CN107163959A - A kind of Precise Position System of coke-oven locomotive - Google Patents
A kind of Precise Position System of coke-oven locomotive Download PDFInfo
- Publication number
- CN107163959A CN107163959A CN201710401353.6A CN201710401353A CN107163959A CN 107163959 A CN107163959 A CN 107163959A CN 201710401353 A CN201710401353 A CN 201710401353A CN 107163959 A CN107163959 A CN 107163959A
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- CN
- China
- Prior art keywords
- positioner
- coke
- plc
- oven locomotive
- oven
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Classifications
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- C—CHEMISTRY; METALLURGY
- C10—PETROLEUM, GAS OR COKE INDUSTRIES; TECHNICAL GASES CONTAINING CARBON MONOXIDE; FUELS; LUBRICANTS; PEAT
- C10B—DESTRUCTIVE DISTILLATION OF CARBONACEOUS MATERIALS FOR PRODUCTION OF GAS, COKE, TAR, OR SIMILAR MATERIALS
- C10B41/00—Safety devices, e.g. signalling or controlling devices for use in the discharge of coke
Abstract
A kind of Precise Position System of coke-oven locomotive, including：First positioner and the second positioner；First positioner is installed on coke-oven locomotive, and the second positioner is installed in front of fire door；When first positioner senses the second positioner before pre-determined bit fire door, the speed of service of first positioner by PLC first to coke-oven locomotive carries out coarse adjustment, the running status to coke-oven locomotive is accurately braked again, coke-oven locomotive is accurately located at before pre-determined bit fire door.Can be severe in operating mode and coke-oven locomotive be reliably positioned in the case that positioning accuracy request is higher, the degree of intelligence positioned to coke-oven locomotive is high and operating efficiency height.
Description
Technical field
The present invention relates to field of locating technology, and in particular to a kind of Precise Position System of coke-oven locomotive.
Background technology
Coke is mainly used in blast furnace ironmaking and the blast furnace smelting for non-ferrous metals such as copper, lead, zinc, titanium, antimony, mercury, rises
Reducing agent, exothermic mixture and stock column skeleton function.Therefore coke is with a very important position in heavy industry production.Coke production it is main
Process is:It is the preparation (referred to as coal) of coking coal materials first, it is the various cleaned coal (or low ash content raw coal) for shipping colliery
It is prepared into the coal charge that proportion speed, granularity are appropriate, quality is homogeneous, meet coking requirement.Generally comprise：Unload coal, store and mix,
Coordinate, crush and mix, and the coal charge prepared is sent to coke oven storage coal tower.Then, by the coal charge prepared from coal tower
Charging car is put into, each carbonization chamber shove charge is delivered to respectively.By a coking cycles (time needed for i.e. from shove charge to coke pushing,
Generally 14~18 hours, depending on width of charring chamber), you can it will refine ripe coke with pusher machine and put out through coke guide push-in
Burnt car.This crosses range request pusher machine, both sides fire door, coke guide and coke quenching cart on the same line.After quenching, coke is discharged into cool
Jiao Tai；Then sieve, preserve.
Actual production scene, each working furnace group contains multiple furnace chambers, therefore coke-oven locomotive range ability is long, frequently reciprocal.
And the both sides of coke oven are distributed in during coke-oven locomotive work, it can not mutually be regarded by furnace chamber barrier staff, further increase the difficulty of contraposition
Degree.And site environment temperature is high, dust is big, and self vibration is frequent, therefore coke-oven locomotive positioning is potential safety hazard in coke oven production
Larger link.All once occurred, because three cars cause overgauge the major accident of " red burnt landing ", to cause both at home and abroad
The injures and deaths of personnel and the loss of property.At present, three car safe and highly efficient operations how are ensured, particularly three cars before coke pushing is carried out
Accurate contraposition and the core security problem that interlocked control is coke oven production.Various countries scientific worker has researched and developed a variety of three in succession
Car contraposition interlocking automatic control system, solves this problem to a certain extent.These technologies mainly include：Encoder position is examined
Survey technology, infrared location technology and coding cable location technology etc..
Due to by complex working condition or technology itself, the positioning precision of these location technologies is all not ideal enough.Than
Such as encoder position detection technique, because temperature is high near coke-oven locomotive stroke length, wheel, guide rail has varied with temperature deformation
Cause accumulated error big；Coding cable location technology, due to the limitation of process conditions, subdivision accuracy can not possibly be too big, according to warp
Test subdivision accuracy and take 20 preferably, if the precision of coding cable absolute address detection is 100mm, the precision of accurate address detected is
±5mm。
The content of the invention
The problem of for coke-oven locomotive positioning precision difference, the application provides a kind of Precise Position System of coke-oven locomotive, bag
Include the first positioner, the second positioner and PLC；
First positioner is installed on coke-oven locomotive, and the second positioner is installed in front of fire door；
When first positioner senses the second positioner before pre-determined bit fire door, the first positioner is controlled by PLC
Device processed first carries out coarse adjustment to the speed of service of coke-oven locomotive, then the running status of coke-oven locomotive is accurately braked, and makes coke oven machine
Car is accurately located at before pre-determined bit fire door.
In a kind of embodiment, the first positioner includes：RFID coarse adjustment module, Hall effect fine positioning module and control
Module；
RFID coarse adjustment module and Hall effect fine positioning module are connected with control module signal respectively；
RFID coarse adjustment module is used to contain stove in the RFID information for sensing second positioner, the RFID information
The number information of door, and the number information of fire door is sent to control module；
Hall effect fine positioning module is used to produce induced voltage signal according to the second positioner, and induced voltage is believed
Number send to control module；
Control module sends the number information of the fire door to PLC, then the induced voltage signal is converted
After current signal, send to PLC, PLC makes corresponding control action.
In a kind of embodiment, Hall effect fine positioning module includes the first Hall sensor and the second Hall sensor.
In a kind of embodiment, control module includes circuit board, modular converter and microcontroller；
First Hall sensor and the second Hall sensor are respectively symmetrically arranged on the circuit board；
The voltage signal that first Hall sensor and the second Hall sensor sense is converted to electric current by modular converter
Signal, and PLC is sent to, PLC carries out essence according to this current signal to the running status of the coke-oven locomotive
Really control；
Microcontroller receives and sends the RFID information of second positioner, by PLC to the coke oven
The speed of service of locomotive carries out coarse adjustment.
In a kind of embodiment, the first Hall sensor and the second Hall sensor are in front and rear row in coke-oven locomotive traffic direction
Row.
In a kind of embodiment, the second positioner includes locating rod, positioning disk, permanent magnet and RFID tag；
Positioning disk is arranged at the top of the locating rod, and RFID tag is arranged at the positioning disk upper surface, the permanent magnetism
Iron is arranged in the inner cavity of the positioning disk immediately below the RFID tag.
In a kind of embodiment, the intensity of permanent magnet is 8000 Gausses, and, the first Hall sensor and the second Hall sensor
When relative up and down with permanent magnet, its relative distance is 9CM.
The Precise Position System of above-described embodiment, due to the first positioner and the second positioner mutual induction, passes through
PLC first carries out the coarse adjustment of the speed of service of coke-oven locomotive to coke-oven locomotive, then carries out the running status of coke-oven locomotive
Accurate braking, can be severe in operating mode and be reliably positioned in the case that positioning accuracy request is higher, focusing to coke-oven locomotive
The degree of intelligence of stove locomotive positioning is high and operating efficiency is high.
Brief description of the drawings
Fig. 1 is the first positioning device structure figure；
Fig. 2 is the second positioning device structure figure；
Fig. 3 is that coke-oven locomotive is accurately positioned procedure chart；
Fig. 4 is anchor point current waveform figure nearby.
Embodiment
The present invention is described in further detail below by embodiment combination accompanying drawing.
This example provides a kind of Precise Position System of coke-oven locomotive, including the first positioner 1, the and of the second positioner 2
PLC, the structure chart of the first positioner 1 is as shown in figure 1, the structure chart of the second positioner 2 is as shown in Fig. 2 pass through
The sensing of first positioner 1 and the second positioner 2, and with the cooperation of PLC, to the speed of service of coke-oven locomotive and
Running status is adjusted, and reaches pinpoint purpose.
Specifically, the first positioner 1 includes：RFID coarse adjustment module 11, Hall effect fine positioning module 12, control mould
Block 13 and housing 14；Wherein, RFID coarse adjustment module 11 and Hall effect fine positioning module 12 respectively with the signal of control module 13
Connection, and, RFID coarse adjustment module 11, Hall effect fine positioning module 12 and control module 13 are respectively arranged in housing 14.
RFID coarse adjustment module 11 is exactly RFID read-write module, and row write is entered for the RFID information to the second positioner 2
Enter and read, the number information containing fire door in the RFID information, RFID coarse adjustment module 11 sends the number information of fire door
To control module 13；Fire door number information is sent to PLC by control module 13 again.Therefore, RFID coarse adjustment moulds are passed through
Which fire door block 11 can recognize that coke-oven locomotive operation at present to, meanwhile, PLC is according to pre-determined bit fire door and the RFID
The fire door numbering that coarse adjustment module 11 is currently recognized, the speed of service of Reasonable adjustment coke-oven locomotive, to reach timely deceleration, accurately
The purpose of positioning.
Hall effect fine positioning module 12 is used to produce induced voltage signal according to the second positioner, and by induced voltage
Signal is sent to control module 13；The Hall effect fine positioning module 12 of this example includes the first Hall sensor 121 and second suddenly
That sensor 122.
While control module 13 sends the number information of fire door to PLC, also induced voltage signal is converted
After current signal, send to PLC, so that PLC makes corresponding control action.Specifically, control module 13
Including circuit board 131, modular converter 132 and microcontroller 133,122 points of the first Hall sensor 121 and the second Hall sensor
It is not symmetricly set on circuit board 131；Modular converter 132 senses the first Hall sensor 121 and the second Hall sensor 122
Voltage signal be converted to current signal, and send to PLC, so that the running status to coke-oven locomotive is accurately made
It is dynamic；Microcontroller 133 receives and sends the RFID information of the second positioner, by PLC to the coke-oven locomotive
The speed of service carries out coarse adjustment.
Housing 14 is provided with fixture 141 and for power supply and the interface 142 of data transfer, when housing 14 passes through fixture
141 when being installed on coke-oven locomotive, and the first Hall sensor 121 and the second Hall sensor 122 are in coke-oven locomotive traffic direction
In in tandem.
Second positioner 2 of this example includes locating rod 21, positioning disk 22, permanent magnet 23 and RFID tag 24；Positioning disk
22 are arranged at the top of locating rod 21, and RFID tag 24 is arranged at the upper surface of positioning disk 22, and permanent magnet 23 is arranged at RFID tag
In the inner cavity of positioning disk 22 immediately below 24；Wherein, the intensity of permanent magnet 23 is 8000 Gausses, and, the first hall sensing
When the Hall sensor 122 of device 121 and second is relative about 23 with permanent magnet, its relative distance is 9CM.
The operation principle of the Precise Position System of this example is：If being set according to fire door spacing and positioning requirements in front of fire door
In dry second positioner 2, this example, 3 the second positioners 2 are installed in the front of each fire door, it is assumed that the numbering of fire door is
1st, 2,3 ..., then the fire door information that RFID tag 24 is carried is：101、102、103、201、202、203、301、302、
303 ..., when coke-oven locomotive is moved from No. 2 fire doors to No. 3 fire doors, and pre-determined bit fire door is No. 3 fire doors, PLC control
Coke-oven locomotive processed is given it the gun, and such as shown in Fig. 3 (a), coke-oven locomotive is at the uniform velocity travelled after accelerating to the speed of normally travel, when
The first positioner 1 on coke-oven locomotive by during the second positioner 2 that the information of RFID tag 24 is 303 (assuming that passing through successively
Cross the second positioner 2 that the information of RFID tag 24 is 303,302,301), RFID coarse adjustment module 11 identifies that fire door is numbered
Information, and the identification information is sent to microcontroller 133, microcontroller 133 sends identification information, PLC controls to PLC
Device processed makees Reduced Speed Now according to identification information controlled motor and its driver, so that, coke-oven locomotive enters state of driving at moderate speed；Connect
, when the first positioner 1 on coke-oven locomotive passes through the second positioner 2 that the information of RFID tag 24 is 302, RFID is thick
Adjustment module 11, microcontroller 133 and PLC make above-mentioned same operation, make coke-oven locomotive continue to slow down, so that, it is burnt
Stove locomotive enters low-speed run state；Coke-oven locomotive is travelled by lower-speed state, and the first positioner 1 on coke-oven locomotive will pass through
The information of RFID tag 24 is 301 the second positioner 2, need to be emphasized, the second positioning that the information of RFID tag 24 is 301
The installation site of device 2, which has to pass through, to accurately measure, when coke-oven locomotive reaches second positioner 2 with low speed, PLC controls
Device beard and hair goes out braking instruction, and the position of the second positioner 2 away from coke-oven locomotive when aligning fire door in the first positioner 2
The distance of the heart is just braking distance, and such as Fig. 3 (b) and Fig. 3 (c) are shown, i.e., second positioner 2 plays the work braked in advance
With second positioner 2 is braking start position.
The principle accurately braked is：First Hall sensor 121 is with the second Hall sensor 122 in parallel process permanent magnet
When 23, the preferable voltage waveform of a linearity can be produced, then voltage signal is converted into by current signal by modular converter 132,
The anchor point preferable current waveform of the linearity nearby can be formed, as shown in figure 4, when the first positioner 1 is from the second positioning dress
When putting 2 farther out, the current signal of the first positioner 1 output is 12mA, when first positioner 1 is at the uniform velocity close to the second positioning
During device 2, current signal can fall after rising again it is long, then, when the first positioner 1 leaves the second positioner 2, electric current letter
Number again stable in 12mA, due to the current signal near anchor point, the linearity is fabulous, and the size of electric current only has with position
Close, so that, current signal can be used as locating point position when linear zone reaches 12mA.Due to depositing for system noise and external disturbance
Accurately judging that the time that 12mA occurs has certain difficulty.This is also to influence the key factor of positioning precision.Therefore the present invention is adopted
Positioning precision is improved with the control algolithm of online fitting.Specifically, PLC passes through collection a period of time near anchor point
Interior current data, and these current datas are carried out with real-time fitting, and being iterated fitting according to newest sampled value, can be with
By the curve of fitting, current value now and sampling period, the time that anchor point current value occurs can be predicted, if current value
Sampling period be T0, when predict anchor point occur remaining time be less than T0 when can stop prediction, according to the time to coke oven
Locomotive is braked.
Use above specific case is illustrated to the present invention, is only intended to help and is understood the present invention, not to limit
The system present invention.For those skilled in the art, according to the thought of the present invention, it can also make some simple
Deduce, deform or replace.
Claims (8)
1. a kind of Precise Position System of coke-oven locomotive, it is characterised in that including：First positioner, the second positioner and
PLC；
First positioner is installed on coke-oven locomotive, and second positioner is installed in front of fire door；
When first positioner senses the second positioner before pre-determined bit fire door, the first positioner is controlled by PLC
Device processed first carries out coarse adjustment to the speed of service of the coke-oven locomotive, then the running status of the coke-oven locomotive is accurately braked,
The coke-oven locomotive is set to be accurately located at before the pre-determined bit fire door.
2. Precise Position System as claimed in claim 1, it is characterised in that first positioner includes：RFID coarse adjustment
Save module, Hall effect fine positioning module and control module；
The RFID coarse adjustment module and Hall effect fine positioning module are connected with control module signal respectively；
The RFID coarse adjustment module is used in the RFID information for sensing second positioner, the RFID information containing
The number information of fire door is stated, and the number information of the fire door is sent to control module；
The Hall effect fine positioning module is used to produce induced voltage signal according to second positioner, and by the sense
Voltage signal is answered to send to control module；
The control module sends the number information of the fire door to PLC, then the induced voltage signal is converted
After current signal, send to PLC, PLC makes corresponding control action.
3. Precise Position System as claimed in claim 2, it is characterised in that the Hall effect fine positioning module includes first
Hall sensor and the second Hall sensor.
4. Precise Position System as claimed in claim 3, it is characterised in that the control module includes circuit board, modulus of conversion
Block and microcontroller；
First Hall sensor and the second Hall sensor are respectively symmetrically arranged on the circuit board；
The voltage signal that first Hall sensor and the second Hall sensor sense is converted to electric current by the modular converter
Signal, and PLC is sent to, PLC is accurately braked to the running status of the coke-oven locomotive；
The microcontroller receives and sends the RFID information of second positioner, by PLC to the coke oven
The speed of service of locomotive carries out coarse adjustment.
5. Precise Position System as claimed in claim 4, it is characterised in that first Hall sensor and the second Hall are passed
Sensor is in the coke-oven locomotive traffic direction in tandem.
6. Precise Position System as claimed in claim 5, it is characterised in that the control module connects with PLC signal
Connect, the PLC is used for the control signal sent according to the microcontroller and modular converter to the coke-oven locomotive
The speed of service carries out coarse adjustment and running status is accurately braked.
7. Precise Position System as claimed in claim 6, it is characterised in that second positioner includes locating rod, determined
Position disk, permanent magnet and RFID tag；
The positioning disk is arranged at the top of the locating rod, and the RFID tag is arranged at the positioning disk upper surface, described
Permanent magnet is arranged in the inner cavity of the positioning disk immediately below the RFID tag.
8. Precise Position System as claimed in claim 7, it is characterised in that the intensity of the permanent magnet is 8000 Gausses, and,
When first Hall sensor and the second Hall sensor are relative up and down with the permanent magnet, its relative distance is 9CM.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710401353.6A CN107163959B (en) | 2017-05-31 | 2017-05-31 | Accurate positioning system of coke oven locomotive |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710401353.6A CN107163959B (en) | 2017-05-31 | 2017-05-31 | Accurate positioning system of coke oven locomotive |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107163959A true CN107163959A (en) | 2017-09-15 |
| CN107163959B CN107163959B (en) | 2020-08-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710401353.6A Active CN107163959B (en) | 2017-05-31 | 2017-05-31 | Accurate positioning system of coke oven locomotive |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102167065A (en) * | 2011-03-31 | 2011-08-31 | 北京全路通信信号研究设计院有限公司 | Train stopping control method and system |
| CN103213821A (en) * | 2013-04-26 | 2013-07-24 | 杭州电子科技大学 | Assembly line conveying device capable of locating accurately and control method thereof |
| CN103421522A (en) * | 2013-08-06 | 2013-12-04 | 毛振刚 | Coke oven mobile motor vehicle interlocking automatic control system |
| CN104178183A (en) * | 2014-05-08 | 2014-12-03 | 西安奥通电气设备工程有限公司 | RFID device for identifying oven number of mobile locomotive of coke oven |
| CN105692021A (en) * | 2016-03-24 | 2016-06-22 | 合肥工业大学智能制造技术研究院 | STM-based intelligent control system for logistics storage rail guide vehicle and method thereof |
-
2017
- 2017-05-31 CN CN201710401353.6A patent/CN107163959B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102167065A (en) * | 2011-03-31 | 2011-08-31 | 北京全路通信信号研究设计院有限公司 | Train stopping control method and system |
| CN103213821A (en) * | 2013-04-26 | 2013-07-24 | 杭州电子科技大学 | Assembly line conveying device capable of locating accurately and control method thereof |
| CN103421522A (en) * | 2013-08-06 | 2013-12-04 | 毛振刚 | Coke oven mobile motor vehicle interlocking automatic control system |
| CN104178183A (en) * | 2014-05-08 | 2014-12-03 | 西安奥通电气设备工程有限公司 | RFID device for identifying oven number of mobile locomotive of coke oven |
| CN105692021A (en) * | 2016-03-24 | 2016-06-22 | 合肥工业大学智能制造技术研究院 | STM-based intelligent control system for logistics storage rail guide vehicle and method thereof |
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| Publication number | Publication date |
|---|---|
| CN107163959B (en) | 2020-08-04 |
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