CN104692249A - Method and system for automatically positioning anode carbon block stacking crane - Google Patents
Method and system for automatically positioning anode carbon block stacking crane Download PDFInfo
- Publication number
- CN104692249A CN104692249A CN201310660732.9A CN201310660732A CN104692249A CN 104692249 A CN104692249 A CN 104692249A CN 201310660732 A CN201310660732 A CN 201310660732A CN 104692249 A CN104692249 A CN 104692249A
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- China
- Prior art keywords
- stacking
- travelling crane
- overhead travelling
- crane
- carbon block
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention relates to a method and a system for positioning, and in particular relates to a method and a system for automatically positioning an aluminium electrolysis anode carbon block stacking crane. The system for automatically positioning the stacking crane completes confirmation of target coordinate information according to stacking or transferring target coordinate information of an upper computer of the stacking crane; when the system for automatically positioning the stacking crane confirms that the current vertical coordinate position of an anode carbon block is the same to a target coordinate, the vertical displacement precise distance information of the anode carbon block is sent to a PLC (Programmable Logic Controller) of the stacking crane; and the PLC of the stacking crane sends a control signal to the stacking crane. The method and the system for automatically positioning the anode carbon block stacking crane, disclosed by the invention, have the active effects that precise stacking or transferring coordinate positioning of an anode carbon block set can be realized when the anode stacking crane is operated in an unmanned manner; the stacking efficiency of the anode carbon block set is increased; and the labour cost, the production and operation cost of the stacking crane and the safety risks in the stacking process of the carbon block set can be reduced.
Description
Technical field
The present invention relates to a kind of localization method and system, particularly relate to a kind of anodes used in aluminum electrolysis carbon block stacking crown block automatic positioning method and system.
Background technology
Anode stacking overhead travelling crane is raw-anode carbon block in prebaked anode for aluminium electrolysis production process, the major equipment of baked anode carbon block group stacking and transhipment in carbon block storehouse, it is 18-21 block that carbon block is often organized in each stacking of current stacking overhead travelling crane or transhipment ground, therefore, stacking overhead travelling crane operation factor situation not only directly affects its production run cost and energy consumption level, and the stacking of current carbon block Ku Neisheng carbon block and roasting carbon block group and transhipment rely on the mode that operating personal is driving in-house operation stacking overhead travelling crane to carry out completely, be difficult to realize horizontal direction and vertical accurately location in carbon block group stacking or transport process, result causes following problem:
1, in actual production process, stacking overhead travelling crane operation factor is low, directly increases stacking overhead travelling crane production run cost and energy consumption level;
2, the unmanned unattended operation of stacking overhead travelling crane cannot be realized, thus directly increase the labor cost of stacking overhead travelling crane;
3, stacking overhead travelling crane manual operation, directly increases the security risk of carbon block group stacking and transport process.
Summary of the invention
The present invention is a kind of overhead crane for stacking automatic positioning method and system that propose to solve the problem, object realizes anode stacking overhead travelling crane under unattended situation, the accurate coordinates location of anode block group stacking or transhipment, improve the stacking efficiency of anode block group, reduce the security risk of labor cost and stacking overhead travelling crane production run cost and carbon block group stacking procedure.
In order to solve the problem, overhead crane for stacking automatic positioning method of the present invention, stacking overhead travelling crane automatic position system receive stacking overhead travelling crane master system send need to carry out the coordinates of targets information of stacking or transhipment after, stacking overhead travelling crane automatic position system starts laser level ranging system, the horizontal ranging system of code band and laser vertical scanning system respectively; First the laser reflection plate airborne laser range finder Emission Lasers bundle to stacking overhead travelling crane of laser level ranging system drive installation in workshop, carbon block storehouse installed, automatically carry out stacking overhead travelling crane and target stacking or transport the range observation of target accurate degree, and by stacking overhead travelling crane automatic position system, accurate degree range information being sent to stacking overhead travelling crane; And in stacking overhead travelling crane walking process, the horizontal ranging system of code band, by by being installed on the code band read head on stacking overhead travelling crane and the high precision code band in carbon block storehouse, measures the displacement of stacking overhead travelling crane accurate degree automatically, for the horizontal ranging system deviation of calibration of laser; After stacking overhead travelling crane runs to target level position, the laser scanner of laser vertical scanning system drive installation on stacking overhead travelling crane completes accurate scan and the measurement of carbon block group vertical distance, and completes the comparative analysis with target vertical position; If current vertical coordinate position and target location inconsistent, stacking overhead travelling crane automatic position system will be reported to the police to stacking overhead travelling crane master system, and cancel this operation; If current vertical coordinate position is consistent with target coordinate position, vertical displacement accurate distance information is sent to stacking overhead travelling crane PLC by stacking overhead travelling crane automatic position system.
Overhead crane for stacking automatic position system, stacking overhead travelling crane automatic position system is according to the coordinates of targets information of stacking overhead travelling crane upper computer stacking or transhipment, complete the confirmation of coordinates of targets information, when stacking overhead travelling crane automatic position system confirms that anode block current vertical coordinate position is consistent with coordinates of targets, send anode block vertical displacement accurate distance information to stacking overhead travelling crane PLC, stacking overhead travelling crane PLC transmits control signal to stacking overhead travelling crane.
Stacking overhead travelling crane automatic position system comprises laser level ranging system, the horizontal ranging system of code band and laser vertical scanning system.
Described laser level ranging system comprises the airborne laser range finder be located in workshop, carbon block storehouse and the laser reflection plate that also can receive airborne laser range finder Emission Lasers bundle be located on stacking overhead travelling crane.
The described horizontal ranging system of code band comprises the code band read head be located on stacking overhead travelling crane and the high precision code band be located in carbon block storehouse.
Described laser vertical scanning system is the accurate scan and the measurement that are completed carbon block group vertical distance by the laser scanner be installed on stacking overhead travelling crane, and completes the comparative analysis with target vertical position.
Advantageous effect of the present invention: the present invention can realize anode stacking overhead travelling crane under unattended situation, the accurate coordinates location of anode block group stacking or transhipment, improve the stacking efficiency of anode block group, reduce the security risk of labor cost and stacking overhead travelling crane production run cost and carbon block group stacking procedure.
Accompanying drawing explanation
Fig. 1 is schematic diagram of the present invention.
In figure 1, stacking overhead travelling crane master system; 2, stacking overhead travelling crane automatic position system; 21, laser level ranging system; 211, airborne laser range finder; 212, laser reflecting plate; 22, code is with horizontal ranging system; 221, code band read head; 222, code band; 23, laser vertical scanning system; 231, laser scanner; 3, stacking overhead travelling crane; 4, stacking overhead travelling crane PLC.
Detailed description of the invention
Below embodiments of the invention are described in detail, but protection scope of the present invention not limit by embodiment.
Overhead crane for stacking automatic positioning method of the present invention as shown in Figure 1, stacking overhead travelling crane automatic position system 2 receive stacking overhead travelling crane master system 1 send need to carry out the coordinates of targets information of stacking or transhipment after, stacking overhead travelling crane automatic position system 2 starts laser level ranging system 21 respectively, code is with horizontal ranging system 22 and laser vertical scanning system 23; First the laser reflection plate 212 airborne laser range finder 211 Emission Lasers bundle to stacking overhead travelling crane of laser level ranging system 21 drive installation in workshop, carbon block storehouse installed, automatically carry out stacking overhead travelling crane and target stacking or transport the range observation of target accurate degree, and by stacking overhead travelling crane automatic position system 2, accurate degree range information being sent to stacking overhead travelling crane 3; And in stacking overhead travelling crane 3 walking process, code band horizontal ranging system 22 is by by being installed on code band read head 221 on stacking overhead travelling crane 3 and the high precision code band 222 in carbon block storehouse, the displacement of automatic measurement stacking overhead travelling crane 3 accurate degree, for calibration of laser horizontal ranging system 21 deviation; After stacking overhead travelling crane 3 runs to target level position, the laser scanner 231 of laser vertical scanning system 23 drive installation on stacking overhead travelling crane completes accurate scan and the measurement of carbon block group vertical distance, and completes the comparative analysis with target vertical position; If current vertical coordinate position and target location inconsistent, stacking overhead travelling crane automatic position system 2 will be reported to the police to stacking overhead travelling crane master system 1, and cancel this operation; If current vertical coordinate position is consistent with target coordinate position, vertical displacement accurate distance information is sent to stacking overhead travelling crane PLC4 by stacking overhead travelling crane automatic position system.
Overhead crane for stacking automatic position system, stacking overhead travelling crane automatic position system 2 is according to the coordinates of targets information of stacking overhead travelling crane upper computer 1 stacking or transhipment, complete the confirmation of coordinates of targets information, when stacking overhead travelling crane automatic position system 2 confirms that anode block current vertical coordinate position is consistent with coordinates of targets, send anode block vertical displacement accurate distance information to stacking overhead travelling crane PLC4, stacking overhead travelling crane PLC4 transmits control signal to stacking overhead travelling crane 3.
Stacking overhead travelling crane automatic position system 2 comprises laser level ranging system 21, the horizontal ranging system 22 of code band and laser vertical scanning system 23.
Described laser level ranging system 21 comprises the airborne laser range finder 211 be located in workshop, carbon block storehouse and the laser reflection plate 212 that also can receive airborne laser range finder Emission Lasers bundle be located on stacking overhead travelling crane 3.
The horizontal ranging system 22 of described code band comprises the code band read head 221 be located on stacking overhead travelling crane 3 and the high precision code band 222 be located in carbon block storehouse.
Described laser vertical scanning system 23 is the accurate scan and the measurement that are completed carbon block group vertical distance by the laser scanner 231 be installed on stacking overhead travelling crane, and completes the comparative analysis with target vertical position.
Claims (6)
1. overhead crane for stacking automatic positioning method, it is characterized in that stacking overhead travelling crane automatic position system receive stacking overhead travelling crane master system send need to carry out the coordinates of targets information of stacking or transhipment after, stacking overhead travelling crane automatic position system starts laser level ranging system, the horizontal ranging system of code band and laser vertical scanning system respectively; First the laser reflection plate airborne laser range finder Emission Lasers bundle to stacking overhead travelling crane of laser level ranging system drive installation in workshop, carbon block storehouse installed, automatically carry out stacking overhead travelling crane and target stacking or transport the range observation of target accurate degree, and by stacking overhead travelling crane automatic position system, accurate degree range information being sent to stacking overhead travelling crane; And in stacking overhead travelling crane walking process, the horizontal ranging system of code band, by by being installed on the code band read head on stacking overhead travelling crane and the high precision code band in carbon block storehouse, measures the displacement of stacking overhead travelling crane accurate degree automatically, for the horizontal ranging system deviation of calibration of laser; After stacking overhead travelling crane runs to target level position, the laser scanner of laser vertical scanning system drive installation on stacking overhead travelling crane completes accurate scan and the measurement of carbon block group vertical distance, and completes the comparative analysis with target vertical position; If current vertical coordinate position and target location inconsistent, stacking overhead travelling crane automatic position system will be reported to the police to stacking overhead travelling crane master system, and cancel this operation; If current vertical coordinate position is consistent with target coordinate position, vertical displacement accurate distance information is sent to stacking overhead travelling crane PLC by stacking overhead travelling crane automatic position system.
2. overhead crane for stacking automatic position system, it is characterized in that the coordinates of targets information of stacking overhead travelling crane automatic position system according to stacking overhead travelling crane upper computer stacking or transhipment, complete the confirmation of coordinates of targets information, when stacking overhead travelling crane automatic position system confirms that anode block current vertical coordinate position is consistent with coordinates of targets, send anode block vertical displacement accurate distance information to stacking overhead travelling crane PLC, stacking overhead travelling crane PLC transmits control signal to stacking overhead travelling crane.
3. overhead crane for stacking automatic position system according to claim 1, is characterized in that stacking overhead travelling crane automatic position system comprises laser level ranging system, the horizontal ranging system of code band and laser vertical scanning system.
4. overhead crane for stacking automatic position system according to claim 3, is characterized in that described laser level ranging system comprises the airborne laser range finder be located in workshop, carbon block storehouse and the laser reflection plate that also can receive airborne laser range finder Emission Lasers bundle be located on stacking overhead travelling crane.
5. overhead crane for stacking automatic position system according to claim 3, is characterized in that the described horizontal ranging system of code band comprises the code band read head be located on stacking overhead travelling crane and the high precision code band be located in carbon block storehouse.
6. overhead crane for stacking automatic position system according to claim 3, it is characterized in that described laser vertical scanning system is the accurate scan and the measurement that are completed carbon block group vertical distance by the laser scanner be installed on stacking overhead travelling crane, and complete the comparative analysis with target vertical position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310660732.9A CN104692249B (en) | 2013-12-10 | 2013-12-10 | Method and system for automatically positioning anode carbon block stacking crane |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310660732.9A CN104692249B (en) | 2013-12-10 | 2013-12-10 | Method and system for automatically positioning anode carbon block stacking crane |
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| CN104692249A true CN104692249A (en) | 2015-06-10 |
| CN104692249B CN104692249B (en) | 2017-02-22 |
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| CN201310660732.9A Active CN104692249B (en) | 2013-12-10 | 2013-12-10 | Method and system for automatically positioning anode carbon block stacking crane |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106495000A (en) * | 2015-09-08 | 2017-03-15 | 上海海镭激光科技有限公司 | Multilamellar laser scanning truck and suspender tapered end alignment method under bridge crane |
| CN106835256A (en) * | 2017-01-17 | 2017-06-13 | 中南大学 | The localization method of Special running in a kind of potroom |
| CN107150953A (en) * | 2016-03-02 | 2017-09-12 | 宁波大榭招商国际码头有限公司 | A kind of crane direction Precise Position System and method based on machine vision |
| CN112650171A (en) * | 2020-12-17 | 2021-04-13 | 中航沈飞民用飞机有限责任公司 | Control method for multi-travelling-vehicle co-servo line multi-process simultaneous production aluminum alloy oxidation production line |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106495000A (en) * | 2015-09-08 | 2017-03-15 | 上海海镭激光科技有限公司 | Multilamellar laser scanning truck and suspender tapered end alignment method under bridge crane |
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| CN107150953A (en) * | 2016-03-02 | 2017-09-12 | 宁波大榭招商国际码头有限公司 | A kind of crane direction Precise Position System and method based on machine vision |
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| CN112650171A (en) * | 2020-12-17 | 2021-04-13 | 中航沈飞民用飞机有限责任公司 | Control method for multi-travelling-vehicle co-servo line multi-process simultaneous production aluminum alloy oxidation production line |
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| Publication number | Publication date |
|---|---|
| CN104692249B (en) | 2017-02-22 |
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