CN107064951B - Electrolytic workshop position information management and ranging data processing method - Google Patents
Electrolytic workshop position information management and ranging data processing method Download PDFInfo
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- CN107064951B CN107064951B CN201710213594.8A CN201710213594A CN107064951B CN 107064951 B CN107064951 B CN 107064951B CN 201710213594 A CN201710213594 A CN 201710213594A CN 107064951 B CN107064951 B CN 107064951B
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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
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
- G06F16/23—Updating
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
- G06F16/29—Geographical information databases
Abstract
The invention provides a method for managing electrolysis workshop position information and processing ranging data, which comprises the following steps: calibrating the position coordinates of each target position by using a laser range finder arranged on the electrolysis travelling crane; numbering each target position, establishing a mapping relation table between the target position number and the position coordinate, and storing the established mapping relation table in a database; establishing relative position relations among all target positions according to the mapping relation table in the database; and when the laser range finder is replaced in the later period, the mapping relation table in the database is automatically updated by using the re-calibration rule. According to the invention, all target positions can be updated by using a recalibration rule according to the relative position relation of all target positions in the electrolytic workshop, and the distance measurement data after the laser distance measurement signal is lost is estimated through the historical motion data of the electrolytic travelling crane, so that the problem of distance measurement signal loss in the high-speed running process of the electrolytic travelling crane is avoided.
Description
Technical Field
The invention relates to the technical field of information management, in particular to a method for managing electrolysis shop position information and processing ranging data.
Background
The electrolysis travelling crane is a special hoisting and transporting device erected in an electrolysis plant, is shaped like a bridge and is also called as an electrolysis bridge crane. In an electrolysis workshop, the electrolysis cycle of a cathode plate and an anode plate is fixed, and when the electrolysis cycle is finished, a bridge crane special for electrolysis can accurately reach a given target position to finish the operation of discharging and loading the electrode plates from a tank. The electrolytic bath, the unit station and the preparation frame on the ground are target positions to be reached by the electrolysis travelling crane, and the position information of the electrolytic bath, the unit station and the preparation frame plays a basic positioning role.
In the traditional electrolytic production, the target position is visually positioned by operators' operation experience and ground personnel manually. The mental concentration of operators is required to be high, the operation action is frequent, the working intensity and pressure are high, the misoperation is easy, and the safety is not high. On some traveling cranes with distance measuring instruments, effective position information management is not carried out on electrolytic baths, unit stations and preparation frames in electrolytic plants, and after the distance measuring instruments are replaced, manual correction input is needed again one by one. Because the electrolysis shop often has hundreds or even thousands of position information, the workload is huge, and the electrolysis shop can be completed after several months.
Disclosure of Invention
The invention provides a method for managing electrolysis workshop position information and processing ranging data, which is convenient for realizing safe and stable operation of an electrolysis travelling crane and lightening the maintenance work of the later electrolysis workshop position information.
According to one aspect of the invention, a method for managing electrolysis shop location information and processing ranging data is provided, which comprises the following steps:
s1, calibrating the position coordinates of each target position by using a laser range finder arranged on the electrolysis travelling crane;
s2, numbering each target position, establishing a mapping relation table between the target position number and the position coordinate, and storing the established mapping relation table in a database, wherein the target position is uniquely identified through the number;
s3, establishing the relative position relation between all the target positions according to the mapping relation table in the database;
and S4, when the laser range finder is replaced in the later period, automatically updating the mapping relation table in the database by using the re-calibration rule.
The invention has the beneficial effects that: the target position coordinates of the electrolytic workshop are calibrated through the laser range finder, the electrolytic workshop is effectively managed by the position information database, the operation target position information is read according to the input position number, the operation is convenient, and the automatic positioning accuracy of the electrolytic travelling crane is ensured. In the running process of the vehicle, the problem of loss of the ranging signal is solved by adopting an effective data processing method, so that the running is ensured to run stably and safely. When the distance measuring instrument is replaced in the later stage, the coordinate calibration of the electrolytic cell, the unit station and the preparation frame up to months does not need to be carried out again manually according to the set position information re-calibration rule, programming personnel are not needed to participate, and the traveling crane operators can finish the operation by themselves, so that the later-stage maintenance work is greatly reduced, and the production efficiency of an electrolytic workshop and the informatization and automation level of the electrolytic process are improved.
Drawings
FIG. 1 is a flow chart of a method for managing location information and processing ranging data of an electrolysis shop according to an embodiment of the present invention;
FIG. 2 is a layout of a target site of an electrolytic cell plant;
FIG. 3 is a flow chart of the position coordinate recalibration of the target location in one embodiment of the present invention;
FIG. 5 is a flow chart of modifying position coordinate information in data according to one embodiment of the present invention;
FIG. 4 is a flow chart illustrating the processing of a lost laser ranging signal in accordance with an embodiment of the present invention.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
Referring to fig. 1, a method for managing location information and processing distance measurement data of an electrolysis shop according to an embodiment of the present invention is applicable to an automatically controlled electrolysis traveling crane, and specifically includes: s1, calibrating the position coordinates of each target position by using a laser range finder arranged on the electrolysis travelling crane; s2, numbering each target position, establishing a mapping relation table between the target position number and the position coordinate, and storing the established mapping relation table in a database, wherein the target position is uniquely identified through the number; s3, establishing the relative position relation between all the target positions according to the mapping relation table in the database; and S4, when the laser range finder is replaced in the later period, automatically updating the mapping relation table in the database by using the re-calibration rule.
In the traditional electrolytic production, the operator's operation experience and the ground personnel are all used for carrying out visual positioning, the spirit of the operator is required to be highly concentrated, the operation action is frequent, the working strength and the pressure are high, the misoperation is easy, and the safety is not high. On some traveling cranes with distance measuring instruments, effective position information management is not carried out on electrolytic baths, unit stations and preparation frames in electrolytic plants, and after the distance measuring instruments are replaced, manual correction input is needed again one by one. Because the electrolytic plant often has position information amounting to hundreds or even thousands, the workload is extremely large, the electrolytic plant often takes several months to complete, and programming personnel are required to participate. Therefore, the position information of the target position of the electrolytic plant is effectively managed, the positioning precision of the travelling crane is improved, the safety is ensured, and delay of electrolytic production caused by replacement of a distance measuring instrument is avoided.
In this embodiment, first, the position coordinates of each target position of the electrolytic plant are calibrated by using the laser range finders installed on the electrolytic traveling cranes, and each target position is numbered, wherein the target position number can uniquely identify each target position, the target in this embodiment mainly refers to each electrolytic tank position, each unit tank position, and each preparation rack position, and the layout of each electrolytic tank position, unit station, and preparation rack of the electrolytic plant can be basically laid out in a row by referring to fig. 2.
And then, the target position numbers correspond to the actual position coordinates of each target position, a mapping relation table between the target position numbers and the position coordinates is established, and the mapping relation table is stored in a database of a PLC (programmable logic controller) of the electrolysis travelling crane. When the electrolysis travelling crane needs to reach a certain target position, an operator only needs to input the number of the target position on a human-computer interface of the electrolysis travelling crane, and the PLC of the electrolysis travelling crane can search the target position coordinate corresponding to the target position number from the mapping relation table according to the input target position number and control the electrolysis travelling crane to travel to the target position.
In the embodiment, each target position coordinate of the electrolytic workshop is calibrated through the laser range finder, the target position coordinates are numbered, each target position number is mapped with an actual position coordinate, an electrolytic workshop position information database is established, the mapping relation between the actual number and the coordinate is realized, and when the electrolytic travelling crane needs to move to the target position, the actual coordinate of the target position corresponding to the number can be automatically obtained according to the input position number.
And after a mapping relation table between each target position number and the actual position coordinate of the electrolytic plant is obtained, establishing a relative position relation between all target positions of the electrolytic plant. After the subsequent laser range finder is replaced, the mapping relation table in the database is automatically updated by using the re-calibration rule, the coordinates of the electrolytic cell, the unit station and the preparation frame are not required to be manually calibrated for several months again, programming personnel are not required to participate, and the traveling crane operators can finish the calibration by themselves, so that the later maintenance work is greatly reduced, and the production efficiency of an electrolytic workshop and the informatization and automation level of the electrolytic process are improved.
In an embodiment of the present invention, the step S1 of calibrating the position coordinates of each target position by using the laser range finder installed on the electrolysis vehicle specifically includes: s11, taking a reflection light plate of a workshop as a relative coordinate zero point, and adjusting the position of the electrolysis travelling crane to enable the electrolysis travelling crane to be positioned right above a target position; and S12, taking the current distance measurement value of the electrolytic vehicle read by the laser distance meter installed on the electrolytic vehicle as the position coordinate of the target position.
In this embodiment, during the construction of the plant, the positions of each electrolytic tank, each unit station and each preparation rack of the electrolytic plant are measured by taking the reflective light plate of the plant as a relative coordinate zero point, that is, by taking the reflective light plate of the plant as a reference. In the measuring process, the position of the electrolysis travelling crane is adjusted, when the electrolysis travelling crane is just above the electrolysis trough position or the unit station or the preparation frame, a laser range finder arranged on the electrolysis travelling crane reads the current range finding value of the electrolysis travelling crane, and at the moment, the current range finding value of the electrolysis travelling crane is the position coordinate of the electrolysis travelling crane.
The electrolysis travelling crane comprises a cart and a trolley, wherein the cart can be used for measuring the abscissa of each target position, and the trolley can be used for measuring the ordinate of each target position; or conversely, the cart measures the abscissa of each target position and the cart measures the ordinate of each target position.
The data of the abscissa for calibrating each target position by the electrolysis cart in this embodiment can be seen in table 1 below.
TABLE 1
And after the position coordinates of each target position are obtained through measurement, numbering each target position, wherein each target position in the workshop can be uniquely identified through the target position number. In the embodiment, a PLC controller is arranged in the electrolysis travelling crane, a database is established in the PLC controller, and a mapping relation table formed by mapping relations between the number of the target position and the measured position coordinates is stored in the database. In the process of the specific embodiment, two databases are established in the PLC controller, wherein one database is used for storing a mapping relation table between the serial number and the target position abscissa, and the other database is used for storing a mapping relation table between the serial number and the target position ordinate.
After the electrolytic plant is built, the actual positions of each electrolytic tank position, each unit station and each preparation frame are basically unchanged, so that after the actual position coordinates of each target position of the electrolytic plant are measured and obtained in the above embodiment, the embodiment establishes the relative position relationship among all the target positions, and stores the relative position relationship among all the target positions in the storage area of the PLC controller. Referring to fig. 3, in the present embodiment, the relative positional relationship between all the target positions is established by establishing the relative positional relationship between each adjacent two target positions.
In one embodiment of the invention, when the laser range finder is changed to cause the zero point of the reference coordinate to change, the position coordinates of all the target positions in the mapping relationship table in the database can be updated by re-measuring the position coordinates of one of all the target positions and adjusting the position coordinates of the other positions according to the established relative position relationship between all the target positions.
The laser range finder that installs on the electrolysis car long service life can take place to damage, consequently, need change new laser range finder, change the back when laser range finder changes, reference coordinate zero point can change, consequently, the actual position coordinate of all target location of whole electrolysis shop of measuring this moment all can change, in the past, need artifical one to measure here, because the target location of electrolysis shop is very much, this time of relocating can need several months, and efficiency is too low. Because the relative position relation among all the target positions of the electrolytic workshop cannot be changed, after the laser range finder on the electrolytic travelling crane is replaced, only the actual position coordinate of one target position in all the target positions needs to be calibrated again, and then the actual position coordinates of all other target positions are calculated according to the previously established relative position relation between every two adjacent target positions. After the laser range finder is replaced, the actual position coordinates of each target position of the electrolytic plant after being changed relative to the zero point of the coordinates can be obtained very quickly by adopting the mode, and the actual position coordinates of each target position do not need to be measured again.
In another embodiment of the present invention, the method further comprises: when the position coordinate of the target position is changed, after the position coordinate of the target position is calibrated again, the position coordinate of the target position is updated by inputting a target position number and a corresponding changed target position coordinate to a human-computer interface on the electrolysis traveling crane.
The electrolysis driving is at long-term operation in-process, because the sleeve of hoist and the location awl on the electrolysis trench can not avoid taking place to collide with, and make the position of location awl take place tiny removal, and the long-time tiny removal of location awl can produce the accumulative error that influences electrolysis driving location. When an operator finds that the positioning of a certain electrolytic tank position or a certain unit station or a certain preparation frame is completed, but the sleeve of the lifting appliance cannot be sleeved into the positioning cone, the operator needs to manually reposition and calibrate the position. Referring to fig. 4, the position information is modified in the corresponding database, and in order to avoid modification of the database information by irrelevant personnel, when an operator inputs a target position number and a corresponding modified target position coordinate to a human-computer interface on the electrolysis traveling crane, a password needs to be input, that is, the authority of the operator is set, so that the safety of the database is ensured.
In another embodiment of the invention, in the process of controlling the electrolytic travelling crane to travel to the target position, the laser range finder on the electrolytic travelling crane is used for measuring the current position of the electrolytic travelling crane in real time so as to adjust the travel speed of the electrolytic travelling crane to the target position according to the distance between the current position of the electrolytic travelling crane and the target position.
In the electrolysis process of an electrolysis workshop, when an electrolysis travelling crane needs to reach a target position, an operator inputs the target position to be reached on a human-computer interface of the electrolysis travelling crane, for example, the number of the target position is input on the human-computer interface, for example, the number of a target electrolysis slot is input, a PLC (programmable logic controller) in the electrolysis travelling crane searches a position coordinate of the target position corresponding to the number in a database according to the input number of the target position, and then the PLC controls the electrolysis travelling crane to automatically move to the target position. In the process that the electrolysis travelling crane moves to the target position, the laser range finder can measure the current position coordinate of the electrolysis travelling crane in real time, and then the PLC controls the speed of the electrolysis travelling crane moving to the target position according to the current position coordinate of the electrolysis travelling crane and the position coordinate of the target position. Therefore, in the process of driving the electrolysis traveling crane to the target position, the traveling speed of the electrolysis traveling crane is changed from time to time, for example, when the electrolysis traveling crane is far away from the target position, the traveling speed of the electrolysis traveling crane can be increased; and when the electrolysis travelling crane is closer to the target position, the travelling speed of the electrolysis travelling crane is slower.
In one embodiment of the present invention, further comprising: in the process of driving the electrolytic vehicle to the target position, when the real-time ranging signal of the laser range finder is lost, the ranging data in the loss period of the real-time ranging signal of the laser range finder is predicted through the ranging data before the loss of the real-time ranging signal of the laser range finder.
In the process of high-speed operation of the electrolysis travelling crane, vibration of the electrolysis travelling crane is caused by vibration of the electrolysis travelling crane due to uneven tracks, swinging of a lifting appliance and the like, so that a laser point moves out of a reflecting light plate to cause loss of a laser real-time ranging signal. And (3) losing the laser ranging signal, wherein the coordinate value of the current position of the electrolytic travelling crane read at the moment is 0, and the given speed of the electrolytic travelling crane is determined by the distance between the current real-time position and the target position of the electrolytic travelling crane. Since the current position of the electrolysis travelling crane is determined to be 0, the given speed of the electrolysis travelling crane is subjected to sudden change, the service life of the electrolysis travelling crane is reduced in the past, and the calculated travelling speed of the electrolysis travelling crane is wrong, so that the safe and stable operation of the electrolysis travelling crane is influenced. Therefore, the present embodiment predicts the ranging data in the real-time ranging signal loss period of the laser rangefinder from the ranging data before the loss of the real-time ranging signal of the laser rangefinder.
In an embodiment of the present invention, referring to fig. 5, predicting ranging data in a period of loss of a real-time ranging signal of a laser range finder by using ranging data before loss of the real-time ranging signal of the laser range finder specifically includes: reading the current position of the electrolysis travelling crane measured by the laser range finder in each scanning period in the process of moving the electrolysis travelling crane to the target position; when the real-time distance measuring signal of the laser distance measuring instrument is lost, judging the approximate motion state of the electrolytic travelling crane in a plurality of periods according to the positions of the electrolytic travelling crane measured in the plurality of periods before the real-time distance measuring signal is lost, and estimating the position of the laser distance measuring instrument in the lost period.
Specifically, in the process of driving the electrolytic vehicle to the target position, the current position of the electrolytic vehicle obtained by reading the amount of the laser range finder in each scanning period is read; when a real-time ranging signal of the laser range finder is lost, judging whether the electrolytic travelling crane is in a constant-speed running state or a uniform acceleration running state or a uniform deceleration running state in a plurality of periods according to the position of the electrolytic travelling crane measured in the plurality of periods before the real-time ranging signal is lost; and according to the running state of the electrolytic travelling crane in the three periods, the position of the laser distance meter in the loss period of the real-time distance measuring signal is estimated.
By the method, test data in a period after the real-time ranging signal of the electrolysis travelling crane is lost can be filled up, so that the travelling speed of the electrolysis travelling crane can be determined according to the distance between the current position and the target position of the electrolysis travelling crane.
In addition, in the process of driving the electrolysis traveling crane to the target position, in order to facilitate the operator and reduce the error of the operator, in the process of executing each operation of the electrolysis traveling crane, the current target position and the next target position to which the electrolysis traveling crane is driven are displayed on a human-computer interface of the electrolysis traveling crane, so that the operator can operate according to the displayed next target position.
The method for managing the electrolysis shop location information and processing the ranging data provided by the invention is described as a specific example.
The electrolysis cycle of the cathode plate and the anode plate of the electrolysis workshop is fixed, and when the electrolysis cycle is ended, the electrolysis traveling crane needs to finish the updating work of the electrode plate of the electrolysis bath rapidly, mainly runs between the ground unit area and the electrolysis bath area back and forth, and has high requirement on the precision of the target positioning of the electrolysis traveling crane. The electrolytic plant cell surface area of the embodiment of the invention has six groups A to F, each group has 4 rows, each row has 15 cells, and the total number of the electrolytic cells is 360. The unit area is respectively provided with an anode preparation unit 1, an anode preparation unit 2, a residual anode washing unit, a cathode preparation unit, a cathode stripping unit and 12 preparation frames, wherein the total number of the preparation frames is 17 unit stations, the position information has 377 sets of coordinate pairs, and each target position of the electrolytic plant is arranged in horizontal and vertical rows.
The 377 sets of coordinate pairs of the embodiment of the invention are obtained by adjusting the electrolysis traveling crane for a plurality of times to the position right above the electrolytic cell or the unit station or the preparation frame, finely adjusting the electrolysis traveling crane back and forth until the sleeve on the lifting appliance is just sleeved into the positioning cone on the electrolytic cell, then the laser range finder on the electrolysis traveling crane measures the coordinate value of the position at the moment and records the coordinate value, and the position and the slot position are calibrated one by one according to the method, the process takes about months, and the work can be completed at the initial stage of a construction plant.
And respectively establishing a position information database of the horizontal and vertical coordinates of each target position in the electrolysis travelling crane PLC controller. The main key of each datum is the address of the datum, each target position, namely the position of each electrolytic cell, unit station and preparation frame is numbered, and then the corresponding relation between the actual name of each electrolytic cell, unit station or preparation frame and the number thereof and the one-to-one corresponding relation between the number and the physical position coordinate thereof are established. When the operation task of the day is issued, the operator only needs to input the actual name of the corresponding target position on the human-computer interface of the electrolysis traveling crane. For example, when the current target position is the group A4-row 12-number groove, an operator can convert the group A4-row 12-number groove into a serial number to search an address according to an instruction of an upper computer by clicking the group A button and the 4 th-row 12-number button on a human-computer interface, an internal program is automatically given to the internal program according to the address search target position coordinate in a database, the electrolytic traveling vehicle is controlled to move to the target position, the automatic operation of the electrolytic traveling vehicle is accurately positioned, and labor cost is reduced.
In the process of high-speed operation of the electrolysis traveling crane, vibration of a trolley of the electrolysis traveling crane can be caused due to uneven tracks, swinging of a lifting appliance and the like, so that the laser range finder shakes, and laser points move out of the reflector to cause loss of laser real-time ranging signals. If the laser reflection signal is lost, the read real-time position value of the electrolysis travelling crane is 0, and the given speed of the electrolysis travelling crane is given by the relative distance between the read current real-time position and the read target position of the electrolysis travelling crane, so that the given speed of the electrolysis travelling crane is suddenly changed, the service life of the motor can be reduced for a long time, and the safe and stable operation of the electrolysis travelling crane can be influenced. Therefore, an embodiment of the present invention provides a processing method:
at each scanning cycle of the PLC controller CPUPeriod T0In the system, the real-time value of the laser range finder, namely the current position information of the electrolysis travelling crane, is read once and stored in a real-time position storage area, wherein the scanning period T of the CPU0Typically around tens of milliseconds.
And setting a counter, and reading a fault bit of a status word of the laser range finder in each scanning period to judge whether the laser range finder signal is lost. When the laser ranging signal is lost, a counter is started to count, and the output of the counter is
And resetting the counter when the laser ranging signal is recovered, wherein the output of the counter is 0.
When the signal of the laser range finder is normal, the data in the storage area is the current correct position coordinate value of the electrolytic travelling crane.
When the laser distance measuring instrument is in the range of t2-t1, t nT0(n is generally not greater than 10) loss of signal for one or more consecutive cycles can be classified as follows.
(1) When s is3-s2＝s2-s1When is at (t)1-T0)～t2The electrolytic travelling crane can operate at a constant speed, and the ranging value of the Nth period in the laser ranging signal loss time is as follows:
(2) when s is3-s2＞s2-s1When is at (t)1-T0)～t2The electrolytic travelling crane can be considered to be operated uniformly and acceleratively, and the ranging value of the Nth period in the laser ranging signal loss time is as follows:
(3) when s is3-s2＜s2-s1When is at (t)1-T0)～t2The electrolytic travelling crane operates at uniform deceleration, and the ranging value of the Nth period in the laser ranging signal loss time is as follows:
wherein T is0Is the scan period of the CPU, t1For laser ranging signal loss time points, t2For the recovery time point of the laser ranging signal, Δ t is the time difference t2-t1, S1,S2,S3The distance measurement values of three scanning periods before the laser distance measurement signal is lost and the distance measurement value of the first scanning period after the laser signal is recovered are respectively. sy(N) is the ranging value of the Nth period within the laser signal loss time. The ranging data processing method can solve the problem of loss of ranging signals of single or multiple periods in any time period.
The long-term acid mist and strong electromagnetic environment of an electrolysis workshop and the vibration in the running process of the electrolysis travelling crane are considered to damage the laser ranging instrument. When the laser ranging instrument needs to be replaced, the relative reference zero point changes, and all position information of the whole electrolytic plant is changed. The manual operation of the electrolysis travelling crane to perform coordinate calibration again is a very time-consuming and labor-consuming matter, often requires several months, and requires the participation of programmers in updating the position information database in the whole process. Based on this, the re-calibration rule is provided in the embodiment, the updating of all the position information databases can be completed only by manually calibrating one position coordinate, the updating can be completed only by a vehicle operator, the participation of a programmer is not needed, and the production is not delayed. The re-labeling rules are detailed as follows:
the actual physical positions of the electrolytic cell, the unit station and the preparation frame in the electrolytic plant are relatively fixed, and the relative position relationship among the electrolytic cell, the unit station and the preparation frame is not influenced when a laser distance measuring instrument is replaced. Therefore, after the position coordinates of each target position of the electrolytic plant are obtained by starting to measure, the relative position relationship between every two adjacent target positions is established, and further the relative position relationship between all the target positions of the electrolytic plant can be obtained. According to the recursive idea, the coordinates of all other positions of the whole electrolytic plant can be calculated according to the relative position relation among all target positions only by re-calibrating the coordinates of one position. Taking the abscissa of the position information as an example, the rescaling rule can be expressed by the following formula:
Δxi＝xi+1-xi(1≤i≤376，i∈N)；(4)
then, the laser ranging instrument is replaced, and the abscissa after the reference zero point is changed is re-marked as:
x′i+1＝x′i+Δxi(1≤i≤376，i∈N)。(5)
wherein: x is the number ofi、xi+1、ΔxiRespectively, the abscissa numbers i and i +1 and the relative position difference, x'i、x′i+1And respectively referring to the abscissa with the number of i and i +1 after the zero point is changed for replacing the laser ranging instrument.
And x1The position of (2) is calibrated first, then all numbered position information can be determined:
x′2＝x′1+Δx1
x′3＝x′2+Δx2
……
x′377＝x′376+Δx376。(6)
in addition, the electrolytic cells in the electrolytic plant are arranged horizontally and vertically, the abscissa of the same column is the same, and only the relative differences of the abscissas between 360 and 377, 1 and 16, 31 and 46 are required, then the re-calibration rule can be further simplified as follows:
x′16＝x′1+Δx1-16，x′31＝x′1+Δx1-31x′46＝x′1+Δx1-46；
x′15(j-1)+60(i-1)+1＝x15(j-1)+60(i-1)+2＝...＝x15(j-1)+60(i-1)+k；
x′361＝x′360+Δx360；
x′362＝x′361+Δx361；
……
x′377＝x′366+Δx366。 (7)
wherein: j is more than or equal to 1 and less than or equal to 4, i is more than or equal to 1 and less than or equal to 6, k is more than or equal to 1 and less than or equal to 15, i, j, k belongs to N and delta x1-16，Δx1-31，Δx1-46The relative differences between the abscissa of No. 1 and the abscissa of No. 16, No. 31 and No. 46 are shown, and similarly, the ordinates of all the positions of the electrolytic plant can be determined in the same way, namely:
y′2＝y′1+Δy1
y′3＝y′2+Δy2
……
y′377＝y′376+Δy376。(8)
the electrolysis driving is at long-term operation in-process, because the sleeve of hoist and the location awl on the electrolysis trough can not avoid taking place to collide with, and make location awl position take place little removal, the long-time little removal of location awl can produce the accumulative error that influences electrolysis driving location. When an operator finds that the positioning of a certain electrolytic cell or unit station or preparation frame is finished, but the sleeve of the lifting appliance cannot be sleeved in the positioning cone, the position needs to be calibrated again, the corresponding position information in the database needs to be rewritten, and in order to avoid changing the database information by irrelevant personnel, the password is set for the database, and the operator needs to enter the positioning cone. For example, when the electrolytic cell of the group A, the row 1 and the column 1 has a problem, a password is input on a human-computer interface to enter a coordinate correction interface, the number of the cell to be corrected, the row 1 and the column 1 of the lifting appliance are input, the position of the lifting appliance sleeve just aligned with the positioning cone is manually adjusted, the distance measurement value at the moment is input, the position value can be rewritten according to the address of the main key of the row 1 and the column 1 of the group A, namely the address in the database, the position can be rewritten according to confirmation, programming personnel are not required to participate, and the running operation can be completed by the.
In addition, by utilizing the established position database, the one-to-one corresponding relation between the electrolytic cell number, the unit station number and the preparation frame number and the serial number and the actual physical position of the electrolytic cell number, the unit station number and the preparation frame number, for example, when an operator selects one of the electrolytic cell, the unit station or the preparation frame as a target position, the one is converted into one of the serial numbers 1-377, for example, when the serial number is 1, the actual name of the corresponding target position can be searched by combining a text graphic list, the actual name is displayed on a touch screen of a human-computer interface as A group-1-1, and the next target is displayed as a cathode stripping unit according to the operation task as the cathode. Displaying the current task and the next target position can help the operator to schedule the next task.
The method for managing the position information and processing the distance measurement data of the electrolysis workshop, provided by the invention, can be used for establishing a database for effectively maintaining and managing a large amount of position information of electrolysis slots, unit stations, preparation frames and the like of the electrolysis workshop and playing a fundamental role in accurately positioning the operation of an electrolysis traveling crane. The relative position relation among all the positions of the electrolytic plant is established, in the long-term production process, a laser ranging instrument needs to be replaced, and when each piece of position information of the electrolytic plant needs to be updated, the position coordinate of a certain position only needs to be calibrated again, and then the position coordinates of all other positions can be calculated according to the relative position relation of all the positions, so that the workload of coordinate information re-calibration is reduced, and the labor cost is saved. In addition, the safety and stability of the operation of the electrolysis traveling crane are ensured by processing the data after the laser ranging signal is lost in the operation process, and the informatization and automation level of the electrolysis process of the electrolysis workshop is further improved.
Finally, the method of the present application is only a preferred embodiment and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (4)
1. A method for managing electrolysis shop position information and processing ranging data is characterized by comprising the following steps:
s1, calibrating the position coordinates of each target position by using a laser range finder arranged on the electrolysis travelling crane;
s2, numbering each target position, establishing a mapping relation table between the target position number and the position coordinate, and storing the established mapping relation table in a database, wherein the target position is uniquely identified through the number;
s3, establishing the relative position relation between all the target positions according to the mapping relation table in the database;
s4, when the laser range finder is replaced in the later period, the mapping relation table in the database is automatically updated by using the re-calibration rule;
the step S4 specifically includes:
when the laser range finder is changed to cause the zero point of the reference coordinate to be changed, automatically updating the position coordinates of other positions in the mapping relation table by re-measuring the position coordinate of one of all target positions and according to the established relative position relation between the target positions;
further comprising:
in the process of high-speed traveling of the electrolytic traveling crane to a target position, when a real-time ranging signal of the laser range finder is lost, predicting ranging data in a loss period of the real-time ranging signal of the laser range finder through ranging data before the loss of the real-time ranging signal of the laser range finder;
predicting ranging data in a real-time ranging signal loss period of a laser range finder through ranging data of the laser range finder before loss of a real-time ranging signal specifically comprises:
reading the current position of the electrolysis travelling crane measured by the laser range finder in each scanning period in the process of moving the electrolysis travelling crane to the target position;
when a real-time ranging signal of the laser range finder is lost, judging the approximate motion state of the electrolytic travelling crane in a plurality of periods according to the positions of the electrolytic travelling crane measured in the plurality of periods before the real-time ranging signal is lost so as to obtain the position of the laser range finder in the real-time ranging signal loss period;
specifically, when the signal of the laser range finder is normal, the data in the storage area is the current correct position coordinate value of the electrolytic travelling crane;
when the laser distance measuring instrument is in the range of t2-t1, t nT0When the signal is lost in one or more continuous periods, the following situations can be divided:
(1) when s is3-s2＝s2-s1When is at (t)1-T0)～t2The electrolytic travelling crane can operate at a constant speed, and the ranging value of the Nth period in the laser ranging signal loss time is as follows:
(2) when s is3-s2＞s2-s1When is at (t)1-T0)～t2The electrolytic travelling crane can be considered to be operated uniformly and acceleratively, and the ranging value of the Nth period in the laser ranging signal loss time is as follows:
(3) when s is3-s2＜s2-s1When is at (t)1-T0)～t2The electrolytic travelling crane operates at uniform deceleration, and the ranging value of the Nth period in the laser ranging signal loss time is as follows:
wherein T is0Is the scan period of the CPU, t1For laser ranging signal loss time points, t2For the recovery time point of the laser ranging signal, Δ t is the time difference t2-t1, S1,S2,S3Respectively obtaining the ranging values of two scanning periods before the laser ranging signal is lost and the ranging value of the first scanning period after the laser signal is recovered; syAnd (N) is a ranging value of the Nth period in the laser signal loss time, and the output of the counter is N.
2. The method for managing electrolysis shop location information and processing ranging data according to claim 1, wherein the step S1 specifically comprises:
s11, taking a reflection light plate of a workshop as a reference coordinate zero point, and adjusting the position of the electrolysis travelling crane to enable the electrolysis travelling crane to be positioned right above a target position;
and S12, taking the current distance measurement value of the electrolysis travelling crane read by the laser distance meter installed on the electrolysis travelling crane as the position coordinate of the target position.
3. The potroom location information management and ranging data processing method of claim 1, further comprising:
when the actual position of the target position is changed, after the position coordinate of the target position is calibrated again, the position coordinate of the target position is corrected by inputting the number of the target position and the corresponding changed target position coordinate into a human-computer interface on the electrolysis traveling crane.
4. The potroom location information management and ranging data processing method of claim 1, further comprising:
and in the process of each operation of the electrolysis travelling crane, displaying the current target position and the next target position to which the electrolysis travelling crane travels on a human-computer interface of the electrolysis travelling crane.
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