CN102092591A - Walking distance correction device of stacker - Google Patents
Walking distance correction device of stacker Download PDFInfo
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- CN102092591A CN102092591A CN 201010590053 CN201010590053A CN102092591A CN 102092591 A CN102092591 A CN 102092591A CN 201010590053 CN201010590053 CN 201010590053 CN 201010590053 A CN201010590053 A CN 201010590053A CN 102092591 A CN102092591 A CN 102092591A
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- 238000009966 trimming Methods 0.000 claims description 4
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- 238000013507 mapping Methods 0.000 description 4
- 230000001915 proofreading effect Effects 0.000 description 3
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Abstract
The invention relates to a walking distance correction device of a stacker, and the device comprises a processor (30), a group of induction units (20) positioned on the stacker and a plurality of induction triggering units (10) sequentially arranged along a walking track of the stacker, wherein each induction triggering unit (10) is used for triggering a unique combination of the induction units (20) in the group of the induction units (20), the unique combination of the induction units (20) can send a triggering signal with unique coded information to the processor (30) after being triggered, the unique coded information is related with a correction distance, and the processor (30) is used for acquiring the correction distance according to the coded information, and correcting a walking distance which is calculated by a walking coder according to the correction distance. The walking distance correction device of the stacker can overcome the problem of inaccurate correction because the induction units are not triggered in the prior art.
Description
Technical field
The present invention relates to a kind of stocker travel distance correct equipment.
Background technology
The walking encoder that is used to detect the stocker travel distance is housed in stocker, and it calculates the stocker travel distance by the rotation number of turns that detects the stocker road wheel.But because there is skidding in the stocker walking, can cause walking encoder can not accurately calculate the stocker travel distance like this, therefore generally all can install the travel distance correct equipment additional at the stocker crawler body.As shown in Figure 1, existing travel distance correct equipment commonly used is included in the walking position of stocker and installs one near switch 2, (for example 50 meters) install an induction stake 1 at a certain distance on stocker walking track, each stocker was through induction stake 1 o'clock, be triggered near switch 2, send a correcting signal for the treater (not shown), treater is proofreaied and correct the travel distance of walking encoder calculating after receiving this correcting signal.For example, when stocker during through first induction stake 1, this first induction stake 1 is positioned at 50 meters distance, if the distance that walking encoder calculates is 52 meters, then treater is 50 meters with this range correct that calculates.When stocker during through the 8th induction stake 1, the 8th induction stake 1 at this moment is positioned at 400 meters distance, if the distance that walking encoder calculates is 420 meters, then treater is 400 meters with this range correct that calculates.
But there are some problems in above-mentioned correct equipment.Because stocker walking track deformation, longitudinal travel often appears in the road wheel of stocker, this just causes neglecting near switch 2 and the distance before the induction stake 1 far neglects closely, and this just might appear at the situation that stocker is not triggered through certain induction stake 1 wherein and near switch 2.Owing to only adopt one near switch 2, the number of times that is triggered near switch 2 is only depended in the correction of travel distance, that is to say, for example when being triggered near switch 23 times the time, treater can think that stocker has been walked 150 meters at this moment.If but stocker then can proofread and correct to travel distance and cause very big trouble through some induction stake 1 and be not triggered near switch 2, treater can't correctly be proofreaied and correct travel distance.
Summary of the invention
For solving the problems of the technologies described above, the purpose of this invention is to provide the high stocker travel distance correct equipment of a kind of calibration accuracy.
According to an embodiment of the invention, a kind of stocker travel distance correct equipment is provided, this device comprises: treater, be positioned at one group of sensing unit on the stocker, and a plurality of induction trigger elements of arranging along stocker walking track order, each induction trigger element be used for this group sensing unit near the time trigger unique combination of the sensing unit of this group sensing unit, after being triggered, unique combination of this sensing unit sends energizing signal with unique coded message to this treater, this unique coded message is associated with a correction distance, described treater is used for obtaining described correction distance according to this coded message, according to this correction distance the travel distance that walking encoder calculates is proofreaied and correct.
The advantage that stocker travel distance correct equipment provided by the invention is compared with existing correct equipment is, because when each induction trigger element triggers sensing unit, sensing unit comprises unique encoding information to the energizing signal that treater sends, this coded message is associated with the distance (being correction distance) that this induction trigger element is positioned at, therefore, even owing to stocker take place in the process of walking longitudinal travel pass through certain induction during trigger element its sensing unit be not triggered, but be triggered when needing only again through other induction trigger element, just can proofread and correct the travel distance that walking encoder calculates, overcome thus in the prior art and to cause proofreading and correct inaccurate problem because sensing unit is not triggered according to the coded message in the energizing signal.
Description of drawings
Fig. 1 is the scheme drawing of stocker travel distance correct equipment of the prior art;
Fig. 2 shows the stocker travel distance correct equipment according to an embodiment of the invention;
Fig. 3 is according to the induction trigger element of an embodiment of the invention and the scheme drawing of sensing unit; And
Fig. 4 is the operational flowchart that correct equipment carries out correct operation.
The specific embodiment
With reference to the accompanying drawings embodiments of the present invention are further described.
Fig. 2 shows the stocker travel distance correct equipment according to an embodiment of the invention.As shown in Figure 2, according to this embodiment, this travel distance correct equipment comprises: treater 30, be positioned at one group of sensing unit 20 on the stocker, and a plurality of induction trigger elements 10 of arranging along stocker walking track order, each induction trigger element 10 be used for this group sensing unit 20 near the time trigger unique combination of the sensing unit 20 of this group sensing unit 20, after being triggered, unique combination of this sensing unit 20 sends energizing signal with unique coded message to this treater 30, this unique coded message is associated with a correction distance, described treater 30 is used for obtaining described correction distance according to this coded message, according to this correction distance the travel distance that walking encoder calculates is proofreaied and correct.
A plurality of induction trigger elements 10 can equidistantly be arranged the 40-60 rice of for example being separated by along the stocker track of walking.Described a plurality of sensing unit 20 can be arranged in order, and is connected with treater 30.In these a plurality of sensing units 20 some or all can constitute coded message to the signal that treater 30 sends.For example, if 3 sensing units 20 are arranged, when first sensing unit 20 is triggered and when treater 30 sent signals, this moment, this coded message can be " 001 ".When second sensing unit 20 is triggered and when treater 30 sent signals, this moment, coded message can be " 010 ".Each coded message can corresponding correction distance.For instance, if the spacing of induction trigger element 10 is 40 meters, when stocker is responded to trigger element 10 through first, only first sensing unit 20 is triggered, this moment, coded message was " 001 ", its cooresponding correction distance is 40 meters, and promptly first induction trigger element 10 is apart from the distance of stocker initial position.At this moment, treater 30 can be proofreaied and correct (for example being corrected into 40 meters with 42 meters) to the travel distance that walking encoder calculates according to this correction distance.When stocker was responded to trigger element 10 through second, only second sensing unit 20 was triggered, and this moment, coded message was " 010 ", and its cooresponding correction distance is 80 meters, and the like.Therefore, described treater 30 can also be used for extracting described coded message from described energizing signal, obtains described correction distance according to this coded message, according to this correction distance the travel distance that described walking encoder calculates is proofreaied and correct.Here the mode of example is to adopt the binary sequence coding, and promptly above-mentioned unique coded message can be the form with the binary sequence coding.Certainly, it will be understood by those skilled in the art that unique coded message can be the form of two scale notation random number code or other coding.
Trigger different sensing units 20 when making stocker pass through different induction trigger elements 10, need carry out difference setting each trigger position of responding to trigger element 10.Described each induction trigger element 10 has the triggering element group of unique combination that can trigger described sensing unit 20.Specifically, induction trigger element 10 can also comprise strut bar, triggers the element group and is made of at least one triggering element 14.Have at least one trigger position on this bracing frame 12, each trigger position is corresponding with a sensing unit 20 in described one group of sensing unit 20, and the triggering element 14 that triggers the element group can fixedly mount or detachably be installed on this trigger position.At different induction trigger elements 10, the trigger position difference that the number of the triggering element 14 in the described triggering element group and/or this triggering element 14 are installed to.Fig. 3 is according to the induction trigger element 10 of an embodiment of the invention and the scheme drawing of sensing unit 20.As shown in Figure 3, on each induction trigger element 10, have and each sensing unit 20 cooresponding trigger positions, on different positions, be provided with and trigger element 14.Sensing unit 20 is 5, be successively set on the support 22, induction on the trigger element 10 first, the 3rd and the 5th trigger position place be provided with and trigger element 14 and trigger the element group to form.When stocker through this induction during trigger element 10, first, the 3rd and the 5th sensing unit 20 be triggered, the sensing unit 20 that is triggered sends signals to treater 30, in this case, coded message can be " 10101 ".Change the set-up mode that triggers triggering element 14 in the element group and just can change corresponding coding information.The triggering element group of each induction trigger element 10 is different.Mapping between coded message and the correction distance can be pre-defined and be stored in the treater 30, and for example the form with mapping table is stored in the memory device of treater 30.When treater 30 extracts this coded message, can from mapping table, search its cooresponding correction distance according to this coded message.Though 5 sensing units 20 have been shown among Fig. 3, and the number of sensing unit 20 is not limited thereto, it can be arbitrary number.In preferred implementation of the present invention, the number of sensing unit 20 is 3-10.
The advantage that above-mentioned stocker travel distance correct equipment is compared with existing correct equipment is, because when each induction trigger element 10 triggers sensing unit 20, sensing unit 20 comprises unique encoding information to the energizing signal that treater 30 sends, this coded message is associated with the distance (being correction distance) that this induction trigger element 10 is positioned at, therefore, even owing to stocker take place in the process of walking longitudinal travel pass through certain induction during trigger element 10 its sensing unit 20 be not triggered, but be triggered when needing only again through other induction trigger element 10, just can proofread and correct the travel distance that walking encoder calculates, overcome thus in the prior art and do not cause proofreading and correct inaccurate problem because sensing unit 20 is not triggered according to the coded message in the energizing signal.
Described sensing unit 20 can be various near switch, for example, eddy current type near switch, capacitive approach switch, super sonic near switch, microwave near switch, magnetic approach switch, Hall-type near switch, pyroelectricity formula near switch or photo-electric near switch.In preferred implementation of the present invention, described sensing unit 20 is that super sonic is near switch.
Super sonic can be 30-120cm near the distance of reaction of switch, and stocker road wheel longitudinal travel the most very much not can surpass 50cm, therefore, select for use super sonic can effectively reduce stocker does not trigger the situation of sensing unit 20 through induction trigger element 10 appearance near switch.
Described treater 30 can be for well known to a person skilled in the art micro controller system, PLC, DSP etc.Treater 30 can be positioned on the stocker, can be the PLC in the stocker, maybe can be the independent equipment beyond the stocker.
In preferred implementation of the present invention, treater 30 can compare the travel distance that correction distance and walking encoder fed back that obtains earlier before trimming process begins, if both errors are no more than predetermined value, then carries out trimming process.If error surpasses predetermined value, then give the alarm, remind the operator whether to check wrong signal.Can further improve the accuracy of correction like this.Wherein, the scope of described predetermined value can for example be 0 meter-24 meters.
Fig. 4 is the operational flowchart that correct equipment carries out correct operation.The operating process of the travel distance correct equipment that embodiments of the present invention provide is described below with reference to Fig. 4.
As shown in Figure 4, when stocker along the walking track when initial position begins to walk, the walking encoder in the stocker calculates the distance of stocker walking according to the number of turns of the rotation of stocker road wheel.When stocker passes through the induction trigger element 10 on walking track side, this induction trigger element 10 triggers the sensing unit group, corresponding sensing unit 20 is triggered in the sensing unit group, and to treater 30 transmission signals, treater 30 obtains coded message according to the signal that receives, from mapping table, inquire about and the cooresponding correction distance of this coded message according to coded message, use this correction distance that the travel distance that walking encoder calculates is proofreaied and correct.Before proofreading and correct, treater 30 compares correction distance and travel distance earlier, if the difference of this correction distance and travel distance is no more than predetermined value, then carry out trimming process, if difference surpasses predetermined value, then do not carry out correction, but give the alarm, whether check wrong signal to remind the operator.
More than in the mode of example and described embodiments of the present invention in conjunction with the accompanying drawings; but those skilled in the art are to be understood that; under the situation that does not break away from essence of the present invention; can carry out various rational modifications, distortion and combination to above-mentioned embodiment, will be understood that these modifications, distortion and combination also belong to the scope of protection of present invention.
Claims (9)
1. stocker travel distance correct equipment, this device comprises: treater (30), be positioned at the one group of sensing unit (20) on the stocker, and a plurality of induction trigger elements (10) of arranging along stocker walking track order, each induction trigger element (10) be used for this group sensing unit (20) near the time trigger unique combination of the sensing unit (20) of this group sensing unit (20), after being triggered, unique combination of this sensing unit (20) sends energizing signal with unique coded message to this treater (30), this unique coded message is associated with a correction distance, described treater (30) is used for obtaining described correction distance according to this coded message, according to this correction distance the travel distance that walking encoder calculates is proofreaied and correct.
2. travel distance correct equipment according to claim 1, wherein, described each induction trigger element (10) has the triggering element group of unique combination that can trigger described sensing unit (20).
3. travel distance correct equipment according to claim 2, wherein, described induction trigger element (10) also comprises bracing frame (12), this triggers the element group and is made of at least one described triggering element (14), on this bracing frame (12), has at least one trigger position, each trigger position is corresponding with the sensing unit (20) in described one group of sensing unit (20), and the triggering element (14) of described triggering element group is fixed or is removably mounted on this trigger position.
4. travel distance correct equipment according to claim 3, wherein, at different induction trigger elements (10), the trigger position difference that the number of the triggering element (14) in the described triggering element group and/or this triggering element (14) are installed to.
5. according to any described travel distance correct equipment of claim 1-4, wherein, described unique coded message is with the form of binary sequence coding or the form of two scale notation random number code.
6. according to any described travel distance correct equipment of claim 1-4, wherein, described sensing unit (20) is that super sonic is near switch.
7. according to any described travel distance correct equipment of claim 1-4, wherein, the travel distance that described correction distance and described walking encoder fed back that described treater (30) also is used for will obtaining before execution is proofreaied and correct compares, do not surpass predetermined value if comparative result is the difference of this correction distance and travel distance, then carry out trimming process; Surpass predetermined value if comparative result is the difference of this correction distance and travel distance, then give the alarm.
8. travel distance correct equipment according to claim 7, wherein, the scope of described predetermined value is a 0-24 rice.
9. according to any described travel distance correct equipment of claim 1-4, the number of wherein said sensing unit (20) is 3-10.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010590053 CN102092591B (en) | 2010-12-15 | 2010-12-15 | Walking distance correction device of stacker |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010590053 CN102092591B (en) | 2010-12-15 | 2010-12-15 | Walking distance correction device of stacker |
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| CN102092591A true CN102092591A (en) | 2011-06-15 |
| CN102092591B CN102092591B (en) | 2013-01-09 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104792337A (en) * | 2015-04-27 | 2015-07-22 | 深圳大成智能电气科技有限公司 | Position detecting method and detecting system for tracked moving objects |
| CN109883374A (en) * | 2019-03-18 | 2019-06-14 | 共享智能铸造产业创新中心有限公司 | Tracks travel object real time position calibrating installation and its calibration method |
| CN110045718A (en) * | 2019-04-30 | 2019-07-23 | 宝钢湛江钢铁有限公司 | A kind of detection method of stacker-reclaimer walking encoder |
| CN112785644A (en) * | 2019-11-08 | 2021-05-11 | 大唐环境产业集团股份有限公司 | Bucket wheel machine cart walking positioning method based on image processing |
| CN113200368A (en) * | 2021-05-11 | 2021-08-03 | 中交一航局安装工程有限公司 | Automatic correction system for single-machine walking position of bulk cargo wharf |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108106652B (en) * | 2017-11-09 | 2020-08-18 | 中国神华能源股份有限公司 | Correction method and device of encoder |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112785644A (en) * | 2019-11-08 | 2021-05-11 | 大唐环境产业集团股份有限公司 | Bucket wheel machine cart walking positioning method based on image processing |
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| CN113200368A (en) * | 2021-05-11 | 2021-08-03 | 中交一航局安装工程有限公司 | Automatic correction system for single-machine walking position of bulk cargo wharf |
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