基于PLC的自动测流机器人系统设计  

Design of Automatic Flow Measurement Robot System Based on PLC

作　　者：王茂灿 万熠[1,2] 梁西昌 侯嘉瑞 夏新雲 田超群 王泉钧[1,2] WANG Maocan;WAN Yi;LIANG Xichang;HOU Jiarui;XIA Xinyun;TIAN Chaoqun;WANG Quanjun(College of Mechanical Engineering,Shandong University,Jinan 250061,China;National Demonstration Center for Experimental Mechanical Engineering Education,Shandong University,Jinan 250061,China;Engineering Training Center,Shandong University,Jinan 250002,China)

机构地区：[1]山东大学机械工程学院,山东济南250061 [2]山东大学机械工程国家级实验教学示范中心,山东济南250061 [3]山东大学工程训练中心,山东济南250002

出　　处：《自动化仪表》2024年第1期37-40,47,共5页Process Automation Instrumentation

基　　金：济宁市重点研发计划基金资助项目(2021DZP005);山东大学教育教学改革研究基金资助项目(2022Y113、2022Y124、2022Y312)。

摘　　要：针对当前河道测流存在的效率和自动化程度较低、测量模式单一等问题,提出了一套基于可编程逻辑控制器(PLC)的河道自动测流机器人系统设计与实现方案。该机器人系统由运动系统、采集系统、人机交互以及远程通信四大模块组成。首先,设计了自动测流机器人系统的硬件结构,实现了自动测流机器人在河流轨道上运动、铅鱼收放等功能。然后,开发了基于PLC的测控系统,设计了PLC梯形图和硬件连接方案,实现了自动测流机器人运动控制。最后,自动测流机器人系统通过RS-485通信协议将多传感器采集的数据传输到操控屏,结合4G远程技术,实现了采集数据和操作指令的远程传输。通过现场模拟的采集测试,该机器人系统可实现自动测流、远程操控、故障自检等功能,并提供多种测量模式,满足河道测流的使用需求。该系统的设计为开展智能化河流数据采集的研究奠定了基础。Aiming at the current problems of low efficiency and automation and single measurement mode in river flow measurement,a programmable logic controller(PLC)-based river automatic flow measurement robot system design and realization scheme is proposed.The robot system consists of four modules:motion system,acquisition system,human-machine interaction,and remote communication.Firstly,the hardware structure of the automatic flow measurement robot system is designed to realize the functions of the automatic flow measurement robot's movement on the river track and lead fish collection and release.Then,the PLC-based measurement and control system is developed,and the PLC ladder diagram and hardware connection scheme are designed to realize the motion control of the automatic flow measurement robot.Finally,the automatic flow measurement robot system transmits the data collected by multi-sensors to the control screen via RS-485 communication protocol and combines with 4G remote technology to realize the remote transmission of the collected data and operation commands.Through the on-site simulation of the acquisition test,the robot system can realize the functions of automatic flow measurement,remote control,fault self-test,etc.,and provide a variety of measurement modes to meet the needs of the use of river flow measurement.The design of the system lays the foundation for the research of intelligent river data acquisition.

关 键 词：河道机器人 自动测流 4G远程操控 可编程逻辑控制器 人机交互 故障检测 数据采集系统 RS-485协议 

分 类 号：TH-39[机械工程]