危化品仓库堆垛安全距离的精确扫描定位监控算法的研究

根据危化品仓库码垛安全距离需要精确监控的需求，设计开发了一种精确扫描定位装置，将仓库划分为若干网格，对每个监测面测距扫描，获得每一个点的距离值和角度值，根据对应点是否与安全状态数值一致来判断堆垛的安全状态。硬件由控制器、细分驱动、步进电机、涡轮螺杆、工作台等组成。电机定位控制采用指数型加减速算法和闭环反馈调节相结合的控制算法，首先获得一个起跳频率，经过加减速控制阶段，到达目标位置附近，之后进入反馈调节阶段，控制步进电机到达指定位置。指数型加减速算法降低了启动和停止时加速度突变大小，避免了由于步进电机频率变化过快引起失步和堵转。实验结果表明，该装置及算法运行稳定，定位精度在 0.022度左右，定位精度高，满足仓库安全距离扫描监控的精度要求。

The Research of Accurate Location Algorithm in Stack Safe Distance Monitoring Device for the Chemicals Warehouse

According to the accuracy requirement of the monitoring of the safety distance of the dangerous chemicals warehouse, a precise scanning and positioning device is designed and developed. Control algorithm based on exponential acceleration and deceleration algorithm and closed loop feedback regulation. The algorithm has high precision, stable operation, and can avoid the frequent adjustment and jitter of stepping motor. Experimental results show that the positioning accuracy of the device and algorithm can reach 0.022 degrees. The accuracy requirement of the scanning and monitoring of the safe distance of the warehouse is completely satisfied.