CN107024697A - A kind of aluminum electrolysis multifunctional overhead crane laser anti-collision control system - Google Patents
A kind of aluminum electrolysis multifunctional overhead crane laser anti-collision control system Download PDFInfo
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- CN107024697A CN107024697A CN201710223354.6A CN201710223354A CN107024697A CN 107024697 A CN107024697 A CN 107024697A CN 201710223354 A CN201710223354 A CN 201710223354A CN 107024697 A CN107024697 A CN 107024697A
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- laser
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- crane
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
- G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
Abstract
The invention discloses a kind of aluminum electrolysis multifunctional overhead crane laser anti-collision control system, it is related to aluminium electroloysis industry device, including multifunction crane, the generating laser for being fixed on multifunction crane side, laser pickoff, the arithmetic and control unit being fixed on the multifunction crane, alarm, traveling control relay and the target reflector for being fixed on the adjacent corresponding side of multifunction crane；Wherein, generating laser sends detection ripple, is reflected through the target reflector, and the laser pickoff obtains back wave, is handled through the arithmetic and control unit, obtains laser ranging numerical value, controls the alarm, the work of traveling control relay.The present invention can obtain larger laser ranging sample, and the laser ranging that data processing is obtained is accurate, and anticollision precision is high, solve the fluctuation of aluminium electrolysis shop air refraction greatly, the problem of precision of laser ranging is low.Precision of laser ranging of the present invention is high, and manufacturing cost is low, it is easy to industrialize.
Description
Technical field
The present invention relates to a kind of aluminium electroloysis industry device field, more particularly to a kind of aluminum electrolysis multifunctional overhead crane laser is prevented
Hit control system.
Background technology
The overhead traveling crane of aluminium electrolysis shop uses the anticollision device, collision-prevention device that contact travel switch is controlled.Belong to because travel switch is spacing
Contact anticollision, anticollision is apart from extremely short, when overhead traveling crane and overhead traveling crane bump against, although travel switch is spacing to power off overhead traveling crane, but due to
The traveling inertia of overhead traveling crane in itself makes to produce sliding for certain distance in parking between overhead traveling crane and overhead traveling crane, causes larger rigidity to touch
Hit, cause overhead traveling crane parking unstable, produce larger vibration, easily cause overhead traveling crane parts damages, produce failure, make the reliable of overhead traveling crane
Property reduction.
Operating temperature in aluminium electroloysis electrolytic cell reaches thousands of degrees Celsius, causes aluminium electrolysis shop ambient heat air current flow to answer
It is miscellaneous.The laser anti-collision multifunction crane of existing aluminium electroloysis industry, by laser ranging, obtains overhead traveling crane and obstacle distance.It is existing
Technology, because aluminium electrolysis shop environment thermal current is complicated, thermal current convection current, air refraction degree of fluctuation is big, and the light velocity changes big,
Using laser ranging fluctuation is big, precision is low, causes laser ranging to be forbidden, easily cause overhead traveling crane collision accident.
The content of the invention
In view of the drawbacks described above of prior art, the technical problems to be solved by the invention are to provide a kind of many work(of aluminium electroloysis
Energy overhead travelling crane laser anti-collision control system, it is intended to solve the fluctuation of aluminium electrolysis shop air refraction greatly, precision of laser ranging is low to ask
Topic, improves overhead traveling crane crashworthiness, reduces and occurs overhead traveling crane collision accident.
To achieve the above object, the invention provides a kind of aluminum electrolysis multifunctional overhead crane laser anti-collision control system, including
Multifunction crane, in addition to：
It is fixed on generating laser, the laser pickoff of the multifunction crane side；
The control arithmetic unit that is fixed on the multifunction crane, alarm, traveling control relay；
And it is fixed on the target reflector of the adjacent corresponding side of multifunction crane；
First output end of the input connection control arithmetic unit of the generating laser, the laser pickoff
Second input of the output end connection control arithmetic unit, the 3rd output end of the control arithmetic unit connects the alarm
Device, the 4th output end of the control arithmetic unit connects the input of the traveling control relay；
The control arithmetic unit includes Laser emission control module, laser pick-off control module, timing module, distance and solved
Module, numerical value processing module, alarm control module, relay control module；
The Laser emission control module, for controlling generating laser to send some detection pulses successively；
The laser pick-off control module, for controlling some reflected impulses of laser pickoff reception after reflection；
The timing module, for according to the detection pulse and the reflected impulse, obtaining i-th of impulse ejection and connecing
The time difference Δ t of receiptsi；The i is positive integer；
The distance solves module, for the time difference Δ t according to each pulsei, obtain the detecting distance of each pulse
Di；It is describedThe C is the light velocity；
The numerical value processing module, for detecting distance D each describediNumerical value processing is carried out, Prediction distance D is obtained,
It is describedWherein, the n be pulse total number, j be positive integer and
Meet
The alarm control module, for according to the Prediction distance D sizes, controlling the alarm equipment alarm；
The relay control module, for according to the Prediction distance D sizes, controlling the traveling control relay to open
Open or turn off.
In the technical scheme, arithmetic and control unit control laser transmitter projects pulse laser, and it is reflected, connect by laser
Receive device to obtain, calculate and obtain one group of laser ranging data, Prediction distance value is obtained by data processing, and control alarm and day
Relay work is entered by garage, realizes and overhead traveling crane anticollision is controlled.It is beneficial in that：It is poor using the reflection interval of pulse laser, obtain
One group of ranging data is obtained, processing of going forward side by side obtains accurately laser ranging numerical value, the accurate processing for being conducive to anticollision to control.Solve
The fluctuation of aluminium electrolysis shop air refraction is big, the problem of precision of laser ranging is low.
In one embodiment, the control arithmetic unit also includes overhead traveling crane speed measuring module, and the overhead traveling crane speed measuring module is configured
For：
The interval T of the detection pulse is extracted, the detecting distance D of each pulse is extractedi；
The multifunction crane speed V is solved, it is describedThe T ＞ 0.
The technical scheme is beneficial in that：Multifunction crane speed can be obtained, facilitates equipment to extract day vehicle speed
Data, meanwhile, the speed calculates accurate, and calculates advantage with quick.
In one embodiment, between the second input of the output end of the laser pickoff and the control arithmetic unit also
It is connected with signal amplification circuit and filtering shaping circuit.
The technical scheme is beneficial in that：Signal noise resisting ability is improved, measurement accuracy is improved.
In one embodiment, the pulse width of the detection pulse is 10ns-10ms, the pulse spacing of the detection pulse
For 50ns-50ms.
The technical scheme is beneficial in that：Signal noise resisting ability is improved, measurement accuracy is improved.Meanwhile, also ensure
Measuring speed.
In one embodiment, the traveling control relay, including high speed traveling control relay, low speed advance control after
Electrical equipment；
The alarm control module and the relay control module, are configured as：
If the Prediction distance D is more than threshold value Q1, then the alarm be not turned on, the high speed traveling control relay
Open；
If the Prediction distance D is less than or equal to threshold value Q1, and the Prediction distance D is more than threshold value Q2, then the report
Alert device is not turned on, and opens the low speed traveling control relay；
If the Prediction distance D is less than or equal to threshold value Q2, then the alarm unlatching, the closing low speed, which is advanced, to be controlled
Relay processed；The Q1、Q2Meet 0≤Q2≤Q1。
In the technical scheme, by setting threshold value, the work of accurate control alarm and traveling control relay is reached
Make, it is to avoid overhead traveling crane sends collision accident.
The beneficial effects of the invention are as follows：The present invention controls laser transmitter projects pulse laser by arithmetic and control unit, and
It is reflected, obtained by laser pickoff, calculate and obtain one group of laser ranging data, Prediction distance value is obtained by data processing,
And control alarm and overhead traveling crane traveling relay to work, realize and overhead traveling crane anticollision is controlled.With the laser ranging sample that acquisition is larger
Originally, the laser ranging that data processing is obtained is accurate, and anticollision precision is high, solves the fluctuation of aluminium electrolysis shop air refraction greatly, swashs
The problem of ligh-ranging precision is low.Precision of laser ranging of the present invention is high, and manufacturing cost is low, it is easy to industrialize.
Brief description of the drawings
Fig. 1 is the structural representation of the embodiment of the invention；
Fig. 2 is the pulse laser emission of the embodiment of the invention with receiving schematic diagram；
Fig. 3 is the laser ranging data curve of the embodiment of the invention；
Fig. 4 is the schematic flow sheet of the embodiment of the invention；
Fig. 5 is the generating laser and receiver schematic view of the mounting position of the embodiment of the invention.
Embodiment
The invention will be further described with reference to the accompanying drawings and examples：
As shown in Figure 1, shown in Figure 5, there is provided a kind of aluminum electrolysis multifunctional overhead crane laser anti-collision control in the first embodiment of the invention
System processed, including multifunction crane, in addition to：
It is fixed on generating laser 11, the laser pickoff 12 of the multifunction crane side；
The generating laser 11 and laser pickoff 12 are fixed using mounting bracket and locking spring washer；The laser
The optical axis of transmitter 11 is parallel with the optical axis of laser pickoff 12, and the laser that the generating laser 11 is sent is emitted by institute
Laser pickoff 12 is stated to receive；
The arithmetic and control unit 2 that is fixed on the multifunction crane, alarm 32, traveling control relay 31；
And it is fixed on the target reflector 13 of the adjacent corresponding side of multifunction crane；
The bottom of target reflector 13 is secured by bolts on support frame；
The input of the generating laser 11 connects the first output end of the arithmetic and control unit 2, the laser pick-off
The output end of device 12 connects the second input of the arithmetic and control unit 2, the 3rd output end connection institute of the arithmetic and control unit 2
Alarm 32 is stated, the 4th output end of the arithmetic and control unit 2 connects the input of the traveling control relay 31；
The arithmetic and control unit 2 include Laser emission control module 21, laser pick-off control module 22, timing module 23,
Distance solves module 24, numerical value processing module 25, alarm control module 27, relay control module 26；
The input of the generating laser 11 connects the first output end of the Laser emission control module 21, described to swash
The output end of optical receiver 12 connects the second input of the laser pick-off control module 22, and the of the alarm control module
Three output ends connect the alarm 32, the 4th output end connection of the relay control module 26 control relay of advancing
The input of device 31；
The Laser emission control module 21, for controlling generating laser 11 to send some detection pulses successively；
The laser pick-off control module 22, for controlling laser pickoff 12 to receive some reflection arteries and veins after reflection
Punching；
The timing module 23, for according to the detection pulse and reflected impulse, obtain i-th of impulse ejection and
The time difference Δ t of receptioni；The i is positive integer；
When arithmetic and control unit 2 sends detection pulse, that is, notify the timing of timing module 23；Until laser pickoff 12 is received
To transmitting pulse, timing module 23 respectively to each pulse from be transmitted into receive transmitting pulse carry out timing.Timing module 23
Timing triggering end connection Laser emission control module 21, the timing statistics end connection laser receiving module of timing module 23.
The distance solves module 24, for the time difference Δ t according to each pulsei, obtain the detection of each pulse away from
From Di；It is describedThe C is the light velocity；
The numerical value processing module 25, for detecting distance D each describediNumerical value processing is carried out, Prediction distance is obtained
D, it is describedWherein, the n is pulse total number, and j is positive integer
And meet
The alarm control module 27, for according to the Prediction distance D sizes, controlling the alarm 32 to alarm；
The relay control module 26, for according to the Prediction distance D sizes, controlling the traveling control relay
31 are switched on or off.
As shown in Fig. 2 the emission pulse laser 111 of generating laser 11, after a period of time, laser pickoff 12 is received
Pulse laser 121, timing module 23 records the time difference Δ t of each pulse respectivelyi, schematically, in fig. 2, four arteries and veins
The time difference of impulse light is respectively Δ t1、Δt2、Δt3、Δt4。
It is noted that in the present embodiment, by detecting distance DiNumerical value processing is carried out, Prediction distance D is obtained.
Next its solution formula is derived.
The present invention further controls overhead traveling crane traveling collision free by laser ranging, acquired disturbance thing distance, and overhead traveling crane is relative
In the state of barrier can be divided into geo-stationary, away from and approach.According to the difference of state, detecting distance data D is obtainedi, can
Just it is being negative linear function, such as Fig. 3 with slope as 0, slope to be fitted to slope respectively to be, to approach the laser ranging of barrier
The curve that data are constituted.Because multifunction crane is provided with multiple gear speed, under each gear, laser ranging data is set
For linear function.Meet following relation：
Y=k (x-x0)+y0 (1)
Wherein, k is slope, and x is data DiNumbering, (x0,y0) on linear function a bit, make (x0,y0) beIt can obtain：
Current day spacing obstacle distance meets for D：
Meanwhile, slope of curve k solution can be by the way that in Fig. 2 data, the average value of rear j data subtracts preceding j data
Average value, then divided by the two distance obtain, i.e.,：
Contact formula (3), formula (4) can be obtained：
In addition, in the present embodiment, the arithmetic and control unit 2 also includes overhead traveling crane speed measuring module, the overhead traveling crane speed measuring module
It is configured as：
The interval T of the detection pulse is extracted, the detecting distance D of each pulse is extractedi；
The multifunction crane speed V is solved, it is describedThe T ＞ 0.
In the present embodiment, the second input of the output end of the laser pickoff 12 and the arithmetic and control unit 2 it
Between be also associated with signal amplification circuit and filtering shaping circuit.Wherein, signal amplification circuit is the amplification electricity for having triode to constitute
Road, it is prior art that triode, which constitutes amplifying circuit, is repeated no more here.Filtering shaping circuit is doube bridge filter circuit, the skill
Art is also prior art, is repeated no more here.
In the present embodiment, the pulse width of the detection pulse is 10ns-10ms, the pulse spacing of the detection pulse
For 50ns-50ms.Pulse width can have arithmetic and control unit 2 to set, the I/O mouth output control signals of arithmetic and control unit 2, and lead to
Cross the transistor switching circuit driving emission pulse laser of generating laser 11.In a typical case, pulse width is 10ns,
Pulse spacing is 50ns.In another optional case, pulse width is 10ms, and the pulse spacing is 50ms.In order to gather enough
Many sample datas, it is desirable to reduce pulse width and pulse spacing, meanwhile, in order to ensure that pulse laser emission is steady with receiving
Determine, it is necessary to increase pulse width and pulse spacing.So, in a preferred case, pulse width is 1ms, and the pulse spacing is
10ms。
In the present embodiment, the traveling control relay 31, including high speed traveling control relay 31, low speed are advanced and controlled
Relay 31 processed, advance control relay, retrogressing control relay；Exemplarily, in the present embodiment, high speed gait of march
3m/s, low speed gait of march is 1m/s.
Traveling control relay 31 connects the PLC of the multifunction crane, and the PLC passes through the traveling control relay
The 31 controls multifunction crane operation；The PLC system of multifunction crane is prior art, is repeated no more here.
The alarm control module 27 and the relay control module 26, are configured as：
If the Prediction distance D is more than threshold value Q1, then the alarm 32 be not turned on, the high speed is advanced control relay
Device 31 is opened, and the low speed is controlled cut-off；In this embodiment, threshold value Q1=10m.
If the Prediction distance D is less than or equal to threshold value Q1, and the Prediction distance D is more than threshold value Q2, then the report
Alert device 32 is not turned on, and control relay is carried out at high speed described in closing, opens the low speed traveling control relay 31；In this implementation
In, the ＜ Q of threshold value 02≤ 5m, can set according to actual conditions.Alternatively Q2=5m.Alternatively, when two overhead traveling cranes achieve a butt joint work(
During energy, Q2=0.1m.
If the Prediction distance D is less than or equal to threshold value Q2, then the alarm 32 open, close the low speed and advance
Control relay 31, close described in be carried out at high speed control relay；The Q1、Q2Meet 0≤Q2≤Q1。
As shown in figure 4, the workflow for the CAS that the present embodiment is provided, comprises the following steps：
Step S1, generating laser 11 send some detection pulses successively；Wherein, the tranmitting frequency of generating laser 11 and
Pulse width is by manually presetting to arithmetic and control unit 2.
Step S2, laser pickoff 12 receive some reflected impulses after reflection；
Step S3, timing module 23 obtain i-th of impulse ejection and connect according to the detection pulse and the reflected impulse
The time difference Δ t of receiptsi；The i is positive integer；
It is noted that when arithmetic and control unit 2 sends detection pulse, that is, notifying the timing of timing module 23, and laser
Receiver 12 receives transmitting pulse, and timing module 23 receives transmitting pulse and counted from being transmitted into each pulse respectively
When.
Step S4, the time difference Δ t according to each pulsei, obtain the detecting distance D of each pulsei；It is describedThe C is the light velocity；Wherein, the step solves module 24 by distance and completed.
Step S5, to detecting distance D each describediNumerical value processing is carried out, Prediction distance D is obtained, it is describedWherein, the n is pulse total number, and j is positive integer and satisfactionWherein, the step is completed by numerical value processing module 25.
Step S6, according to the Prediction distance D sizes, control the alarm 32 to alarm, or control the control of advancing
Relay 31 is switched on or off.
The operation principle of the present embodiment is：Due to the high-temperature temperature convection current of aluminium electrolysis shop, regional atmospheric density becomes
Change big, measured range information fluctuation greatly, it is necessary to carry out numerical value processing, obtain more accurate laser ranging numerical value.In this hair
In bright, generating laser 11 sends detection ripple, is reflected through the target reflector 13, and the laser pickoff 12 is reflected
Ripple, is handled through the arithmetic and control unit 2, obtains laser ranging numerical value, controls the alarm 32, the work of traveling control relay 31
Make.Multiple impulse ejections, and receive multiple reflected impulses, every a pair of transmitting/reflected impulses include barrier with it is multi-functional
The range information of overhead traveling crane.By carrying out numerical value processing to these range informations, accurately laser ranging data is obtained.
Preferred embodiment of the invention described in detail above.It should be appreciated that one of ordinary skill in the art without
Need creative work just can make many modifications and variations according to the design of the present invention.Therefore, all technologies in the art
Personnel are available by logical analysis, reasoning, or a limited experiment on the basis of existing technology under this invention's idea
Technical scheme, all should be in the protection domain being defined in the patent claims.
Claims (5)
1. a kind of aluminum electrolysis multifunctional overhead crane laser anti-collision control system, including multifunction crane, it is characterised in that also include：
It is fixed on generating laser (11), the laser pickoff (12) of the multifunction crane side；
The arithmetic and control unit (2) that is fixed on the multifunction crane, alarm (32), traveling control relay (31)；
And it is fixed on the target reflector (13) of the adjacent corresponding side of multifunction crane；
The input of the generating laser (11) connects the first output end of the arithmetic and control unit (2), the laser pick-off
The output end of device (12) connects the second input of the arithmetic and control unit (2), the 3rd output end of the arithmetic and control unit (2)
Connect the alarm 32), the 4th output end of the arithmetic and control unit (2) connects the defeated of the traveling control relay (31)
Enter end；
The arithmetic and control unit (2) includes Laser emission control module (21), laser pick-off control module (22), timing module
(23), distance solves module (24), numerical value processing module (25), alarm control module (27), relay control module (26)；
The Laser emission control module (21), for controlling generating laser (11) to send some detection pulses successively；
The laser pick-off control module (22), for controlling some reflection arteries and veins of laser pickoff (12) reception after reflection
Punching；
The timing module (23), for according to the detection pulse and the reflected impulse, obtaining i-th of impulse ejection and connecing
The time difference Δ t of receiptsi；The i is positive integer；
The distance solves module (24), for the time difference Δ t according to each pulsei, obtain the detecting distance of each pulse
Di；It is describedThe C is the light velocity；
The numerical value processing module (25), for detecting distance D each describediNumerical value processing is carried out, Prediction distance D, institute is obtained
StateWherein, the n is pulse total number, and j is positive integer and full
Foot
The alarm control module (27), for according to the Prediction distance D sizes, controlling alarm (32) alarm；
The relay control module (26), for according to the Prediction distance D sizes, controlling the traveling control relay
(31) it is switched on or off.
2. a kind of aluminum electrolysis multifunctional overhead crane laser anti-collision control system as claimed in claim 1, it is characterised in that the fortune
Calculating controller (2) also includes overhead traveling crane speed measuring module, and the overhead traveling crane speed measuring module is configured as：
The interval T of the detection pulse is extracted, the detecting distance D of each pulse is extractedi；
The multifunction crane speed V is solved, it is describedThe T ＞ 0.
3. a kind of aluminum electrolysis multifunctional overhead crane laser anti-collision control system as claimed in claim 1, it is characterised in that described to swash
Be also associated between the output end of optical receiver (12) and the second input of the arithmetic and control unit (2) signal amplification circuit and
Filtering shaping circuit.
4. a kind of aluminum electrolysis multifunctional overhead crane laser anti-collision control system as claimed in claim 1, it is characterised in that the inspection
The pulse width for surveying pulse is 10ns-10ms, and the pulse spacing of the detection pulse is 50ns-50ms.
5. a kind of aluminum electrolysis multifunctional overhead crane laser anti-collision control system as claimed in claim 1, it is characterised in that the row
Enter control relay (31), including high speed traveling control relay (31), low speed traveling control relay (31)；
The alarm control module (27) and the relay control module (26), are configured as：
If the Prediction distance D is more than threshold value Q1, then the alarm (32) be not turned on, the high speed traveling control relay
(31) open；
If the Prediction distance D is less than or equal to threshold value Q1, and the Prediction distance D is more than threshold value Q2, then the alarm
(32) it is not turned on, opens the low speed traveling control relay (31)；
If the Prediction distance D is less than or equal to threshold value Q2, then alarm (32) unlatching, the closing low speed, which is advanced, to be controlled
Relay (31) processed, the Q1、Q2Meet 0≤Q2≤Q1。
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| CN201710223354.6A CN107024697B (en) | 2017-04-07 | 2017-04-07 | A kind of aluminum electrolysis multifunctional overhead crane laser anti-collision control system |
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