CN107024697B - 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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- CN107024697B CN107024697B CN201710223354.6A CN201710223354A CN107024697B CN 107024697 B CN107024697 B CN 107024697B CN 201710223354 A CN201710223354 A CN 201710223354A CN 107024697 B CN107024697 B CN 107024697B
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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
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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
- G01S17/02—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 systems, it is related to aluminium electroloysis industry device, including multifunction crane, the laser emitter for being fixed on multifunction crane side, laser pickoff, the arithmetic and control unit being fixed on the multifunction crane, alarm, the target reflector for controlling relay and being fixed on the adjacent corresponding side of multifunction crane of advancing；Wherein, laser emitter issues detection wave, reflects through the target reflector, and the laser pickoff obtains back wave, handles through the arithmetic and control unit, obtains laser ranging numerical value, controls the alarm, control relay work of advancing.The present invention can obtain biggish laser ranging sample, and the laser ranging that data processing obtains is accurate, and anticollision precision is high, solve the fluctuation of aluminium electrolysis shop air refraction greatly, the low problem of precision of laser ranging.Precision of laser ranging of the present invention is high, and manufacturing cost is low, is easy to industrialize.
Description
Technical field
The present invention relates to a kind of aluminium electroloysis industry device fields, anti-more particularly to a kind of aluminum electrolysis multifunctional overhead crane laser
Hit control system.
Background technique
The overhead traveling crane of aluminium electrolysis shop uses the anticollision device, collision-prevention device of contact travel switch control.Since travel switch limit belongs to
Contact anticollision, anticollision is apart from extremely short, when overhead traveling crane and overhead traveling crane bump against, although travel switch limit powers off overhead traveling crane, due to
The traveling inertia of overhead traveling crane itself makes to generate sliding for certain distance in parking between overhead traveling crane and overhead traveling crane, and larger rigidity is caused to touch
It hits, causes overhead traveling crane parking unstable, generate larger vibration, be easy to cause overhead traveling crane parts damages, generate failure, make the reliable of overhead traveling crane
Property reduce.
Operating temperature in aluminium electroloysis electrolytic cell reaches thousands of degrees Celsius, causes the flowing of aluminium electrolysis shop environment thermal current multiple
It is miscellaneous.The laser anti-collision multifunction crane of existing aluminium electroloysis industry obtains overhead traveling crane and obstacle distance by laser ranging.It is existing
Technology, since aluminium electrolysis shop environment thermal current is complicated, thermal current convection current, air refraction degree of fluctuation is big, and the light velocity changes greatly,
It is big using laser ranging fluctuation, precision is low, cause laser ranging inaccurate, be easy to cause overhead traveling crane collision accident.
Summary of the invention
In view of the above drawbacks of the prior art, technical problem to be solved by the invention is to provide a kind of more function 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 overhead traveling crane collision accident occurs.
To achieve the above object, the present invention provides a kind of aluminum electrolysis multifunctional overhead crane laser anti-collision control systems, including
Multifunction crane, further includes:
It is fixed on laser emitter, the laser pickoff of the multifunction crane side；
Control arithmetic unit, the alarm, control relay of advancing being fixed on the multifunction crane；
And it is fixed on the target reflector of the adjacent corresponding side of multifunction crane；
The input terminal of the laser emitter connects the first output end of the control arithmetic unit, the laser pickoff
Output end connects the second input terminal of the control arithmetic unit, and the third output end of the control arithmetic unit connects the alarm
Device, the 4th output end of the control arithmetic unit connect the input terminal of the control relay of advancing；
The control arithmetic unit includes Laser emission control module, laser pick-off control module, timing module, distance solution
Module, numerical value processing module, alarm control module, relay control module；
The Laser emission control module successively sends several detection pulses for controlling laser emitter；
The laser pick-off control module, for controlling several reflected impulses of laser pickoff reception after reflection；
The timing module, for obtaining i-th of impulse ejection and connecing according to the detection pulse and the reflected impulse
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 each detecting distance DiNumerical 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 controlling the alarm equipment alarm according to the Prediction distance D size；
The relay control module, for controlling the traveling control relay and opening according to the Prediction distance D size
It opens or turns off.
In the technical scheme, arithmetic and control unit controls laser transmitter projects pulse laser, and through reflecting, is connect by laser
It receives device to obtain, calculates and obtain one group of laser ranging data, Prediction distance value is obtained by data processing, and control alarm and day
Garage works into relay, realizes and controls overhead traveling crane anticollision.It is poor using the reflection interval of pulse laser to have the beneficial effect that, obtains
One group of ranging data is obtained, processing of going forward side by side obtains accurately laser ranging numerical value, is conducive to the accurate processing of anticollision control.It solves
The fluctuation of aluminium electrolysis shop air refraction is big, the low problem of precision of laser ranging.
In one embodiment, the control arithmetic unit further includes overhead traveling crane speed measuring module, and the overhead traveling crane speed measuring module is configured
Are as follows:
The interval T for extracting the detection pulse, extracts the detecting distance D of each pulsei；
The multifunction crane speed V is solved, it is describedThe T >
0。
Having the beneficial effect that for the technical solution can obtain multifunction crane speed, and equipment is facilitated to extract day vehicle speed
Data, meanwhile, which calculates accurately, and has and quickly calculate advantage.
In one embodiment, between the output end of the laser pickoff and the second input terminal of the control arithmetic unit also
It is connected with signal amplification circuit and filtering shaping circuit.
Having the beneficial effect that for the technical solution improves signal noise resisting ability, improves measurement accuracy.
In one embodiment, the pulse width of the detection pulse is 10ns-10ms, the pulse spacing of the detection pulse
For 50ns-50ms.
Having the beneficial effect that for the technical solution improves signal noise resisting ability, improves measurement accuracy.Meanwhile also guaranteeing
Measuring speed.
In one embodiment, the traveling controls relay, including high speed advance control relay, low speed advance control after
Electric appliance；
The alarm control module and the relay control module, are configured as:
If the Prediction distance D is greater than threshold value Q1, then the alarm is not turned on, and the high speed, which is advanced, controls relay
It opens；
If the Prediction distance D is less than or equal to threshold value Q1, and the Prediction distance D is greater 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 is opened, and closes the low speed traveling control
Relay processed；The Q1、Q2Meet 0≤Q2≤Q1。
In the technical scheme, by setting threshold value, reach the work of accurate control alarm and control relay of advancing
Make, overhead traveling crane is avoided to send collision accident.
The beneficial effects of the present invention are: the present invention controls laser transmitter projects pulse laser by arithmetic and control unit, and
It through reflecting, is obtained by laser pickoff, calculates and obtain one group of laser ranging data, Prediction distance value is obtained by data processing,
And alarm and the work of overhead traveling crane traveling relay are controlled, it realizes and overhead traveling crane anticollision is controlled.With the biggish laser ranging sample of acquisition
This, the laser ranging that data processing obtains is accurate, and anticollision precision is high, solves the fluctuation of aluminium electrolysis shop air refraction greatly, swashs
The low problem of ligh-ranging precision.Precision of laser ranging of the present invention is high, and manufacturing cost is low, is easy to industrialize.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the embodiment of the invention；
Fig. 2 is the pulse laser emission and reception schematic diagram of the embodiment of the invention；
Fig. 3 is the laser ranging data curve of the embodiment of the invention；
Fig. 4 is the flow diagram of the embodiment of the invention；
Fig. 5 is the laser emitter and receiver schematic view of the mounting position of the embodiment of the invention.
Specific embodiment
Present invention will be further explained below with reference to the attached drawings and examples:
As shown in Figure 1, shown in Figure 5, in the first embodiment of the invention, a kind of aluminum electrolysis multifunctional overhead crane laser anti-collision control is provided
System processed, including multifunction crane, further includes:
It is fixed on laser emitter 11, the laser pickoff 12 of the multifunction crane side；
The laser emitter 11 and laser pickoff 12 are fixed using mounting bracket and locking spring washer；The laser
11 optical axis of transmitter is parallel with 12 optical axis of laser pickoff, the laser that the laser emitter 11 issues, emitted by institute
State the reception of laser pickoff 12；
Arithmetic and control unit 2, the alarm 32, control relay 31 of advancing being fixed on the multifunction crane；
And it is fixed on the target reflector 13 of the adjacent corresponding side of multifunction crane；
13 bottom of target reflector is fixed by bolts on support frame；
The input terminal of the laser emitter 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 terminal of the arithmetic and control unit 2, and the third output end of the arithmetic and control unit 2 connects institute
Alarm 32 is stated, the 4th output end of the arithmetic and control unit 2 connects the input terminal of the control relay 31 of advancing；
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 terminal of the laser emitter 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 terminal of the laser pick-off control module 22, and the of the alarm control module
Three output ends connect the alarm 32, and the 4th output end of the relay control module 26 connects the traveling and controls relay
The input terminal of device 31；
The Laser emission control module 21 successively sends several detection pulses for controlling laser emitter 11；
The laser pick-off control module 22, for controlling several reflection arteries and veins of the reception of laser pickoff 12 after reflection
Punching；
The timing module 23, for according to the detection pulse and the reflected impulse, obtain i-th of impulse ejection with
Received time difference Δ ti；The i is positive integer；
When arithmetic and control unit 2 sends detection pulse, i.e. notice 23 timing of timing module；Until laser pickoff 12 receives
To transmitting pulse, timing module 23 respectively to each pulse from be emitted to receive transmitting pulse carry out timing.Timing module 23
Timing triggering end connect Laser emission control module 21, timing module 23 timing statistics end connect laser receiving module.
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 each detecting distance DiNumerical 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 controlling the alarm 32 and alarming according to the Prediction distance D size；
The relay control module 26, for controlling the traveling and controlling relay according to the Prediction distance D size
31 are switched on or off.
As shown in Fig. 2, 11 emission pulse laser 111 of laser emitter, after a period of time, laser pickoff 12 receives
Pulse laser 121, timing module 23 record 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 is further controlled overhead traveling crane traveling and is avoided collision by laser ranging, acquired disturbance object distance, and overhead traveling crane is opposite
It can be divided into opposing stationary, separate in the state of barrier and approach.According to the difference of state, detecting distance data D is obtainedi, can
It is that 0, slope is positive the linear function being negative with slope, such as Fig. 3 to be fitted to slope respectively, for the laser ranging for approaching barrier
The curve that data are constituted.Since multifunction crane is provided with multiple gear speed, under each gear, laser ranging data is set
For linear function.Meet following relationship:
Y=k (x-x0)+y0 (1)
Wherein, k is slope, and x is data DiNumber, (x0,y0) be linear function on a bit, enable (x0,y0) beIt can obtain:
Current day spacing obstacle distance is D satisfaction:
Meanwhile the solution of slope of curve k, it 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, it may be assumed that
Connection formula (3), formula (4) can obtain:
In addition, in the present embodiment, the arithmetic and control unit 2 further includes overhead traveling crane speed measuring module, the overhead traveling crane speed measuring module
It is configured as:
The interval T for extracting the detection pulse, extracts the detecting distance D of each pulsei；
The multifunction crane speed V is solved, it is describedThe T >
0。
In the present embodiment, the second input terminal of the output end of the laser pickoff 12 and the arithmetic and control unit 2 it
Between be also connected with signal amplification circuit and filtering shaping circuit.Wherein, signal amplification circuit is the amplification electricity for having triode to constitute
Road, it is the prior art that triode, which constitutes amplifying circuit, and which is not described herein again.Filtering shaping circuit is doube bridge filter circuit, the skill
Art is also the prior art, and which is not described herein again.
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 the setting of arithmetic and control unit 2, the I/O mouth output control signal of arithmetic and control unit 2, and lead to
Cross transistor switching circuit driving 11 emission pulse laser of laser emitter.In a typical case, pulse width 10ns,
Pulse spacing is 50ns.In another optional case, pulse width 10ms, pulse spacing 50ms.In order to acquire enough
More sample datas, it is desirable to reduce pulse width and pulse spacing, meanwhile, in order to guarantee pulse laser emission and receive steady
It is fixed, it needs to increase pulse width and pulse spacing.So in a preferred case, pulse width 1ms, the pulse spacing is
10ms。
In the present embodiment, the traveling controls relay 31, including high speed advances and controls relay 31, low speed traveling control
Relay 31 processed, retreats control relay at the control relay that advances；Illustratively, in the present embodiment, high speed travel speed
3m/s, low speed travel speed are 1m/s.
Control relay 31 of advancing connects the PLC of the multifunction crane, and the PLC controls relay by the traveling
The 31 controls multifunction crane operation；The PLC system of multifunction crane is the prior art, and which is not described herein again.
The alarm control module 27 and the relay control module 26, are configured as:
If the Prediction distance D is greater than threshold value Q1, then the alarm 32 is not turned on, and the high speed, which is advanced, controls relay
Device 31 is opened, and the low speed carries out control 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 greater 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, 0 < Q of threshold value2≤ 5m, may be set according to actual conditions.Optionally Q2=5m.Optionally, when two overhead traveling cranes realize docking function
When energy, Q2=0.1m.
If the Prediction distance D is less than or equal to threshold value Q2, then the alarm 32 is opened, and is closed the low speed and is advanced
Relay 31 is controlled, is carried out at high speed control relay described in closing；The Q1、Q2Meet 0≤Q2≤Q1。
As shown in figure 4, the workflow of anti-collision system provided in this embodiment, includes the following steps:
Step S1, laser emitter 11 successively sends several detection pulses；Wherein, the tranmitting frequency of laser emitter 11 and
Pulse width is by manually presetting to arithmetic and control unit 2.
Step S2, laser pickoff 12 receives several reflected impulses after reflection；
Step S3, timing module 23 obtains i-th of impulse ejection and connects 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, i.e. notice 23 timing of timing module, and laser
Receiver 12 receives transmitting pulse, and timing module 23 receives transmitting pulse and count from being emitted to each pulse respectively
When.
Step S4, according to the time difference Δ t of each pulsei, obtain the detecting distance D of each pulsei；It is describedThe C is the light velocity；Wherein, which solves module 24 by distance and completes.
Step S5, to each detecting distance DiNumerical 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, which is completed by numerical value processing module 25.
Step S6, it according to the Prediction distance D size, controls the alarm 32 and alarms, or the control traveling control
Relay 31 is switched on or off.
The working principle of the present embodiment are as follows: due to the high-temperature temperature convection current of aluminium electrolysis shop, each region atmospheric density becomes
It is big to change big, measured range information fluctuation, needs to carry out numerical value processing, obtains more accurate laser ranging numerical value.In this hair
In bright, laser emitter 11 issues detection wave, reflects through the target reflector 13, and the laser pickoff 12 is reflected
Wave is handled through the arithmetic and control unit 2, obtains laser ranging numerical value, controls the alarm 32, control 31 work of relay of advancing
Make.Multiple impulse ejections, and receive multiple reflected impulses, every a pair of transmitting/reflected impulse 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.
The preferred embodiment of the present invention has been described in detail above.It should be appreciated that those skilled in the art without
It needs creative work according to the present invention can conceive and makes many modifications and variations.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 solution, all should be within the scope of protection determined by the claims.
Claims (5)
1. a kind of aluminum electrolysis multifunctional overhead crane laser anti-collision control system, including multifunction crane, which is characterized in that further include:
It is fixed on laser emitter (11), the laser pickoff (12) of the multifunction crane side；
Arithmetic and control unit (2), the alarm (32), control relay (31) of advancing being fixed on the multifunction crane；
And it is fixed on the target reflector (13) of the adjacent corresponding side of multifunction crane；
The input terminal of the laser emitter (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 terminal of the arithmetic and control unit (2), the third output end of the arithmetic and control unit (2)
It connects the alarm (32), the 4th output end connection of the arithmetic and control unit (2) control relay (31) of advancing
Input terminal；
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) successively sends several detection pulses for controlling laser emitter (11)；
The laser pick-off control module (22), for controlling several reflection arteries and veins of laser pickoff (12) reception after reflection
Punching；
The timing module (23), for obtaining i-th of impulse ejection and connecing according to the detection pulse and the reflected impulse
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 each detecting distance DiNumerical value processing is carried out, Prediction distance D, institute are obtained
It statesWherein, the n is pulse total number, and j is positive integer and expires
Foot
The alarm control module (27), for controlling the alarm (32) alarm according to the Prediction distance D size；
The relay control module (26), for controlling the traveling and controlling relay according to the Prediction distance D size
(31) it is switched on or off.
2. a kind of aluminum electrolysis multifunctional overhead crane laser anti-collision control system as described in claim 1, which is characterized in that the fortune
Calculating controller (2) further includes overhead traveling crane speed measuring module, and the overhead traveling crane speed measuring module is configured as:
The interval T for extracting the detection pulse, extracts the detecting distance D of each pulsei；
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 described in claim 1, which is characterized in that described to swash
Be also connected between the output end of optical receiver (12) and the second input terminal 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 described in claim 1, which is characterized 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 described in claim 1, which is characterized in that the row
It advances into control relay (31), including high speed and controls relay, low speed traveling control relay；
The alarm control module (27) and the relay control module (26), are configured as:
If the Prediction distance D is greater than threshold value Q1, then the alarm (32) is not turned on, and the high speed, which is advanced, controls relay
It opens, the low speed carries out control cut-off；
If the Prediction distance D is less than or equal to threshold value Q1, and the Prediction distance D is greater than threshold value Q2, then the alarm
(32) it is not turned on, control relay is carried out at high speed described in closing, open the low speed traveling control relay；
If the Prediction distance D is less than or equal to threshold value Q2, then the alarm (32) is opened, and closes the low speed traveling control
Relay processed is carried out at high speed control relay, the Q described in closing1、Q2Meet 0≤Q2≤Q1。
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