CN107163959B - Accurate positioning system of coke oven locomotive - Google Patents
Accurate positioning system of coke oven locomotive Download PDFInfo
- Publication number
- CN107163959B CN107163959B CN201710401353.6A CN201710401353A CN107163959B CN 107163959 B CN107163959 B CN 107163959B CN 201710401353 A CN201710401353 A CN 201710401353A CN 107163959 B CN107163959 B CN 107163959B
- Authority
- CN
- China
- Prior art keywords
- positioning
- coke oven
- positioning device
- locomotive
- oven locomotive
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- C—CHEMISTRY; METALLURGY
- C10—PETROLEUM, GAS OR COKE INDUSTRIES; TECHNICAL GASES CONTAINING CARBON MONOXIDE; FUELS; LUBRICANTS; PEAT
- C10B—DESTRUCTIVE DISTILLATION OF CARBONACEOUS MATERIALS FOR PRODUCTION OF GAS, COKE, TAR, OR SIMILAR MATERIALS
- C10B41/00—Safety devices, e.g. signalling or controlling devices for use in the discharge of coke
Landscapes
- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Materials Engineering (AREA)
- Oil, Petroleum & Natural Gas (AREA)
- Organic Chemistry (AREA)
- Coke Industry (AREA)
Abstract
The accurate positioning system of the coke oven locomotive comprises a first positioning device and a second positioning device, wherein the first positioning device is arranged on the coke oven locomotive, the second positioning device is arranged in front of an oven door, when the first positioning device senses the second positioning device in front of a pre-positioned oven door, the first positioning device firstly carries out coarse adjustment on the running speed of the coke oven locomotive through a P L C controller, then the running state of the coke oven locomotive is accurately braked, so that the coke oven locomotive is accurately positioned in front of the pre-positioned oven door, the coke oven locomotive can be reliably positioned under the conditions of severe working conditions and higher positioning accuracy requirements, and the intelligent degree and the working efficiency for positioning the coke oven locomotive are high.
Description
Technical Field
The invention relates to the technical field of positioning, in particular to an accurate positioning system of a coke oven locomotive.
Background
The coke is mainly used for blast furnace ironmaking and blast furnace smelting of nonferrous metals such as copper, lead, zinc, titanium, antimony, mercury and the like, and plays roles of a reducing agent, a heating agent and a material column framework. Therefore, the coke plays a very important role in heavy industrial production. The main process of coke production is the preparation of coking coal material (called coal preparation for short), which is to prepare various clean coals (or low-ash raw coals) from coal mines into coal materials with accurate proportioning, proper granularity and uniform quality and meeting the coking requirement. Generally comprising: unloading coal, storing, uniformly mixing, matching, crushing and mixing, and conveying the prepared coal material to a coal storage tower of a coke oven. Then, the prepared coal material is put into a coal charging car from a coal tower and is respectively sent to each carbonization chamber for charging. After a coking period (i.e. the time from charging to pushing coke, generally 14-18 hours, depending on the width of the coking chamber), the coke pusher can be used to push the refined and mature coke into the coke quenching car through the coke guide. The process requires that the coke pusher, the two side oven doors, the coke guide and the coke quenching car are on the same straight line. After quenching, discharging the coke into a coke cooling table; then sieving and storing.
In an actual production site, each working furnace group comprises a plurality of furnace chambers, so that the coke oven locomotive has long running distance and is frequently reciprocated. And the coke oven locomotives are distributed on two sides of the coke oven when working, so that workers cannot see each other due to the obstruction of the oven chamber, and the alignment difficulty is increased. And the temperature of the site environment is high, the dust is large, and the self vibration is frequent, so the positioning of the coke oven locomotive is a link with larger potential safety hazard in the production of the coke oven. Serious accidents of red coke landing caused by the alignment deviation of three cars have occurred at home and abroad, thus causing casualties and property loss. At present, how to ensure the safe and efficient operation of three cars, especially the accurate alignment and interlocking control of the three cars before pushing coke is the core safety problem of coke oven production. Scientific and technological workers in various countries successively research and develop various three-vehicle alignment interlocking automatic control systems, and the problem is solved to a certain extent. These techniques mainly include: encoder position detection technology, infrared positioning technology, coded cable positioning technology and the like.
Due to the fact that the positioning technology is subjected to complicated working conditions or the technology, the positioning precision of the positioning technology is not ideal enough. For example, in the encoder position detection technology, the accumulated error is large due to long travel of a coke oven locomotive, high temperature near wheels and deformation of a guide rail along with temperature change; in the coded cable positioning technology, due to the limitation of process conditions, the subdivision precision cannot be too large, 20 is better according to experience subdivision precision, and if the precision of the coded cable absolute address detection is 100mm, the precision of the precision address detection is +/-5 mm.
Disclosure of Invention
Aiming at the problem of poor positioning accuracy of the coke oven locomotive, the application provides an accurate positioning system of the coke oven locomotive, which comprises a first positioning device, a second positioning device and a P L C controller;
the first positioning device is arranged on the coke oven locomotive, and the second positioning device is arranged in front of the oven door;
when the first positioning device senses a second positioning device in front of the pre-positioning furnace door, the first positioning device firstly performs coarse adjustment on the running speed of the coke oven locomotive through the P L C controller, and then accurately brakes the running state of the coke oven locomotive, so that the coke oven locomotive is accurately positioned in front of the pre-positioning furnace door.
In one embodiment, the first positioning device comprises: the device comprises an RFID coarse adjustment module, a Hall effect fine positioning module and a control module;
the RFID coarse adjustment module and the Hall effect fine positioning module are respectively in signal connection with the control module;
the RFID coarse adjustment module is used for sensing the RFID information of the second positioning device, wherein the RFID information contains the number information of the oven door and sending the number information of the oven door to the control module;
the Hall effect fine positioning module is used for generating an induced voltage signal according to the second positioning device and sending the induced voltage signal to the control module;
the control module sends the serial number information of the furnace door to a P L C controller, the induced voltage signal is converted into a current signal and then sent to a P L C controller, and the P L C controller performs corresponding control actions.
In one embodiment, the hall effect fine positioning module includes a first hall sensor and a second hall sensor.
In one embodiment, the control module comprises a circuit board, a conversion module and a microcontroller;
the first Hall sensor and the second Hall sensor are respectively and symmetrically arranged on the circuit board;
the conversion module converts voltage signals sensed by the first Hall sensor and the second Hall sensor into current signals and sends the current signals to the P L C controller, and the P L C controller accurately controls the running state of the coke oven locomotive according to the current signals;
the microcontroller receives and transmits the RFID information of the second positioning device, and the operation speed of the coke oven locomotive is roughly adjusted through the P L C controller.
In one embodiment, the first hall sensor and the second hall sensor are arranged in tandem in the direction of travel of the coke oven locomotive.
In one embodiment, the second positioning device comprises a positioning rod, a positioning disc, a permanent magnet and an RFID label;
the positioning disc is arranged at the top of the positioning rod, the RFID label is arranged on the upper surface of the positioning disc, and the permanent magnet is arranged in an inner cavity of the positioning disc under the RFID label.
In one embodiment, the strength of the permanent magnet is 8000 gauss, and the relative distance between the first hall sensor and the second hall sensor is 9CM when the first hall sensor and the second hall sensor are opposite to the permanent magnet.
According to the accurate positioning system of the embodiment, the first positioning device and the second positioning device are mutually induced, the coke oven locomotive is firstly subjected to rough adjustment of the running speed of the coke oven locomotive through the P L C controller, then the running state of the coke oven locomotive is accurately braked, the coke oven locomotive can be reliably positioned under the conditions of severe working conditions and high positioning accuracy requirement, and the intelligent degree and the working efficiency of positioning the coke oven locomotive are high.
Drawings
FIG. 1 is a view of a first positioning device;
FIG. 2 is a diagram of a second positioning device;
FIG. 3 is a diagram of a coke oven locomotive accurate positioning process;
fig. 4 is a diagram of a current waveform near an anchor point.
Detailed Description
The present invention will be described in further detail with reference to the following detailed description and accompanying drawings.
The embodiment provides an accurate positioning system of a coke oven locomotive, which comprises a first positioning device 1, a second positioning device 2 and a P L C controller, wherein the structural diagram of the first positioning device 1 is shown in figure 1, the structural diagram of the second positioning device 2 is shown in figure 2, and the accurate positioning is realized by adjusting the running speed and the running state of the coke oven locomotive through the induction of the first positioning device 1 and the second positioning device 2 and the cooperation with the P L C controller.
Specifically, the first positioning device 1 includes: the system comprises an RFID coarse adjustment module 11, a Hall effect fine positioning module 12, a control module 13 and a shell 14; the RFID rough adjustment module 11 and the hall effect fine positioning module 12 are respectively in signal connection with the control module 13, and the RFID rough adjustment module 11, the hall effect fine positioning module 12 and the control module 13 are respectively arranged in the housing 14.
The RFID coarse adjustment module 11 is an RFID read-write module and is used for writing and reading RFID information of the second positioning device 2, the RFID information contains the number information of the oven door, the RFID coarse adjustment module 11 sends the number information of the oven door to the control module 13, and the control module 13 sends the number information of the oven door to the P L C controller.
The Hall effect fine positioning module 12 is used for generating an induced voltage signal according to the second positioning device and sending the induced voltage signal to the control module 13; the hall effect fine positioning module 12 of this example includes a first hall sensor 121 and a second hall sensor 122.
The control module 13 sends the number information of the oven door to the P L C controller, and simultaneously converts the induced voltage signal into a current signal, and then sends the current signal to the P L C controller, so that the P L C controller can perform corresponding control actions, specifically, the control module 13 comprises a circuit board 131, a conversion module 132 and a microcontroller 133, the first Hall sensor 121 and the second Hall sensor 122 are respectively and symmetrically arranged on the circuit board 131, the conversion module 132 converts the voltage signal induced by the first Hall sensor 121 and the second Hall sensor 122 into the current signal and sends the current signal to the P L C controller, so as to accurately brake the operation state of the coke oven locomotive, and the microcontroller 133 receives and sends the RFID information of the second positioning device, and the operation speed of the coke oven locomotive is roughly adjusted through the P L C controller.
The housing 14 is provided with a fixing part 141 and an interface 142 for power supply and data transmission, and when the housing 14 is mounted on the coke oven locomotive through the fixing part 141, the first hall sensor 121 and the second hall sensor 122 are arranged in tandem in the operation direction of the coke oven locomotive.
The second positioning device 2 of this example includes a positioning lever 21, a positioning plate 22, a permanent magnet 23, and an RFID tag 24; the positioning disc 22 is arranged at the top of the positioning bar 21, the RFID tag 24 is arranged on the upper surface of the positioning disc 22, and the permanent magnet 23 is arranged in an inner cavity of the positioning disc 22 right below the RFID tag 24; the strength of the permanent magnet 23 is 8000 gauss, and the relative distance between the first hall sensor 121 and the second hall sensor 122 is 9CM when the first hall sensor 121 and the second hall sensor are vertically opposite to the permanent magnet 23.
The working principle of the accurate positioning system of the embodiment is that a plurality of second positioning devices 2 are arranged in front of the oven doors according to the distance between the oven doors and the positioning requirements, in the embodiment, 3 second positioning devices 2 are arranged in front of each oven door, the oven door information carried by the RFID tag 24 is 101, 102, 103, 201, 202, 203, 301, 302, 303, … … if the numbers of the oven doors are 1, 2, 3, … …, the coke oven locomotive is controlled to run at an accelerated speed by a P L C controller as shown in figure 3(a), the coke locomotive runs at a constant speed after accelerating to a normal running speed when moving from the No. 2 oven door to the No. 3 oven door, when the coke locomotive passes through the second positioning device 2 with the RFID tag 24 information of 303 (assuming that the coke locomotive passes through the second positioning devices 2 with the RFID tag 24 information of 303, 302, 301 in sequence), the RFID gross adjustment module 11 identifies the number information of the oven door and sends the identification information to a microcontroller 133, the microcontroller 133 controls the RFID tag to control a low speed brake device to control the running speed of the coke oven door to control the coke locomotive to pass through a low speed brake device, when the RFID tag 2 and the low speed brake device of the coke oven door, the coke locomotive reaches a low speed brake device, the coke locomotive, the low speed brake device is indicated by a speed brake device, and the low speed brake device, when the low speed brake device, the coke locomotive running speed brake device is indicated by a low speed brake device, and the low speed brake device, as shown in figure 3(a speed brake device), the low speed brake device, which is indicated by a low speed brake device, and a low speed brake device, which is indicated by a low speed brake device which is installed in figure 3(a low speed brake device which is installed in a figure 3(a) when the coke locomotive after the.
The principle of accurate braking is that when a first hall sensor 121 and a second hall sensor 122 pass through a permanent magnet 23 in parallel, a voltage waveform with good linearity is generated, and then a voltage signal is converted into a current signal through a conversion module 132, so that a current waveform with good linearity near a positioning point can be formed, as shown in fig. 4, when a first positioning device 1 is far away from a second positioning device 2, the current signal output by the first positioning device 1 is 12mA, when the first positioning device 1 is close to the second positioning device 2 at a constant speed, the current signal rises and falls again, and then, when the first positioning device 1 leaves the second positioning device 2, the current signal is stabilized at 12mA, because the current signal near the positioning point is excellent in linearity, and the magnitude of the current is only related to the position, so that the current signal can be used as the position of the positioning point when the linear region reaches 12mA, the occurrence time of the 12mA is accurately judged to have certain difficulty, because of system noise and external interference exists, the occurrence time of the occurrence of the current signal is accurately judged to be a certain difficulty, which affects the positioning accuracy is improved by adopting an online control algorithm, and the fitting time can be repeatedly predicted according to a sampling time of a sampling point, and a sampling time prediction curve of a current value of a locomotive, which is predicted by a sampling point prediction unit T24, and a sampling time prediction unit, and a prediction unit, wherein the occurrence time prediction can be performed according to a sampling time prediction of a sampling point prediction unit, and a sampling time prediction unit, and a prediction unit.
The present invention has been described in terms of specific examples, which are provided to aid understanding of the invention and are not intended to be limiting. For a person skilled in the art to which the invention pertains, several simple deductions, modifications or substitutions may be made according to the idea of the invention.
Claims (7)
1. The accurate positioning system of the coke oven locomotive is characterized by comprising a first positioning device, a second positioning device and a P L C controller;
the first positioning device is arranged on the coke oven locomotive, and the second positioning device is arranged in front of the oven door;
when the first positioning device senses a second positioning device in front of a pre-positioning furnace door, the first positioning device firstly coarsely adjusts the running speed of the coke oven locomotive through a P L C controller, and then accurately brakes the running state of the coke oven locomotive, so that the coke oven locomotive is accurately positioned in front of the pre-positioning furnace door;
the first positioning device comprises: the device comprises an RFID coarse adjustment module, a Hall effect fine positioning module and a control module;
the RFID coarse adjustment module and the Hall effect fine positioning module are respectively in signal connection with the control module;
the RFID coarse adjustment module is used for sensing RFID information of the second positioning device, the RFID information contains the number information of the oven door, and the number information of the oven door is sent to the control module;
the Hall effect fine positioning module is used for generating an induced voltage signal according to the second positioning device and sending the induced voltage signal to the control module;
the control module sends the serial number information of the furnace door to a P L C controller, converts the induced voltage signal into a current signal and sends the current signal to a P L C controller;
the P L C controller roughly adjusts the running speed of the coke oven locomotive according to the number information of the oven door of the RFID information;
the P L C controller accurately brakes the running state of the coke oven locomotive according to the current signal, specifically, the P L C controller collects current data within a period of time near a positioning point, performs real-time fitting on the current data, repeatedly performs iterative fitting according to the latest sampling value, predicts the time of the current value of the positioning point according to a fitted curve, the current value at the moment and a sampling period, and brakes the coke oven locomotive according to the time.
2. The coke oven locomotive pinpoint system of claim 1 wherein the hall effect pinpoint module comprises a first hall sensor and a second hall sensor.
3. The coke oven locomotive pinpoint system of claim 2 wherein the control module comprises a circuit board, a conversion module and a microcontroller;
the first Hall sensor and the second Hall sensor are respectively and symmetrically arranged on the circuit board;
the conversion module converts voltage signals sensed by the first Hall sensor and the second Hall sensor into current signals and sends the current signals to a P L C controller, and the P L C controller accurately brakes the running state of the coke oven locomotive;
the microcontroller receives and transmits the RFID information of the second positioning device, and the operation speed of the coke oven locomotive is roughly adjusted through the P L C controller.
4. The coke oven locomotive accurate positioning system of claim 3, wherein said first Hall sensor and said second Hall sensor are arranged in tandem in the direction of travel of said coke oven locomotive.
5. The coke oven locomotive accurate positioning system of claim 4, wherein said control module is in signal communication with a P L C controller, said P L C controller being adapted to provide coarse adjustment of the operating speed and accurate braking of the operating condition of said coke oven locomotive based on control signals sent by said microcontroller and conversion module.
6. The coke oven locomotive pinpoint system of claim 5 wherein the second positioning device comprises a positioning bar, a positioning disk, a permanent magnet and an RFID tag;
the positioning disc is arranged at the top of the positioning rod, the RFID tag is arranged on the upper surface of the positioning disc, and the permanent magnet is arranged in an inner cavity of the positioning disc right below the RFID tag.
7. The coke oven locomotive pinpoint system of claim 6 wherein the strength of the permanent magnet is 8000 gauss and the first and second hall sensors are 9CM relative to each other with the permanent magnet facing up and down.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710401353.6A CN107163959B (en) | 2017-05-31 | 2017-05-31 | Accurate positioning system of coke oven locomotive |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710401353.6A CN107163959B (en) | 2017-05-31 | 2017-05-31 | Accurate positioning system of coke oven locomotive |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107163959A CN107163959A (en) | 2017-09-15 |
| CN107163959B true CN107163959B (en) | 2020-08-04 |
Family
ID=59821222
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710401353.6A Active CN107163959B (en) | 2017-05-31 | 2017-05-31 | Accurate positioning system of coke oven locomotive |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107163959B (en) |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102167065A (en) * | 2011-03-31 | 2011-08-31 | 北京全路通信信号研究设计院有限公司 | Train stopping control method and system |
| CN103213821B (en) * | 2013-04-26 | 2015-04-29 | 杭州电子科技大学 | Assembly line conveying device capable of locating accurately and control method thereof |
| CN103421522A (en) * | 2013-08-06 | 2013-12-04 | 毛振刚 | Coke oven mobile motor vehicle interlocking automatic control system |
| CN104178183A (en) * | 2014-05-08 | 2014-12-03 | 西安奥通电气设备工程有限公司 | RFID device for identifying oven number of mobile locomotive of coke oven |
| CN105692021B (en) * | 2016-03-24 | 2018-02-06 | 合肥工业大学智能制造技术研究院 | A kind of Intelligent logistics storage shuttle vehicle control and its method based on STM |
-
2017
- 2017-05-31 CN CN201710401353.6A patent/CN107163959B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN107163959A (en) | 2017-09-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN201362685Y (en) | Position centering device of coke-oven locomotive moving mechanism | |
| CN101576395B (en) | A kind of position judgment device, system and method for feed bin group dump car | |
| CN105151820A (en) | Method for controlling dump cart for multiple groups of stock bins | |
| CN104690269B (en) | Selective laser melting device | |
| CN102937812A (en) | Track trolley walking control system and method | |
| CN102211739A (en) | Basic programming system (BPS) automatic deflection correction method and system for crane cart | |
| CN101934807A (en) | Train control system-based mobile authorization calculating method | |
| CN102834293A (en) | Train control apparatus with target speed calculating function | |
| CN204568713U (en) | A kind of novel impeller feeder anti-collision control system | |
| CN102353328B (en) | Coke-oven vehicle-position measuring device | |
| CN101920710B (en) | Analyzing method of main track trafficability of urban rail transit in moving block | |
| CN107163959B (en) | Accurate positioning system of coke oven locomotive | |
| CN103421522A (en) | Coke oven mobile motor vehicle interlocking automatic control system | |
| CN106516985A (en) | Device and method for remotely controlling automatic positioning of large RTG cranes | |
| CN1323129C (en) | Identifying and automatic aligning system for coking furnace machinery furnace number | |
| CN201778006U (en) | Automatic aligning control device of coke oven locomotive | |
| CN203364751U (en) | Graduated scale unloading vehicle displacement recognition system | |
| CN108264910B (en) | Method for detecting and controlling abnormal speed of coke oven locomotive | |
| KR101027271B1 (en) | System and method for controlling travelling position of charging car in coke plant | |
| CN107917720A (en) | The method of the condition monitoring of dump car | |
| CN104894317B (en) | Blast furnace casting prompting pre-warning and control method | |
| KR102679135B1 (en) | System for Measuring Rail Displacement | |
| Yishuai et al. | Design and development of AGV intelligent feeding control system for carbon calcination | |
| CN214028652U (en) | Automatic centering structure for installation and subway engineering vehicle | |
| CN212800236U (en) | Four cart collision avoidance systems of coke oven |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |