CN113200368A - Automatic correction system for single-machine walking position of bulk cargo wharf - Google Patents
Automatic correction system for single-machine walking position of bulk cargo wharf Download PDFInfo
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- CN113200368A CN113200368A CN202110509559.7A CN202110509559A CN113200368A CN 113200368 A CN113200368 A CN 113200368A CN 202110509559 A CN202110509559 A CN 202110509559A CN 113200368 A CN113200368 A CN 113200368A
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- correction system
- automatic correction
- walking
- response piece
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G65/00—Loading or unloading
- B65G65/02—Loading or unloading machines comprising essentially a conveyor for moving the loads associated with a device for picking-up the loads
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G65/00—Loading or unloading
- B65G65/005—Control arrangements
Abstract
The utility model provides a bulk cargo pier unit walking position automatic correction system, including the response piece, proximity switch and automatic correction system, install a response piece every 5-10m on the unit track, proximity switch installs on unit running gear, proximity switch detects the response piece after with signal transmission give automatic correction system, automatic correction system calculates the response piece quantity that passes through according to unit running gear's walking direction, calculate unit position through response piece interval distance, again with this data and the walking data comparison in the former control system, set up the error range by control personnel, when the data of actual position and the unit position that calculates surpass the error range, automatic correction system rectifies its data. The correction device composed of the proximity switch and the induction block is small in external interference and low in cost, and can accurately obtain the walking position of the single-machine walking mechanism, so that automatic operation failure caused by walking data distortion is avoided, and further the operation of the device is influenced.
Description
Technical Field
The invention relates to a wharf stand-alone positioning system, in particular to an automatic correction system for the stand-alone walking position of a bulk cargo wharf.
Background
With the continuous improvement of the requirements of the production management level of the coal wharf, automation, unmanned and intellectualization become the development trend of a production control system, more and more wharfs start to adopt the automatic stacking function of a stacker, a driver on the stacker is cancelled, the accuracy of a walking position is one of the prerequisites for automatic implementation, the automatic operation fails due to the distortion of walking data, and even equipment is damaged seriously.
Disclosure of Invention
The invention provides an automatic correction system for the single-machine walking position of a bulk cargo wharf, aiming at solving the problems.
The technical scheme adopted by the invention is as follows:
the utility model provides a bulk cargo pier unit walking position automatic correction system, including the response piece, proximity switch and automatic correction system, install a response piece every 5-10m on the unit track, proximity switch installs on unit running gear, proximity switch detects the response piece after with signal transmission give automatic correction system, automatic correction system calculates the response piece quantity that passes through according to unit running gear's walking direction, calculate unit position through response piece interval distance, again with this data and the walking data comparison in the former control system, set up the error range by control personnel, when the data of actual position and the unit position that calculates surpass the error range, automatic correction system rectifies its data.
The method for calculating the position of the single-machine walking mechanism comprises the steps that an automatic correction system calculates the number of passing induction blocks according to the walking direction of the walking mechanism, the number of the induction blocks is increased by one when the single-machine walking mechanism senses one induction block during advancing, the number of the induction blocks is decreased by one when the single-machine walking mechanism senses one induction block during retreating, and the position of the single-machine walking mechanism is calculated according to the interval distance and the number of the induction blocks.
The automatic correction system is a PLC control program, and the PLC adopts a Rockwell 1756 series.
The induction block consists of a metal plate and a metal bracket, wherein the metal plate is arranged on the metal bracket, and the metal bracket is arranged along the single machine rail.
The metal bracket is angle steel.
The invention has the beneficial effects that: the correction device composed of the proximity switch and the induction block is small in external interference, low in cost and convenient to use, and can accurately obtain the walking position of the single-machine walking mechanism, so that automatic operation failure caused by walking data distortion is avoided, and further the operation of the device is influenced.
Drawings
FIG. 1 is a schematic diagram of a sensor block according to the present invention.
FIG. 2 is a schematic view of a calibration process according to the present invention.
Wherein: 1-a metal plate; 2-metal stent.
Detailed Description
The utility model provides a bulk cargo pier unit walking position automatic correction system, including the response piece, proximity switch and automatic correction system, install a response piece every 5-10m on the unit track, the response piece comprises metal sheet 1 and metal support 2, metal sheet 1 installs on metal support 2, metal support 2 installs along the unit track, metal support 2 is the angle steel, proximity switch installs on unit running gear, proximity switch detects the response piece after with signal transmission give the automatic correction system analysis, the automatic correction system calculates the response piece quantity of process according to unit running gear's walking direction, unit running gear advances then the response piece quantity that detects plus one, retreat then the response piece quantity that detects minus one, the response piece quantity that detects multiplies with the spacing distance, be the walking data of unit running gear promptly.
The automatic correction system extracts single-machine walking data, walking direction and walking speed from an original control system, when a single-machine walking mechanism walks each time, the distance of simulated walking is calculated through data, a sensing block is detected each time, the simulated walking distance is compared with the data calculated by the sensing block, if the distance is within an error range, the distance of the sensing block is used for correcting the calculated data, if the distance exceeds the error range, an alarm is given to an operator for manual modification, after the comparison between the simulated walking distance and the distance of the sensing block is completed, the distance of the sensing block is compared with the walking data in the original control system, and if the difference is large, the data of the automatic correction system is used for correcting the distance.
The automatic correction system is a PLC, and the PLC adopts a Rockwell 1756 series.
The proximity switch is provided with 1 set, is installed on a single machine travelling mechanism, is adjusted according to the installation position of the field induction block, and ensures that the proximity switch can detect all induction blocks.
The calculation formula of the simulated walking distance and the distance of the induction block is as follows:
L1＝a*b
L2＝L1+T*V*c
if L2> L1, then L3 ═ L2- (L2-L1)
If L2< L1, then L3 ═ L2+ (L1-L2)
Wherein, L1-sense Block distance; a-sensing block separation distance; b-the number of sensed blocks; l2-simulated calculation data; t-single machine walking mechanism walking time; v, the running speed of the single-machine running mechanism; c, the walking direction of the single-machine walking mechanism is 1 in forward and-1 in backward; l3-stand-alone walking position data in PLC control program.
Example 1
The present invention will be explained in detail below based on specific examples.
The method is characterized in that 1 sensing block is installed on a single machine track every 1000cm, a single machine walking mechanism walks to sense an 18 th sensing block and continues to move forward, the moving speed is 3000 cm/min, the current position is L1-1000 x 18-18000 cm, when the 18 th sensing block moves forward after 22 seconds, the actual position is 19000 cm, simulated walking calculation data L2-18000 +3000 x 22/60-19100 cm, the difference between the calculation data and the actual position is 100 cm, the error is large, the calculation data is larger than the actual data, and L3-19100- (19100-19000) -19000 cm.
The embodiments of the present invention have been described in detail, but the description is only for the preferred embodiments of the present invention and should not be construed as limiting the scope of the present invention. All equivalent changes and modifications made within the scope of the present invention shall fall within the scope of the present invention.
Claims (5)
1. The utility model provides a bulk cargo pier unit walking position automatic correction system, a serial communication port, including response piece, proximity switch and automatic correction system, install a response piece every 5-10m on the unit track, proximity switch installs on unit running gear, proximity switch detects the response piece after with signal transmission give automatic correction system, automatic correction system calculates the response piece quantity that passes through according to unit running gear's walking direction, calculate the unit position through response piece interval distance, again compare this data with the walking data in the former control system, set up the error range by control personnel, when the data of actual position and the unit position that calculates surpass the error range, automatic correction system rectifies its data.
2. The automatic correction system for the single-machine walking position of the bulk cargo wharf according to claim 1, wherein the calculation method for the position of the single-machine walking mechanism is that the automatic correction system calculates the number of passing induction blocks according to the walking direction of the walking mechanism, the number of the induction blocks is increased by one when one induction block is induced during forward movement, the number of the induction blocks is decreased by one when one induction block is induced during backward movement, and the position of the single-machine walking mechanism is calculated according to the interval distance and the number of the induction blocks.
3. The automatic correction system for the stand-alone walking position of the bulk cargo terminal according to claim 1, wherein the automatic correction system is a PLC control program, and the PLC adopts Roxwell 1756 series.
4. The automatic correction system for the single-machine walking position of the bulk cargo wharf according to claim 1, characterized in that the induction block is composed of a metal plate (1) and a metal bracket (2), the metal plate (1) is installed on the metal bracket (2), and the metal bracket (2) is installed along a single-machine rail.
5. The automatic correction system for the stand-alone walking position of the bulk cargo wharf according to claim 4, characterized in that the metal bracket (2) is an angle steel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110509559.7A CN113200368A (en) | 2021-05-11 | 2021-05-11 | Automatic correction system for single-machine walking position of bulk cargo wharf |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110509559.7A CN113200368A (en) | 2021-05-11 | 2021-05-11 | Automatic correction system for single-machine walking position of bulk cargo wharf |
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| Publication Number | Publication Date |
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| CN113200368A true CN113200368A (en) | 2021-08-03 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110509559.7A Pending CN113200368A (en) | 2021-05-11 | 2021-05-11 | Automatic correction system for single-machine walking position of bulk cargo wharf |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08255018A (en) * | 1995-03-17 | 1996-10-01 | Hitachi Ltd | Position error correcting device for automatic traveling vehicle |
| CN102092591A (en) * | 2010-12-15 | 2011-06-15 | 中国神华能源股份有限公司 | Walking distance correction device of stacker |
| CN203100748U (en) * | 2013-03-08 | 2013-07-31 | 中国神华能源股份有限公司 | Walking position detector of stacker |
| CN204228173U (en) * | 2014-11-25 | 2015-03-25 | 山西太钢不锈钢股份有限公司 | A kind of coke tank truck traveling incremental encoding device |
| CN106326799A (en) * | 2016-08-24 | 2017-01-11 | 中交航局安装工程有限公司 | Radio frequency identification method applied to single machine positioning |
| CN208969488U (en) * | 2018-07-13 | 2019-06-11 | 华能曹妃甸港口有限公司 | A kind of stockyard single machine traveling correction system |
-
2021
- 2021-05-11 CN CN202110509559.7A patent/CN113200368A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08255018A (en) * | 1995-03-17 | 1996-10-01 | Hitachi Ltd | Position error correcting device for automatic traveling vehicle |
| CN102092591A (en) * | 2010-12-15 | 2011-06-15 | 中国神华能源股份有限公司 | Walking distance correction device of stacker |
| CN203100748U (en) * | 2013-03-08 | 2013-07-31 | 中国神华能源股份有限公司 | Walking position detector of stacker |
| CN204228173U (en) * | 2014-11-25 | 2015-03-25 | 山西太钢不锈钢股份有限公司 | A kind of coke tank truck traveling incremental encoding device |
| CN106326799A (en) * | 2016-08-24 | 2017-01-11 | 中交航局安装工程有限公司 | Radio frequency identification method applied to single machine positioning |
| CN208969488U (en) * | 2018-07-13 | 2019-06-11 | 华能曹妃甸港口有限公司 | A kind of stockyard single machine traveling correction system |
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Application publication date: 20210803 |