CN102092591B - Walking distance correction device of stacker - Google Patents
Walking distance correction device of stacker Download PDFInfo
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- CN102092591B CN102092591B CN 201010590053 CN201010590053A CN102092591B CN 102092591 B CN102092591 B CN 102092591B CN 201010590053 CN201010590053 CN 201010590053 CN 201010590053 A CN201010590053 A CN 201010590053A CN 102092591 B CN102092591 B CN 102092591B
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- 230000001915 proofreading effect Effects 0.000 claims description 4
- 238000009966 trimming Methods 0.000 claims description 4
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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 travel distance correcting device of stacker.
Background technology
Walking encoder for detection of 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 like this walking encoder can not accurately calculate the stocker travel distance, 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 an approach switch 2 is installed, (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, approach switch 2 is triggered, 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, at this moment the 8th induction stake 1 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 approach switch 2 and the distance before the induction stake 1 to be neglected far neglecting closely, and this just might appear at stocker through certain induction stake 1 wherein and the situation that approach switch 2 is not triggered.Owing to only adopt an approach switch 2, the number of times that approach switch 2 is triggered is only depended in the correction of travel distance, that is to say, for example is triggered 3 times the time when approach switch 2, and treater can think that stocker has been walked 150 meters at this moment.If approach switch 2 is not triggered but stocker is responded to stake 1 through some, then can proofread and correct to travel distance and cause very large trouble, 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 travel distance correcting device of stacker of a kind of calibration accuracy.
According to an embodiment of the invention, a kind of travel distance correcting device of stacker 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, unique combination of this sensing unit backward this treater that is triggered sends the energizing signal with unique coded message, 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.
Travel distance correcting device of stacker provided by the invention is with the advantage that existing correct equipment is compared, because when each induction trigger element triggers sensing unit, sensing unit comprises unique coded message 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 occur in the process of walking longitudinal travel pass through certain induction during trigger element its sensing unit be not triggered, but as long as be triggered when responding to trigger element through other again, just can proofread and correct the travel distance that walking encoder calculates according to the coded message in the energizing signal, overcome thus in the prior art and to cause proofreading and correct inaccurate problem because sensing unit is not triggered.
Description of drawings
Fig. 1 is the scheme drawing of travel distance correcting device of stacker of the prior art;
Fig. 2 shows the travel distance correcting device of stacker 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 travel distance correcting device of stacker 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, unique combination of this sensing unit 20 backward this treater 30 that is triggered sends the energizing signal with unique coded message, 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 consist of 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 during to treater 30 transmitted signal, this moment, this coded message can be " 001 ".When second sensing unit 20 is triggered and during to treater 30 transmitted signal, 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 corresponding correction distance is 40 meters, and namely 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 corresponding correction distance is 80 meters, 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 namely 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 to carry out difference setting to each trigger position of responding to trigger element 10.Described each induction trigger element 10 has the trigger element group of unique combination that can trigger described sensing unit 20.Specifically, induction trigger element 10 can also comprise strut bar, and the trigger element group is made of at least one trigger element 14.Have at least one trigger position at this bracing frame 12, each trigger position is corresponding with a sensing unit 20 in described one group of sensing unit 20, and the trigger element 14 of trigger element group can fixedly mount or detachably be installed on this trigger position.For different induction trigger elements 10, the trigger position that the number of the trigger element 14 in the described trigger element group and/or this trigger element 14 are installed to is different.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, have the trigger position corresponding with each sensing unit 20 at each induction trigger element 10, in different positions trigger element 14 is set.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 trigger element 14 to form the trigger element group.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 is to treater 30 transmitted signals, in this case, coded message can be " 10101 ".The set-up mode that changes trigger element 14 in the trigger element group just can change corresponding coded message.The trigger 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 corresponding correction distance according to this coded message.Although 5 sensing units 20 have been shown among Fig. 3, and the number of sensing unit 20 is not limited to this, it can be arbitrary number.In preferred implementation of the present invention, the number of sensing unit 20 is 3-10.
Above-mentioned travel distance correcting device of stacker is with the advantage that existing correct equipment is compared, because when each induction trigger element 10 triggers sensing unit 20, sensing unit 20 comprises unique coded message 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 occur in the process of walking longitudinal travel pass through certain induction during trigger element 10 its sensing unit 20 be not triggered, but as long as be triggered when responding to trigger element 10 through other again, just can proofread and correct the travel distance that walking encoder calculates according to the coded message in the energizing signal, overcome thus in the prior art and do not cause proofreading and correct inaccurate problem because sensing unit 20 is not triggered.
Described sensing unit 20 can be various approach switchs, for example, vortex type proximity switch, capacitive approach switch, Ultrasonic Sensor, microwave approach switch, magnetic approach switch, Hall-type approach switch, pyroelectricity formula approach switch or photo-electric approach switch.In preferred implementation of the present invention, described sensing unit 20 is Ultrasonic Sensor.
The distance of reaction of Ultrasonic Sensor can be 30-120cm, and stocker road wheel longitudinal travel the most very much not can surpass 50cm, therefore, select Ultrasonic Sensor can effectively reduce stocker does not trigger the situation of sensing unit 20 through induction trigger element 10 appearance.
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 is before trimming process begins, and the travel distance that can be first the correction distance that obtains and walking encoder be fed back compares, 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 began to walk from initial position along the walking track, the walking encoder in the stocker calculated 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 transmitted signals, treater 30 is according to the signal acquisition coded message that receives, from mapping table, inquire about the correction distance corresponding with 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 first, 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 by reference to the accompanying drawings embodiments of the present invention; but those skilled in the art are to be understood that; in 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 (8)
1. travel distance correcting device of stacker, 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), unique combination of this sensing unit (20) backward this treater (30) that is triggered sends the energizing signal with unique coded message, 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 trigger 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 trigger element group is made of at least one trigger element (14), has at least one trigger position at this bracing frame (12), each trigger position is corresponding with the sensing unit (20) in described one group of sensing unit (20), and the trigger element of described trigger element group (14) is fixed or is removably mounted on this trigger position.
4. travel distance correct equipment according to claim 3, wherein, for different induction trigger elements (10), the trigger position that the number of the trigger element (14) in the described trigger element group and/or this trigger element (14) are installed to is different.
5. the described travel distance correct equipment of any one according to 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. the described travel distance correct equipment of any one according to claim 1-4, wherein, described treater (30) also is used for comparing carrying out the travel distance that the described correction distance that will obtain before proofreading and correct and described walking encoder feed back, 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.
7. travel distance correct equipment according to claim 6, wherein, the scope of described predetermined value is 0-24 rice.
8. the described travel distance correct equipment of any one according to claim 1-4, the number of wherein said sensing unit (20) are 3-10.
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| Application Number | Priority Date | Filing Date | Title |
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| 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 |
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| CN 201010590053 CN102092591B (en) | 2010-12-15 | 2010-12-15 | Walking distance correction device of stacker |
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| CN102092591A CN102092591A (en) | 2011-06-15 |
| CN102092591B true CN102092591B (en) | 2013-01-09 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108106652A (en) * | 2017-11-09 | 2018-06-01 | 中国神华能源股份有限公司 | The bearing calibration of encoder and device |
Families Citing this family (5)
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|---|---|---|---|---|
| CN104792337B (en) * | 2015-04-27 | 2018-01-23 | 深圳大成智能电气科技有限公司 | The method for detecting position and its detecting system of tracked movement thing |
| 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 |
| CN112785644B (en) * | 2019-11-08 | 2022-03-18 | 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 |
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| JP3530298B2 (en) * | 1995-12-07 | 2004-05-24 | エムケー精工株式会社 | Vehicle position detector for car washer |
| DE60236269D1 (en) * | 2002-07-29 | 2010-06-17 | Nippon Telegraph & Telephone | Locating system and method for determining the position of objects |
| DE102006044293A1 (en) * | 2006-03-31 | 2007-10-25 | Siemens Ag | Computerized method for mobile object localization, involves measuring characteristics of number of base stations using reference map, where base station characterizes field transmitted by base station at object |
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|---|---|---|---|---|
| CN1099130A (en) * | 1994-04-29 | 1995-02-22 | 张驰 | Quick positioning system |
| CN1406787A (en) * | 2001-09-13 | 2003-04-02 | 李光 | Vehicle locating system and its application |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108106652A (en) * | 2017-11-09 | 2018-06-01 | 中国神华能源股份有限公司 | The bearing calibration of encoder and device |
| 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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