Automatic loading arm alignment system based on laser position sensor

Abstract

The invention discloses an automatic crane pipe alignment system based on a laser position sensor, the system can be divided into two subsystems, namely a detection system and a control system, and the detection system is used for obtaining coordinates of a tank opening. In a detection system, firstly, a tank opening detection system based on three main laser transmitters, an auxiliary laser transmitter and a laser receiver is established. Then, the distance from the main laser transmitter to the receiver is used as the radius, three spherical surfaces are established in the space, and two intersection points of the three spherical surfaces are solved according to the three-ball positioning principle; and finally, a real tank opening coordinate is obtained through verification by using the auxiliary laser transmitter. In a control system, firstly, a kinematical equation of the crane pipe is established, and under the condition that coordinates of a tank opening are known, an inverse kinematical equation is calculated to obtain expected angles of all joints. Furthermore, a dynamic model of the crane pipe is established, and a controller based on a non-singular fast terminal sliding mode is designed. And finally, verifying the stability of the system by using a Lyapunov second method, and carrying out simulation verification by using Matlab.

Description

1. Technical field [0001] The invention relates to the field of automated production of petroleum machinery, in particular to a measurement and control system applied to the automatic loading and unloading of large crane tubes for automobiles, which includes a detection system for identifying the mouth of the tank by using a position sensor and ensuring that the crane tubes can be accurately Control system for docking tank mouth. 2. Background technology [0002] Crane hose for automobiles is a special equipment in the process of fluid loading and unloading in the petrochemical industry. It is mostly used in the transfer process of liquid media stored in oil depots and wharfs to transport vehicles. It uses a rotary joint to connect adjacent rigid pipes, and changes the posture of the crane pipe through the rotation of the joint to ensure that the end connecting rod of the crane pipe can smoothly extend into the oil tank mouth of the transport vehicle. At present, the cranes...

AI Technical Summary

Problems solved by technology

The disadvantage of this kind of positioning is that the positioning mainly depends on manual work, and workers can only use human eyes to obtain the desired position of the en

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