Supply Power Supply Module with TODD MDT-164-2415R 2
9052A91H01 Tool Crimper Tool 0
9052A91H02 Tool Crimper Tool 0
9052A91H03 Tool Crimper Tool 0
9115A09G12 Cable Q-line card cable (straight plug) 22
9115A20G16 Cable MBU to QBE cable 6
9115A23G06 Cable Ribbon cable off Transition panel 10
9115A23G16 Cable MSL to TCP ribbon cable 10