CN101630157B - Method for positioning material piling and taking machines of coking coal yard and system thereof - Google Patents
Method for positioning material piling and taking machines of coking coal yard and system thereof Download PDFInfo
- Publication number
- CN101630157B CN101630157B CN2009100348165A CN200910034816A CN101630157B CN 101630157 B CN101630157 B CN 101630157B CN 2009100348165 A CN2009100348165 A CN 2009100348165A CN 200910034816 A CN200910034816 A CN 200910034816A CN 101630157 B CN101630157 B CN 101630157B
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- China
- Prior art keywords
- stacker
- reclaimer
- coal yard
- address
- module
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention relates to a method for automatically positioning material taking machines and a system thereof, in particular to a method for positioning the material piling and taking machines of a coking coal yard and a system thereof. The system comprises an address module, microwave scanners, a wireless transmission network, an intermediate control chamber computer, a coal yard optimization system server and display terminals of operation rooms of the material piling and taking machines, wherein the address module is arranged in the operation direction of the material piling and taking machines, the microwave scanners are respectively arranged on each material piling and taking machine and read the address information of the address module, the intermediate control chamber computer is linked with the coal yard optimization system server, is communicated with the microwave scanners by the wireless transmission network and carries out wireless communication with the display terminals of the operation rooms of the material piling and taking machines by the wireless transmission network, and the current position of the vehicle and a target position area are displayed on the display terminals of the operation rooms of the material piling and taking machines. In the invention, the positions of the material piling and taking machines in the coal yard are transmitted to the intermediate control chamber in real time, the current position of the vehicle is displayed on the material piling and taking machines and the problem of position positioning of the material piling and taking machines in the coal yard is solved.
Description
Technical field
The present invention relates to a kind of reclaimer automatic positioning method and system, specifically coking coal yard stacker-reclaimer localization method and system thereof.
Background technology
Coal yard stacker-reclaimer location technology is a focus of automatic technology development in recent years, is the key problem that material, realization stacking and taking operation continuous monitoring were got and got to realization coal yard fixed point heap.Current location technology both domestic and external mainly contains the rotary encoder position probing, reads to take a yard device coding site detection, absolute type linear encoder, laser positioning technology, infrared location technology, spacer (bar code), Gray bus position probing etc.
The rotary encoder location detecting technology: this technology is to detect locomotive position by the rotary encoder that is installed on the wheel, it is a kind of relative contact location technology, and situation such as stacker-reclaimer exists that wheel-slip, long distance go and back running, frequent brake actuating, field working conditions are abominable, so the position accumulated error is very big, can't use for production control.
Read to take yard device coder and absolute type linear encoder location detecting technology: the distance of reaction of these two kinds of technology requires high, less than 40mm, and stacker-reclaimer vibration of self in the process of traveling is unavoidable, after the long-time use of track thereby the uneven shake that causes in the traveling process can appear, this vibration or shake generally are easy to exceed the distance of reaction of its 40mm, and technology is not suitable for the location of stacker-reclaimer.
The laser positioning technology: this technology range finding is short relatively, contamination resistance is poor, and the rain of open-air atmosphere, mist are all influential to light ray propagation, and the clean environment degree that laser beam emitting head requires should be very good, dust accumulation or rain drop erosion very easily cause launch window blocked, the price height.
The infrared ray location technology: the not anti-dust of this technology, water funk steam, non-refractory is afraid of to hit, and anti-vibration is relatively poor, and installation accuracy requires high, and serviceable life is short, is not suitable for rugged surroundings, and the integrated maintenance amount is big etc.
The bar code location detecting technology: this technology is by the installation bar code in orbit or the position of information button detection locomotive, it is a kind of working method of absolute fix, because spacer coding or bar code are subjected to polluting the back inefficacy in dust, open-air atmosphere, so anti-pollution is not superseded substantially in industrial applications.
The Gray bus location detecting technology: this technology tolerance is bigger, can be used in straight line or annular displacement detecting, and anti-electromagnetic interference (EMI), contamination resistance are strong, vapour such as waterproof, oil, dust, steaming, and still, the address detected coding cable costs an arm and a leg, and investment is big.
Summary of the invention
Technical matters to be solved by this invention is: at the shortcoming of above prior art existence, propose a kind ofly can solve coal yard stacker-reclaimer orientation problem, realization coal yard goods yard and heap are got the effective monitoring of coal operation, guarantee correct and stable coking coal yard stacker-reclaimer localization method and the system thereof of stove coal proportioning.
The technical scheme that the present invention solves above technical matters is:
Coking coal yard stacker-reclaimer localization method may further comprise the steps:
(1), places plot location module, address sequence number of every module memory storage every 2.4 meters along the stacker-reclaimer traffic direction;
(2) on every stacker-reclaimer, place a microwave scanner,, read the address signal of address module, promptly read the natural number sequence number at this address module place, and this sequence number is become the signal of computing machine recognition with car scan address module;
(3) wireless mixing sending and receiving module is set on every stacker-reclaimer, for the microwave scanner carries out communication;
(4) with the networking of Central Control Room computing machine and coal yard optimization system server and by the microwave scanner communication on wireless mode and the stacker-reclaimer, read the signal that transmits by the microwave scanner, and be the position of every stacker-reclaimer of unit demonstration with rice;
(5) the microwave scanner passes to the optimization system server to the position signalling of every stacker-reclaimer by wireless mixing sending and receiving module, and receives the traveling-position zone of every the stacker-reclaimer that is transmitted by the optimization system server;
(6) the Central Control Room computing machine is delivered to the operation room of corresponding stacker-reclaimer to the self-position information of every stacker-reclaimer and destination locations zone with Wireless transmission mode, shows the physical location and the destination locations zone of this car on stacker-reclaimer operation room display terminal.
Coking coal yard stacker-reclaimer positioning system, comprise the address module that is located on the stacker-reclaimer traffic direction, be located at the microwave scanner on every stacker-reclaimer, the wireless transmission net, the Central Control Room computing machine, coal yard optimization system server and stacker-reclaimer operation room display terminal, the microwave scanner reads the address information of address module, Central Control Room computing machine and the networking of coal yard optimization system server, and by wireless transmission net and the communication of microwave scanner, the Central Control Room computing machine carries out wireless telecommunications by wireless transmission net and stacker-reclaimer operation room display terminal, gets physical location and the destination locations zone that shows this car on the display terminal of machine operation chamber at heap.
Advantage of the present invention is: the position of stacker-reclaimer of the present invention in coal yard passed to Central Control Room in real time, and shows the current location of vehicle on stacker-reclaimer, solved the location positioning problem of coal yard stacker-reclaimer in coal yard.The present invention optimizes server by coal yard and passes to the management at factory level network, realizes that coal yard goods yard and heap get the effective monitoring of coal operation, thereby guarantees that stove coal proportioning is correct and stable.
Description of drawings
Fig. 1 is a connection diagram of the present invention.
Embodiment
Embodiment one
The coking coal yard stacker-reclaimer localization method of present embodiment may further comprise the steps:
(1), places plot location module, address sequence number of every module memory storage every 2.4 meters along the stacker-reclaimer traffic direction;
(2) on every stacker-reclaimer, place a microwave scanner,, read the address signal of address module, promptly read the natural number sequence number at this address module place, and this sequence number is become the signal of computing machine recognition with car scan address module;
(3) wireless mixing sending and receiving module is set on every stacker-reclaimer, for the microwave scanner carries out communication;
(4) with the networking of Central Control Room computing machine and coal yard optimization system server and by the microwave scanner communication on wireless mode and three stacker-reclaimers, read the signal that transmits by the microwave scanner, and be the position of every stacker-reclaimer of unit demonstration with rice;
(5) the microwave scanner passes to the optimization system server to the position signalling of every stacker-reclaimer by wireless mixing sending and receiving module, and receives the traveling-position zone of every the stacker-reclaimer that is transmitted by the optimization system server;
(6) the Central Control Room computing machine is delivered to the operation room of corresponding stacker-reclaimer to the self-position information of every stacker-reclaimer and destination locations zone with Wireless transmission mode, shows the physical location and the destination locations zone of this car on stacker-reclaimer operation room display terminal.
The coking coal yard stacker-reclaimer positioning system of present embodiment connects as shown in Figure 1, comprise the address module that is located on the stacker-reclaimer traffic direction, be located at the microwave scanner on every stacker-reclaimer, the wireless transmission net, the Central Control Room computing machine, coal yard optimization system server and stacker-reclaimer operation room display terminal, the microwave scanner reads the address information of address module, Central Control Room computing machine and the networking of coal yard optimization system server, and by wireless transmission net and the communication of microwave scanner, the Central Control Room computing machine carries out wireless telecommunications by wireless transmission net and stacker-reclaimer operation room display terminal, gets physical location and the destination locations zone that shows this car on the display terminal of machine operation chamber at heap.
Get on the machine at every heap and to place a scanner, read the address signal of address module and address module is encoded with car.Along the stacker-reclaimer traffic direction, place plot location module, address sequence number of every module memory storage every 2.4 meters.Information in the address module can be write again.Advantages such as damp proof, anti-coal dust accumulation that module has, anti-metal interference.3 stacker-reclaimers need 375 of modules altogether.Computing machine and coal yard optimization system server networking and by the microwave scanner communication on wireless mode and three stacker-reclaimers.Mainly finish following function: read the signal that transmits by three microwave scanners, carry out software processes after, be that unit shows every position that heap is picked up the car with rice; The position signalling of every chassis is passed to the optimization system server, and receive the traveling-position zone of every the coal car that transmits by the optimization system server; With Wireless transmission mode the self-position information of every chassis and destination locations zone are delivered to the operation room that corresponding heap is got machine.Heap is got physical location and the destination locations zone that shows this car on the display terminal of machine operation chamber.The wireless transmission net is by four groups of wireless mixing sending and receiving modules, power supply, feeder line, converting interface and antennas and be equipped with the realization of network forming software.Four wireless modules are separately positioned on each heap and get on the machine and Central Control Room, realize that the microwave scanner is connected with the Central Control Room microcomputer communication.The wireless transmission net increases the reliability of network with the much channel communication network forming.
The function of native system: the physical location that Central Control Room reads every stacker-reclaimer shows; The demonstration of Central Control Room is offered coal yard optimization system server; The physical location that every heap is got machine is that unit shows at operation room with rice; The purpose zone that every stacker-reclaimer that the optimization system main frame is assigned should arrive is the operation room that unit is sent to every stacker-reclaimer with rice.
The present invention can also have other embodiment, and the technical scheme that equal replacement of all employings or equivalent transformation form all drops within the scope of protection of present invention.
Claims (2)
1. coking coal yard stacker-reclaimer localization method is characterized in that: may further comprise the steps:
(1), places plot location module, address sequence number of every module memory storage every 2.4 meters along the stacker-reclaimer traffic direction;
(2) on every stacker-reclaimer, place a microwave scanner, with car scan address module, read the address signal of address module, and address module is encoded;
(3) wireless mixing sending and receiving module is set on every stacker-reclaimer, for the microwave scanner carries out communication;
(4) with the networking of Central Control Room computing machine and coal yard optimization system server and by the microwave scanner communication on wireless mode and the stacker-reclaimer, read the signal that transmits by the microwave scanner, and be the position of every stacker-reclaimer of unit demonstration with rice;
(5) the microwave scanner passes to the optimization system server to the position signalling of every stacker-reclaimer by wireless mixing sending and receiving module, and receives the traveling-position zone of every the stacker-reclaimer that is transmitted by the optimization system server;
(6) the Central Control Room computing machine is delivered to the operation room of corresponding stacker-reclaimer to the self-position information of every stacker-reclaimer and destination locations zone with Wireless transmission mode, shows the physical location and the destination locations zone of this car on stacker-reclaimer operation room display terminal.
2. realize the positioning system of the described coking coal yard of claim 1 stacker-reclaimer localization method, it is characterized in that: comprise the address module that is located on the stacker-reclaimer traffic direction, be located at the microwave scanner on every stacker-reclaimer, the wireless transmission net, the Central Control Room computing machine, coal yard optimization system server and stacker-reclaimer operation room display terminal, described microwave scanner reads the address information of described address module, described Central Control Room computing machine and the networking of coal yard optimization system server, and by wireless transmission net and the communication of microwave scanner, the Central Control Room computing machine carries out wireless telecommunications by described wireless transmission net and described stacker-reclaimer operation room display terminal; Described address module is placed one, address sequence number of every block address module memory storage every 2.4 meters on the stacker-reclaimer traffic direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100348165A CN101630157B (en) | 2009-09-04 | 2009-09-04 | Method for positioning material piling and taking machines of coking coal yard and system thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100348165A CN101630157B (en) | 2009-09-04 | 2009-09-04 | Method for positioning material piling and taking machines of coking coal yard and system thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101630157A CN101630157A (en) | 2010-01-20 |
| CN101630157B true CN101630157B (en) | 2011-07-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2009100348165A Expired - Fee Related CN101630157B (en) | 2009-09-04 | 2009-09-04 | Method for positioning material piling and taking machines of coking coal yard and system thereof |
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Families Citing this family (1)
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| CN111326861B (en) * | 2020-02-11 | 2021-03-09 | 北京德百利泰科技有限公司 | Directional antenna alignment system and method for wireless communication system of stacker-reclaimer |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6822415B1 (en) * | 2000-04-20 | 2004-11-23 | Kabushiki Kaish Yaskawa Denki | Motor controller |
| CN1731746A (en) * | 2005-08-18 | 2006-02-08 | 上海崇正电子技术有限公司 | WLAN RF index automatic test system |
| CN101276210A (en) * | 2007-03-27 | 2008-10-01 | 宝山钢铁股份有限公司 | Steel tube measuring point material flow control method |
| CN101379449A (en) * | 2006-02-02 | 2009-03-04 | 国际商业机器公司 | Method of optimizing servo controller power in two-dimensional flexure MEMS storage devices |
-
2009
- 2009-09-04 CN CN2009100348165A patent/CN101630157B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6822415B1 (en) * | 2000-04-20 | 2004-11-23 | Kabushiki Kaish Yaskawa Denki | Motor controller |
| CN1731746A (en) * | 2005-08-18 | 2006-02-08 | 上海崇正电子技术有限公司 | WLAN RF index automatic test system |
| CN101379449A (en) * | 2006-02-02 | 2009-03-04 | 国际商业机器公司 | Method of optimizing servo controller power in two-dimensional flexure MEMS storage devices |
| CN101276210A (en) * | 2007-03-27 | 2008-10-01 | 宝山钢铁股份有限公司 | Steel tube measuring point material flow control method |
Non-Patent Citations (2)
| Title |
|---|
| JP昭60-249559A 1985.12.10 |
| 闫军.火电厂斗轮机自动控制系统的研究与开发.《中国优秀硕士学位论文全文数据库》.2003, * |
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| CN101630157A (en) | 2010-01-20 |
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Granted publication date: 20110720 Termination date: 20160904 |