CN113652249A

CN113652249A - Method, device and system for positioning coke quenching car, storage medium and terminal

Info

Publication number: CN113652249A
Application number: CN202110838247.0A
Authority: CN
Inventors: 余炯
Original assignee: Huayuan Computing Technology Shanghai Co ltd
Current assignee: Huayuan Computing Technology Shanghai Co ltd
Priority date: 2021-07-23
Filing date: 2021-07-23
Publication date: 2021-11-16

Abstract

A positioning method and device of a coke quenching car, a storage medium and a terminal are provided, the method comprises the following steps: acquiring a vehicle image, wherein the vehicle image comprises an image of the coke quenching car and is acquired by the camera; determining the position of the quenching car on the track according to the position and/or the size of the quenching car in the vehicle image, and recording the position as a checking position; acquiring a measurement position of the coke quenching car on the track, wherein the measurement position is detected by a position sensor arranged on the track; judging whether the measurement position and the verification position meet preset verification conditions, and if so, taking the measurement position as the current position of the coke quenching car; wherein the preset checking condition comprises: the absolute value of the difference between the verification position and the measurement position does not exceed a first preset error. Through the scheme of the invention, the position of the coke quenching car can be accurately determined.

Description

Method, device and system for positioning coke quenching car, storage medium and terminal

Technical Field

The invention relates to the technical field of automatic control, in particular to a method, a device, a system, a storage medium and a terminal for positioning a coke quenching car.

Background

A Coke Quenching Car (Coke Quenching Car) is a supporting device for a large Coke oven, and during the coking production process, the Coke Quenching Car usually receives high-temperature Coke guided out from the Coke oven by a Coke guide grid, and conveys the Coke to a Quenching chamber for Quenching, and finally conveys the quenched Coke to a designated place for storage. In the prior art, the movement process of the coke quenching car is usually realized by manual control, so that the efficiency is low and errors are easy to occur. In order to achieve an automatic control of the movement of the quenching car, an accurate determination of the position of the quenching car is a crucial step.

Therefore, a method for positioning a coke quenching car is needed to improve the accuracy of positioning the coke quenching car.

Disclosure of Invention

The technical problem to be solved by the invention is to provide a method for positioning a coke quenching car so as to improve the accuracy of positioning the coke quenching car.

In order to solve the technical problem, an embodiment of the present invention provides a method for positioning a coke quenching car, where the coke quenching car moves along a track, and at least one end of the track is provided with a camera, and the method includes: acquiring a vehicle image, wherein the vehicle image comprises an image of the coke quenching car and is acquired by the camera; determining the position of the quenching car on the track according to the position and/or the size of the quenching car in the vehicle image, and recording the position as a checking position; acquiring a measurement position of the coke quenching car on the track, wherein the measurement position is detected by a position sensor arranged on the track; judging whether the measurement position and the verification position meet preset verification conditions, and if so, taking the measurement position as the current position of the coke quenching car; wherein the preset checking condition comprises: the distance between the verification position and the measurement position does not exceed a first preset error.

Optionally, a plurality of coke ovens are disposed along the track, each coke oven is located at a corresponding position, and the preset checking condition further includes: the first coke oven and the second coke oven are the same coke oven; the first coke oven is the coke oven corresponding to the checking position, and the second coke oven is the coke oven corresponding to the measuring position.

Optionally, a first end camera is arranged at one end of the track, a second end camera is arranged at the other end of the track, the vehicle image includes a first end image and a second end image, the first end image is an image collected by the first end camera, the second end image is an image collected by the second end camera, the checking position is selected from one or more of a first end checking position and a second end checking position, the first end checking position is a checking position obtained according to the first end image, and the second end checking position is a checking position obtained according to the second end image.

Optionally, before determining whether the measurement position and the verification position satisfy a preset verification condition, the method further includes: calculating the sum of the first end distance, the second end distance and the vehicle length of the quenching car, wherein the first end distance is the distance between the first end verification position and the position of the first end camera on the track, and the second end distance is the distance between the second end verification position and the position of the second end camera on the track; and judging whether the absolute value of the difference value between the sum and the length of the track is smaller than a second preset error, if so, continuously judging whether the measuring position and the checking position meet preset checking conditions, and otherwise, adjusting the shooting angle of the first end camera and/or the second end camera according to the first end image and the second end image.

Optionally, one end of the track is provided with a first camera and a second camera, the vehicle image comprises a first image and a second image, the first image is an image collected by the first camera, the second image is an image collected by the second camera, the checking position is obtained by calculation according to a first checking position and a second checking position, the first checking position is a checking position obtained according to the first image, and the second checking position is a checking position obtained according to the second image.

Optionally, before determining whether the measurement position and the verification position satisfy a preset verification condition, the method further includes: and judging whether the distance between the first checking position and the second checking position is smaller than a third preset error, if so, continuously judging whether the measuring position and the checking position meet preset checking conditions, and otherwise, adjusting the shooting angle of the first camera and/or the second camera according to the first image and the second image.

Optionally, the check position is a midpoint between the first check position and the second check position.

Optionally, determining the position of the quenching car on the track according to the position and/or size of the quenching car in the vehicle image comprises: determining a size of the quench car in the vehicle image; reading preset position information, wherein the preset position information is used for describing the corresponding relation between the size and the checking position; and determining the checking position according to the size and the preset position information.

Optionally, determining the position of the quenching car on the track according to the position and/or size of the quenching car in the vehicle image comprises: determining the position of the coke quenching car in the vehicle image, and recording the position as an image position; and determining the checking position according to the shooting angle of the camera and the image position by adopting a camera calibration method.

Optionally, a coke guide is arranged on the coke side rail, the coke side rail is located above the rail and is parallel to the rail, an alignment camera is arranged on the coke quenching car, a coke guide logo is arranged on the coke guide, and after the measurement position is taken as the current position of the coke quenching car, the method further includes: acquiring a target position, and controlling the coke quenching car to move from an initial position to the target position, wherein the initial position is the current position; judging whether the quenching car and the coke barrier are aligned or not when the speed of the quenching car is reduced to 0 in the process that the quenching car moves from the initial position to the target position; wherein determining whether the quench car and the coke guide are aligned comprises: acquiring a coke guide image, wherein the coke guide image comprises an image of a coke guide logo, and the coke guide image is acquired by the alignment camera; and judging whether the coke guide car mark is positioned at the central point of the coke guide image, if so, judging that the coke quenching car is aligned with the coke guide, and otherwise, adjusting the position of the coke quenching car on the track according to the position of the coke guide car mark in the coke guide image.

The embodiment of the invention also provides a positioning device of a coke quenching car, the coke quenching car moves along a track, at least one end of the track is provided with a camera, and the device comprises: the vehicle image acquisition module is used for acquiring a vehicle image, wherein the vehicle image comprises an image of the coke quenching car, and the vehicle image is acquired by the camera; the verification position determining module is used for determining the position of the coke quenching car on the track according to the position and/or the size of the coke quenching car in the vehicle image and recording the position as a verification position; a measurement position determining module for acquiring a measurement position of the coke quenching car on the track, wherein the measurement position is detected by a position sensor arranged on the track; the positioning and checking module is used for judging whether the measuring position and the checking position meet preset checking conditions or not, and if so, taking the measuring position as the current position of the coke quenching car; wherein the preset checking condition comprises: the distance between the verification position and the measurement position does not exceed a first preset error.

The embodiment of the invention also provides a positioning system of the coke quenching car, which comprises the following components: a track on which the quench car moves; a position sensor disposed on the track; the camera is arranged at least one end of the track; and the controller is used for executing the positioning method of the coke quenching car.

Optionally, the camera includes: the camera comprises a first end camera and a second end camera, wherein the first end camera is arranged at one end of the track, and the second end camera is arranged at the other end of the track.

Optionally, the camera includes: the first camera and the second camera are arranged at the same end of the track.

Embodiments of the present invention also provide a storage medium having a computer program stored thereon, where the computer program is executed by a processor to perform the steps of the method for positioning a coke quenching car.

The embodiment of the invention also provides a terminal, which comprises a memory and a processor, wherein the memory is stored with a computer program capable of running on the processor, and the processor executes the steps of the coke quenching car positioning method when running the computer program.

Compared with the prior art, the technical scheme of the embodiment of the invention has the following beneficial effects:

in the scheme of the embodiment of the invention, the coke quenching car moves along the track, the track is provided with the position sensor, and the position sensor can detect the position of the coke quenching car on the track and record the position as a measurement position. The track is also provided with a camera for acquiring the vehicle image, and the vehicle image comprises the image of the coke quenching car, so that the position of the coke quenching car on the track can be determined according to the position and/or the size of the coke quenching car in the image and recorded as a verification position. Since the verification position and the measurement position are determined in two different ways, the measurement position can be verified by the verification position. If the distance between the checking position and the measuring position is larger than a first preset error, namely the distance between the checking position and the measuring position is larger, the situation that the position sensor used for obtaining the measuring position is possibly abnormal can be judged, and the measuring position is not suitable to be used as the current position of the coke quenching car at the moment; if the distance between the checking position and the measuring position does not exceed a first preset error, the position sensor can be judged to be in a normal state, and the measuring position is taken as the current position of the coke quenching car. Therefore, the abnormal condition of the position sensor can be identified as much as possible by adopting the scheme, the condition that the measured position is inaccurate due to the abnormality such as the fault of the position sensor is avoided, and the positioning accuracy can be improved.

Further, in the scheme of the embodiment of the invention, the two ends of the track are provided with the cameras, and before judging whether the measurement position and the verification position meet the preset verification condition, whether the verification position is suitable for verifying the measurement position is verified. By calculating the sum of the first end distance, the second end distance and the length of the coke quenching car and calculating the difference between the sum and the length of the track, if the absolute value of the difference is smaller than a second preset threshold value, the calibration position can be judged to be accurate, otherwise, the calibration position can be judged to be inaccurate and cannot be used for verifying the measurement position, so that the situation of misjudgment of the measurement position can be avoided, and the positioning accuracy is further improved.

Drawings

FIG. 1 is a schematic diagram of an application scenario of a method for positioning a quenching car according to an embodiment of the invention;

FIG. 2 is a schematic flow diagram of a method of locating a quench car in an embodiment of the invention;

FIG. 3 is a schematic flow diagram of a method of controlling a quench car in an embodiment of the invention;

FIG. 4 is a schematic illustration of a first quench car speed variation in an embodiment of the invention;

FIG. 5 is a schematic illustration of a second quench car velocity variation in an embodiment of the invention;

FIG. 6 is a schematic illustration of a third quench car velocity profile in an embodiment of the present invention;

FIG. 7 is a schematic representation of the change in velocity of a fourth quench car in an embodiment of the present invention;

FIG. 8 is a schematic diagram of an application scenario of another method for locating a quench car in an embodiment of the invention;

FIG. 9 is a schematic diagram of a positioning device for a quench car in an embodiment of the invention.

Detailed Description

As discussed in the background, there is a need for a method of positioning a quench car to improve the accuracy of the quench car positioning.

The inventor of the present invention has found through research that in the prior art, a position sensor (such as a coded cable and the like) is generally arranged on a track on which a quenching car moves, the position of the quenching car on the track is detected by the position sensor, and the position is transmitted to a controller. As can be understood, the working environment of the coke quenching car is relatively severe, and abnormal conditions such as damage to the position sensor and the like are easy to occur. For example, the temperature of coke received from the coke guide car is as high as 1000 ℃, and if abnormal conditions such as coke leakage occur in the receiving process, a position sensor arranged on the track is easily damaged. When the position sensor is abnormal, the position sensor is obviously not suitable for taking the position measured by the position sensor as the current position of the coke quenching car. If the abnormality of the position sensor is not recognized, the position detected by the position sensor is directly used as the current position of the coke quenching car, and the positioning method is obviously inaccurate. Therefore, when the coke quenching car is positioned, whether the position sensor is abnormal or not needs to be identified so as to improve the positioning accuracy of the coke quenching car.

In order to solve the technical problem, an embodiment of the present invention provides a method for positioning a coke quenching car. The track is also provided with a camera for acquiring the vehicle image, and the vehicle image comprises the image of the coke quenching car, so that the position of the coke quenching car on the track can be determined according to the position and/or the size of the coke quenching car in the image and recorded as a verification position. Since the verification position and the measurement position are determined in two different ways, the measurement position can be verified by the verification position. If the distance between the checking position and the measuring position is larger than a first preset error, namely the distance between the checking position and the measuring position is larger, the situation that the position sensor used for obtaining the measuring position is possibly abnormal can be judged, and the measuring position is not suitable to be used as the current position of the coke quenching car at the moment; if the distance between the checking position and the measuring position does not exceed a first preset error, the position sensor can be judged to be in a normal state, and the measuring position is taken as the current position of the coke quenching car. Therefore, the abnormal condition of the position sensor can be identified as much as possible by adopting the scheme, the condition that the measured position is inaccurate due to the abnormality such as the fault of the position sensor is avoided, and the positioning accuracy can be improved.

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.

Referring to fig. 1, fig. 1 is a schematic view of an application scenario of a method for positioning a quenching car according to an embodiment of the present invention. The following non-limiting description of an application scenario of the positioning method of the coke quenching car in the embodiment of the invention is provided with reference to fig. 1.

As shown in fig. 1, a plurality of coke ovens 12 are used to make coke, each coke oven 12 having a preset number to distinguish it from the other coke ovens 12. The coke ovens 12 are arranged side by side, and rails 11 are arranged on the ground beside the coke ovens 12, the rails 11 are parallel to the coke ovens 12, and the quenching car 14 can move on the rails 11.

Further, a position sensor (not shown) may be disposed on the track 11, the position sensor may detect a position of the quench car 14 on the track 11, the controller may be coupled to the position sensor to obtain the position of the quench car 14 on the track 11, and the position of the quench car 14 detected by the position sensor may be recorded as a measurement position. The position sensor may be any suitable sensor known in the art, and embodiments of the present invention are not limited as to the type of position sensor.

Further, at least one end of the track 11 is provided with a camera for collecting a vehicle image of the quenching car 14, wherein the vehicle image is an image containing an image of the quenching car 14. The controller may be coupled to the camera to obtain an image of the vehicle from the camera.

Specifically, one or more cameras may be disposed at only one end of the track 11, or one or more cameras may be disposed at both ends of the track 11, respectively, which is not limited in this embodiment of the present invention.

In a particular embodiment, the camera comprises: first end camera and second end camera, first end camera setting are in the one end of track 11, and second end camera setting is at the other end of track 11.

In another specific embodiment, a camera includes: first camera and second camera, first camera and second camera setting are at track 11 same end.

The camera may be a gun-shaped camera or a spherical camera, but is not limited thereto, and the type of the camera is not limited in the embodiment of the present invention. In a preferred embodiment, the camera may be a gun-type camera.

Further, the track 11 may be a linear track, i.e., the movement of the quench car 14 on the track 11 may be a linear movement. One end of the track 11 may be referred to as a first end and the other end may be referred to as a second end. The camera may be arranged at a preset height of the first end and/or the second end, which may be preset. Wherein the shooting angle of the camera is adjustable. More specifically, the camera may be mounted on a rotating bracket (not shown), and the controller may be coupled to the rotating bracket, and the controller may adjust a photographing angle of the camera by controlling a rotation angle of the rotating bracket.

In one non-limiting embodiment, the first end of the track 11 is provided with a first camera 15 and a second camera 16, and the second end of the track 11 is provided with a third camera 17 and a fourth camera 18, i.e., two 2 cameras are provided at each end of the track 11, but not limited thereto.

Further, the controller may determine the location of the quench car 14 on the track 11 based on the vehicle images, and the location of the quench car 14 based on the vehicle images may be recorded as a verification location. The specific process of determining the location of the quench car 14 on the track 11 from the vehicle images will be described in detail below.

Further, the controller may verify the measurement location with the verification location to determine the current location of the quench car 14 on the track 11.

Further, a speed sensor 140 may be provided on the quench car 14 to obtain the speed of the quench car 14 during movement. It should be noted that the velocity sensor 140 of embodiments of the present invention may be disposed at any suitable location on the quench car 14, and embodiments of the present invention are not limited in this respect.

Further, a coke guide 13 is provided on a coke side rail (not shown) of the coke oven 12, which is located above the rail 11 and is parallel to the rail 11. The coke guide 13 comprises a coke guide grate 19, which coke guide grate 19 can be used to guide the coke out of the coking oven 12 after coking into the coke guide 13.

Further, the movement tasks of the quench car 14 on the track 11 may include: (1) moving the coke oven to a position corresponding to a target coke oven for completing coking from the current position; (2) moving the coke quenching furnace from the position corresponding to the target coke furnace after the coking to a first preset position for coke quenching; (3) the coke discharging is performed by moving from the first preset position to the second preset position, but the invention is not limited thereto.

Specifically, when the coking of any coke oven 12 is completed, the controller may control the coke quenching car 14 to move from the current position to a target position on the track 11, where the target position is a position on the track corresponding to the coke oven with completed coking. After the coke quenching car 14 moves to a position corresponding to a target coke oven for coking, the coke in the coke guide 13 can be lowered into the coke quenching car 14. After the coke discharging is finished, the coke quenching car 14 can be controlled to move to a first preset position on the track for coke quenching, and the target position is the first preset position at the moment. And after the coke quenching is finished, controlling the coke quenching car 14 to move to a second preset position on the track for coke discharging, wherein the target position is the second preset position. Further, the coke quenching car 14 may be controlled to move to a position corresponding to the target coke oven for the next coking completion and the above steps may be repeated.

Therefore, before controlling the coke quenching car 14 to perform each moving task, the current position of the coke quenching car 14 needs to be determined, and the current position of the coke quenching car 14 can be obtained by adopting the scheme provided by the embodiment of the invention and is taken as the starting position of the moving task to be performed currently. After the target location is obtained, the quench car 14 may be controlled to move from the home position to the target location. It should be noted that the location of the quench car 14 may also be obtained in real time using the solution of the embodiment of the present invention during the execution of each of the mobile tasks.

Referring to fig. 2, fig. 2 is a schematic flow chart of a method for positioning a quenching car according to an embodiment of the invention. The method may be performed by a controller, which may be any suitable terminal having data receiving and processing capabilities, such as, but not limited to, a computer, etc. The controller may be disposed within a positioning system of the quench car, the controller being coupled to various devices in the positioning system of the quench car; alternatively, the controller may be located external to the positioning system of the quench car and remotely coupled to various devices in the positioning system of the quench car, but is not so limited. The method of positioning a quench car shown in fig. 2 may include the steps of:

step S201: obtaining a vehicle image, wherein the vehicle image comprises an image of the coke quenching car, and the vehicle image is acquired by the camera

Step S202: determining the position of the quenching car on the track according to the position and/or the size of the quenching car in the vehicle image, and recording the position as a checking position;

step S203: acquiring a measurement position of the coke quenching car on the track, wherein the measurement position is detected by a position sensor arranged on the track;

step S204: judging whether the measurement position and the verification position meet preset verification conditions, and if so, taking the measurement position as the current position of the coke quenching car; wherein the preset checking condition comprises: the distance between the verification position and the measurement position does not exceed a first preset error.

In the specific implementation of step S201, a vehicle image collected by a camera may be acquired, the camera is disposed on at least one end of the track, and the vehicle image includes an image of the coke quenching car. Specifically, a coke quenching car mark can be preset on the coke quenching car, and the image of the car includes the image of the coke quenching car mark. It should be noted that the shape of the quench car logo is not limited by the embodiments of the present invention, and in a preferred embodiment, the quench car logo may be circular.

It should be noted that the acquired vehicle images correspond to the cameras one to one, that is, the number of the acquired vehicle images is the same as the number of the set cameras. The cameras may be only disposed at one end of the track, or may be disposed at two ends of the track, respectively.

In an implementation of step S202, for each vehicle image, the location of the quench car on the track may be determined based on the location and/or size of the quench car in the vehicle image. In particular, the distance between the location of the camera capturing the image of the vehicle on the track and the location of the quenching car on the track may be determined based on the location and/or size of the quenching car in the image of the vehicle. Since the position of the camera is fixed, the position of the quenching car on the track can be determined.

There may be various implementations for determining the verification location for each vehicle image based on the location and/or size of the quench car in the vehicle image.

In a first implementation, the calibration position of the quenching car on the track may be determined based on the size of the quenching car in the vehicle image. Wherein the size of the quench car in the image may be the size of the quench car logo in the vehicle image.

In particular, an object detection algorithm may be employed to identify a quench car in the vehicle image and determine the size of the quench car in the vehicle image. In other words, the size of the image of the quench car in the vehicle image may be determined. More specifically, a target detection algorithm may be employed to identify a quench car logo in the vehicle image and determine a size of the quench car logo in the vehicle image. For example, where the quench car is marked as a circle, the diameter of the quench car mark in the vehicle image may be determined. The target detection algorithm may be various existing algorithms for identifying a preset target in an image, which is not limited in any way by the embodiment of the present invention.

Further, preset position information is read, and the preset position information is used for describing the corresponding relation between the size and the verification position. The correspondence may be used to describe the distance between the location of the quench car on the track and the location of the camera on the track and the above-mentioned dimensions. The camera herein refers to a camera that captures an image of the vehicle.

Specifically, the farther the quenching car is from the camera on the track, the smaller the size of the quenching car or the quenching car mark in the car image collected by the camera is, that is, the distance between the position of the quenching car on the track and the position of the camera on the track is in inverse proportion to the size.

Wherein the inverse proportional relationship may be obtained from a plurality of vehicle sample images. Specifically, the quench car may be moved to a plurality of preset sample positions, a vehicle sample image is captured by a camera at each preset sample position, and the size of the quench car logo in the vehicle sample image is calculated. Thus, the inverse proportional relationship may be determined based on the size of the quench car logo in the plurality of car sample images and the distance between the plurality of preset sample positions and the position of the camera on the track.

Further, the distance between the position of the quenching car on the track and the position of the camera on the track can be determined according to the size of the quenching car in the car image and the inverse proportional relation. As the position of the camera on the track is determined, the position of the coke quenching car on the track can be determined, namely, the checking position can be determined.

In a second implementation, a target detection algorithm may be employed to determine coordinate information of the quench car or a quench car logo in the vehicle image, the coordinate information indicating a location of the quench car in the vehicle image. The Coordinate information may be coordinates based on an image Coordinate system (Picture Coordinate), or may be coordinates based on a Pixel Coordinate system (Pixel Coordinate), which is not limited in this embodiment of the present invention.

Further, a camera calibration method can be adopted to determine the calibration position according to the position of the coke quenching car mark in the car image and the shooting angle. Specifically, a camera calibration method can be adopted to determine the distance between the coke quenching car logo and the camera according to the coordinate information. More specifically, the coordinates of the quenching car mark in a Camera Coordinate system (Camera Coordinate) can be determined by a Camera calibration method, and the coordinates in the optical axis direction of the Camera in the coordinates in the Camera Coordinate system can be used as the distance between the quenching car mark and the Camera.

Further, the distance between the position of the coke quenching car on the track and the position of the camera on the track can be determined according to the distance between the coke quenching car mark and the camera and the shooting angle of the camera, so that the position of the coke quenching car on the track can be determined. It should be noted that the camera calibration method may be any existing method for determining the position of the target in the world coordinate system according to the position of the target in the image, and the embodiment of the present invention does not set any limitation to this.

In a third implementation, the verification location may be determined based on the location and size of the quench car in the vehicle image. Specifically, a coordinate checking position is determined according to the position of the quenching car in the vehicle image, a size checking position is determined according to the size of the quenching car in the image, and then the middle point of the coordinate checking position and the size checking position is used as the checking position of the quenching car. It should be noted that, when a plurality of vehicle images are acquired, a corresponding verification position may be determined for each vehicle image, and then a final verification position may be determined according to each verification position.

Further, the verification position may be determined from the vehicle images captured by the plurality of cameras.

In a first non-limiting example, N cameras are arranged at one end of a track, and N vehicle images are acquired, wherein the vehicle image acquired by the ith camera is recorded as the ith vehicle image, i is greater than or equal to 1 and less than or equal to N, and i and N are positive integers.

Further, the position of the quenching car on the track can be determined according to the ith vehicle image and is recorded as the ith verification position. The specific process of determining the ith verification position according to the ith vehicle image may refer to the above specific description, and is not described herein again.

Further, a verification position for judging whether the verification condition is satisfied may be determined according to the N verification positions. For example, when N is 2, the midpoint between the 1 st verification location and the 2 nd verification location may be used as the verification location.

In a second non-limiting example, a camera is disposed at a first end of the track, a camera is also disposed at a second end of the track, and the cameras are respectively denoted as a first end camera and a second end camera, a vehicle image captured by the first end camera is denoted as a first end image, and a vehicle image captured by the second end camera is denoted as a second end image. It should be noted that the coke quenching car logos may be respectively disposed on both sides of the coke quenching car, in other words, the coke quenching car logo disposed on one side of the coke quenching car faces the first end camera, and the coke quenching car logo disposed on the other side of the coke quenching car faces the second end camera, so that both the first end image and the second end image may include the coke quenching car logo.

Further, a first end verification position may be determined from the first end image, and a second end verification position may be determined from the second end image. For the specific process of determining the first end verification position according to the first end image and determining the second end verification position according to the second end image, reference may be made to the above detailed description, which is not repeated herein.

Further, a verification position for judging whether a preset verification condition is met or not can be determined according to the first end verification position and/or the second end verification position. Specifically, a midpoint determined by the first end verification position and the second end verification position may be used as the verification position, or the first end verification position or the second end verification position may be directly used as the verification position. It should be noted that, if the first-end camera includes a plurality of cameras, the corresponding check position may be obtained according to the vehicle image acquired by each camera in the first-end camera, and then the first-end check position may be determined according to the plurality of check positions.

For example, in the application scenario shown in fig. 1, a first verification position may be determined according to a vehicle image collected by the camera 15, a second verification position may be determined according to a vehicle image collected by the camera 16, and a midpoint between the first verification position and the second verification position may be further used as the first end verification position. Similarly, a third verification position is determined according to the vehicle image acquired by the camera 17, a fourth verification position is determined according to the vehicle image acquired by the camera 18, and a midpoint between the third verification position and the fourth verification position is further used as a second end verification position, so that the verification position in step S203 is determined according to the first end verification position and the second end verification position.

In the specific implementation of step S203, the measurement position of the quenching car on the track may be obtained from the position sensor, in other words, the measurement position is detected by the position sensor disposed on the track. The position sensor may be a coded cable or an infrared position sensor, but is not limited thereto. The embodiments of the present invention do not limit the position sensor.

In one non-limiting embodiment, the position sensor is a coded cable. Specifically, a coding cable is arranged on the track, the coding cable comprises address pair lines, and the address pair lines are crossed according to a Binary Gray Code (Binary Gray Code) rule. An antenna box can be arranged on the coke quenching car, and a coil is arranged in the antenna box. In the process that the antenna box moves along with the coke quenching car, an address signal is generated and sent to the controller, the address signal is a binary gray code, and the controller can decode the address signal, so that the measurement position of the coke quenching car can be obtained.

It should be noted that, in the embodiment of the present invention, the execution sequence of step S202 and step S203 is not limited, that is, step S202 may be executed first and then step S203 may be executed, step S203 may be executed first and then step S202 may be executed, and step S202 and step S203 may be executed simultaneously.

In the specific implementation of step S204, it may be determined whether the measurement position and the verification position satisfy a preset verification condition.

In a first non-limiting example, the distance between the measurement location and the verification location may be calculated, and if the distance does not exceed a first predetermined error, i.e., the measurement location and the verification location differ by a small amount, it may be determined that the position sensor is not abnormal, and thus the measurement location may be taken as the current location of the quench car. Wherein the first preset error may be preset. More specifically, the first predetermined error may be set based on a vehicle length of the quench car. It should be noted that, unlike the size of the quenching car in the car image in step S202, the car length of the quenching car is the actual length of the quenching car, and is not the length in the image.

In a second non-limiting example, in addition to the distance between the measurement location and the verification location not exceeding the first preset error, the preset verification condition may further include: the first coke oven and the second coke oven are the same coke oven. Specifically, since the rails are arranged in parallel with the coke ovens, each coke oven has a corresponding position on the rails, the coke oven corresponding to the calibration position can be determined from the calibration position and is marked as the first coke oven, and the coke oven corresponding to the measurement position can be determined from the measurement position and is marked as the second coke oven. Further, if the first coke oven and the second coke oven are the same coke oven, it can be judged that the difference between the measurement position and the verification position is small and the position sensor is not abnormal. At this time, the corresponding position of the coke oven on the track can be determined as the current position of the quenching car.

Further, if the checking position and the measuring position do not meet the preset checking condition, alarm information can be sent out to prompt a user that the position sensor is possibly abnormal, so that the user can check and eliminate the fault on the position sensor.

In the solution of the embodiment of the present invention, the position sensor may be a coded cable, and an abnormal area may be determined according to a distance between the verification position and the measurement position, and the abnormal area may be used to indicate an area outside the safety range. When the coke quenching car moves to an abnormal area, an alarm can be given.

In the scheme of the embodiment of the invention, before judging whether the verification position and the measurement position meet the preset verification condition, whether the verification position obtained according to the vehicle image can be used for verifying the measurement position can be judged.

In a first non-limiting example, N cameras are arranged at one end of a track to acquire N vehicle images, wherein the vehicle image acquired by the ith camera is recorded as the ith vehicle image, i is greater than or equal to 1 and less than or equal to N, and i and N are positive integers, and the ith check position is determined according to the ith vehicle image. If the distance between every two of the N verification positions is smaller than the third preset error, it can be judged that the verification position obtained according to the vehicle image can be used for verifying the measurement position. Wherein the third preset error may be preset.

Further, if the distance between every two verification positions is larger than or equal to a third preset error, it can be judged that a larger error exists between the verification position obtained according to the vehicle image and the actual position of the coke quenching car at the moment, the error is not suitable for verifying the measurement position, and the shooting angle of the camera can be adjusted at the moment. For example, a first camera and a second camera are arranged at one end of the track, a checking position determined according to a vehicle image collected by the first camera is a first checking position, a checking position determined according to a vehicle image collected by the second camera is a second checking position, and if the distance between the first checking position and the second checking position is greater than or equal to a third preset error, the shooting angle of the first camera and/or the second camera can be adjusted according to the first image and the second image. Specifically, a linear regression analysis may be performed on the first image and the second image, and the photographing angle may be adjusted according to the result of the linear regression analysis. And after the shooting angle is adjusted each time, the first image and the second image are obtained again, and when the coke quenching car mark is positioned at the same position in the first image and the second image, the shooting angle adjustment of the first camera and/or the second camera is completed. More specifically, the photographing angle can be adjusted by adjusting the rotation angle of the rotating bracket.

In a second non-limiting example, a first end camera is disposed at a first end of the track, a second end camera is also disposed at a second end of the track, a vehicle image obtained by the first end camera is recorded as a first end image, a vehicle image obtained by the second end camera is recorded as a second end image, a first end verification position can be determined according to the first end image, and a second end verification position can be determined according to the second end image.

Further, a sum of the first end distance, the second end distance, and a vehicle length of the quench car may be calculated. The first end distance is the distance between a first end checking position and the position of the first end camera on the track, and the second end distance is the distance between a second end checking position and the position of the second end camera on the track.

Further, the difference between the sum and the length of the track can be calculated, the absolute value of the difference is compared with a second preset error, if the absolute value of the difference is smaller than the second preset error, whether the measurement position and the check position meet preset check conditions can be continuously judged, otherwise, a larger error exists between the first end check position and/or the second end check position and the actual position of the coke quenching car on the track can be judged, the measurement position is not verified by using the check position, and therefore the shooting angle of the first end camera and/or the second end camera can be adjusted according to the first end image and the second end image. Specifically, linear regression analysis may be performed on the first end image and the second end image, and the photographing angle may be adjusted according to the result of the linear regression analysis. And after the shooting angle is adjusted each time, the first end image and the second end image are obtained again, and when the coke quenching car logo is positioned at the same position in the first end image and the second end image, the shooting angle adjustment of the first end camera and/or the second end camera is completed.

Further, whether the coke oven corresponding to the first end verification position and the coke oven corresponding to the second end verification position are the same coke oven can be judged, and if yes, the position corresponding to the coke oven on the track can be used as the verification position.

Therefore, by adopting the scheme of the embodiment of the invention, the abnormal condition of the position sensor can be identified as much as possible, the condition of inaccurate measurement position caused by the abnormality of the position sensor and the like is avoided, and the positioning accuracy can be improved.

Further, the target position of the quenching car can be obtained. In particular, the target location may be determined based on the movement tasks that the quench car is currently required to perform. For example, if the current movement task of the coke quenching car is to receive coke, the target position is a position corresponding to a target coke oven for completing coking; if the current moving task of the quenching car is quenching, the target position is the first preset position (for example, the position of the water spraying tower can be the position of the quenching car); if the current movement task of the quenching car is coke discharge, the target position is the second preset position (for example, the position of the coke drying table). It should be noted that the target position may also be another position on the track different from the starting position, which is not limited by the embodiment of the present invention.

Further, after the target position is obtained, the current position can be used as a starting position to control the coke quenching car to move from the current position to the target position.

Referring to fig. 3, fig. 3 is a flow chart illustrating a method for controlling a quenching car according to an embodiment of the invention. The method specifically comprises the following steps:

step S301: acquiring an initial position and a target position of the coke quenching car on the track;

step S302: determining a first deceleration position, wherein the first deceleration position is located between the starting position and the target position, and the range between the first deceleration position and the target position is a deceleration section, wherein the movement process of the coke quenching car in the deceleration section comprises a plurality of deceleration stages and at least one deceleration buffer stage, and the deceleration buffer stage is located between the adjacent deceleration stages;

step S303: and controlling the coke quenching car to move from the starting position to the target position, wherein the speed of the coke quenching car is controlled to gradually decrease in the deceleration stage, and the speed of the coke quenching car is controlled to be kept unchanged in the deceleration buffer stage.

In a specific implementation of step S301, when the task execution instruction is acquired, the task execution instruction may include the target location. The current location of the quench car on the track may also be obtained and used as a starting location.

For more about step S301, reference may be made to the above detailed description, which is not repeated herein.

In a specific implementation of step S302, a first deceleration position may be determined between the start position and the target position, and a deceleration interval may be between the first deceleration position and the target position. The movement process of the coke quenching car in the deceleration section comprises a plurality of deceleration stages, and the speed of the coke quenching car in the deceleration stages is continuously reduced.

Furthermore, the moving process of the coke quenching car in the deceleration interval also comprises a deceleration buffer stage, and the speed of the coke quenching car in the deceleration buffer stage is kept unchanged, namely, the coke quenching car moves at a constant speed in the deceleration buffer stage. The deceleration buffer stage is positioned between the adjacent deceleration stages, and the last deceleration stage in the plurality of deceleration stages is the movement process of the coke quenching car between the preset final deceleration position and the target position.

There are various implementations of determining the first deceleration position.

In a first implementation, a distance between the starting position and the target position may be calculated, and recorded as the movement distance, and the first deceleration position may be set according to the movement distance. Specifically, the greater the movement distance, the greater the distance between the first deceleration position and the target position, that is, the greater the movement distance, the greater the length of the deceleration section.

In a second implementation, the first deceleration position may also be determined based on the weight of the quench car. Wherein the weight of the quenching car is the sum of the weight of the quenching car and the weight of coke carried by the quenching car. The greater the weight of the quench car, the greater the distance between the first deceleration position and the target position, i.e. the greater the length of the deceleration section. More specifically, the first deceleration position may be determined based at least on a weight of the quench car. Specifically, the friction force of the quenching car can be determined according to the weight of the quenching car, wherein the weight of the quenching car and the friction force have a preset corresponding relation, so that the friction force of the quenching car can be determined by searching the preset corresponding relation according to the weight of the quenching car, and the larger the weight is, the larger the friction force is. Furthermore, the movable distance of the coke quenching car can be determined according to the friction force grade of the friction force of the coke quenching car, and then the first deceleration position is determined according to the movable distance, wherein the friction force range and the movable distance have a preset corresponding relation, and the movable distance is the distance between the position of the coke quenching car when braking and the position of the coke quenching car when stopping after braking. Wherein, the larger the friction force is, the larger the friction force grade of the friction force is, and the larger the movable distance is.

Further, the maximum moving speed can be determined according to the weight and the moving distance of the quenching car, wherein the maximum moving speed refers to the maximum speed in the process of moving the quenching car from the starting position to the target position. Specifically, the larger the movement distance, the larger the maximum movement speed; the greater the weight of the quench car, the lower the maximum travel speed. Therefore, the maximum moving speed is determined according to the weight and the moving distance of the coke quenching car, and the maximum moving speed can be improved as much as possible under the premise of considering the larger inertia of the coke quenching car, so that the coke quenching car can reach the target position as soon as possible, the moving time is reduced, and the working efficiency of the coke quenching car is improved.

In one non-limiting example, the friction of the quench car may be determined based on the weight of the quench car, with a predetermined correspondence between the weight of the quench car and the friction, and thus the friction of the quench car may be determined based on the weight of the quench car, with the greater the weight, the greater the friction. Furthermore, the maximum moving speed of the quenching car can be determined according to the friction force grade to which the friction force of the quenching car belongs, wherein the friction force grade and the maximum moving speed have preset corresponding relation, and the larger the friction force grade is, the larger the maximum moving speed is.

Further, the number of deceleration buffer stages in the movement process of the coke quenching car in the deceleration section and the corresponding deceleration buffer speed of each deceleration buffer stage can be determined according to the maximum moving speed, the distance between the starting position and the target position and the weight of the coke quenching car. Specifically, the larger the maximum moving speed is, the more deceleration buffering stages in the deceleration section are; the larger the weight of the coke quenching car is, the larger the inertia of the coke quenching car is, and the more deceleration buffer stages in a deceleration section are; the greater the distance between the starting position and the target position, the more deceleration buffer stages within the deceleration section.

More specifically, the weight of the coke quenching car varies greatly when performing different tasks, for example, when the coke quenching car is moved to a target coke oven for coking and receives coke, the weight of the coke quenching car only includes its own weight. When the coke quenching car carries out coke quenching and coke discharging in the moving process of going to a preset position after receiving coke, the weight of the coke quenching car comprises the weight of the coke and the weight of the coke. Furthermore, the weight of coke received at different target coke ovens may also be different. Therefore, the number of the deceleration buffer stages and the corresponding deceleration buffer speed are determined according to the weight of the coke quenching car, so that the movement process of the coke quenching car can be determined to be more in line with the actual requirement, and the coke quenching car can be accurately controlled to stop at the target position.

In a first non-limiting example, the number of deceleration buffer stages in the deceleration section is 1, i.e. the movement of the quench car in the deceleration section is in turn a first deceleration stage, a first deceleration buffer stage and a second deceleration stage. The deceleration buffer speed corresponding to the first deceleration buffer stage is a first deceleration buffer speed, and the first deceleration buffer speed may be preset. Preferably, the first decelerating buffer speed is 0.1 m/s. The first deceleration buffer speed may also be determined based on one or more of a maximum travel speed, a length of the deceleration zone, and a weight of the quench car.

In a second non-limiting example, the number of the deceleration buffer stages in the deceleration section is 2, and the movement process of the coke quenching car in the deceleration section is a first deceleration stage, a first deceleration buffer stage, a second deceleration buffer stage and a third deceleration stage in sequence. The deceleration buffer speed corresponding to the first deceleration buffer stage is a first deceleration buffer speed, the deceleration buffer speed corresponding to the second deceleration buffer stage is a second deceleration buffer speed, and the second deceleration buffer speed is less than the first deceleration buffer speed. Wherein the first and second deceleration buffer speeds may be preset. Preferably, the first decelerating buffer speed is 1 m/s and the second decelerating buffer speed is 0.1 m/s. The first and second deceleration buffer speeds may also be determined based on one or more of a maximum travel speed, a length of the deceleration section, and a weight of the quench car.

It should be noted that the number of deceleration buffer stages of the quenching car in the deceleration section is not limited by the embodiment of the present invention.

In a third non-limiting example, there may be an acceleration interval between the start position and the first deceleration position. Specifically, the quench car is accelerated from a home position to a first deceleration position, and when the quench car reaches the first deceleration position, the quench car is at a maximum travel speed.

In a fourth non-limiting example, there may be an acceleration interval and a constant speed interval between the start position and the first deceleration position. Specifically, there is a predetermined constant speed position between the starting position and the first deceleration position, and in one non-limiting example, the distance between the constant speed position and the starting position is 1 meter.

Furthermore, an acceleration interval is arranged between the initial position and the uniform speed position, the moving process of the coke quenching car in the acceleration interval comprises an acceleration stage, and the coke quenching car moves in the acceleration stage in an accelerated manner. A constant speed section is arranged between the constant speed position and the first deceleration position, the moving process of the coke quenching car in the constant speed section is a constant speed stage, and the coke quenching car moves at the maximum moving speed in the constant speed stage at the constant speed. In other words, when the quenching car reaches the preset constant speed position, the speed is the maximum moving speed. Therefore, the uniform speed interval is arranged between the initial position and the first deceleration position, so that the time required by the coke quenching car to move to the target position can be reduced, and the working efficiency of the coke quenching car is improved.

Further, whether the acceleration buffer stage is included in the acceleration section can be determined according to one or more of the maximum moving speed, the length of the acceleration section and the weight of the coke quenching car, wherein the length of the acceleration section is the distance between the starting position and the uniform speed position. Specifically, the coke quenching car is generally heavy and has very large inertia, and in the actual control process, if the maximum moving speed is large or the length of the acceleration section is small, the maximum moving speed at a uniform position is difficult to be reached due to the large inertia of the coke quenching car. To this end, in an aspect of an embodiment of the invention, it is determined whether the movement within the acceleration interval includes an acceleration buffering phase based on one or more of a maximum movement speed, a length of the acceleration interval, and a weight of the quench car. Wherein, the coke quenching car moves at a constant speed in the acceleration buffer stage, and the acceleration buffer stage is positioned between the adjacent acceleration stages.

Specifically, if the maximum moving speed is greater than the first speed threshold, or the length of the acceleration section is less than the first distance threshold, or the weight of the quenching car is greater than the preset weight threshold, it can be determined that the moving process of the quenching car in the acceleration section includes an acceleration buffering stage. Wherein the first speed threshold, the first distance threshold and the first weight threshold may be preset.

When the moving process of the coke quenching car in the acceleration interval comprises an acceleration buffering stage, the moving process of the coke quenching car in the acceleration interval sequentially comprises a first acceleration stage, an acceleration buffering stage and a second acceleration stage. The speed corresponding to the acceleration buffering stage is an acceleration buffering speed, and the acceleration buffering speed may be preset, for example, 2 m/s, but is not limited thereto. Note that the acceleration buffering speed is smaller than the maximum moving speed.

Further, the accelerated buffer speed may also be determined based on one or more of a maximum moving speed, a length of the acceleration zone, and a weight of the quench car. In a specific embodiment, the acceleration interval is buffered at 1 second intervals. In other words, the time for movement of the quench car in the accelerated buffer phase is 1 second.

In an implementation of step S303, the coke quenching car is controlled to move from the initial position to the target position, wherein the speed of the coke quenching car is controlled to gradually decrease in the deceleration phase, and the speed of the coke quenching car is controlled to be kept constant in the deceleration buffer phase.

Further, the speed of the coke quenching car is controlled to be gradually increased in the acceleration stage, and the speed of the coke quenching car is controlled to be kept unchanged in the acceleration buffering stage.

Referring to fig. 4, fig. 4 is a schematic diagram of the speed variation of a first quenching car in an embodiment of the invention. As shown in FIG. 4, O is the starting position of the quenching car, D is the target position of the quenching car, X1 is the first deceleration position, X2 is the second deceleration position, Vmax is the maximum travel speed, and V1 is the first deceleration buffer speed. The second deceleration position X2 is the preset final deceleration position.

Specifically, the quenching car is controlled to start from the starting position O and to move accelerated towards the first deceleration position X1, so that the speed of the quenching car at the first deceleration position X1 reaches the maximum moving speed Vmax. When the quench car reaches the first deceleration position X1, the quench car enters a first deceleration stage. Further, the quenching car is controlled to start decelerating from the first deceleration position X1, and when the speed of the quenching car is reduced to the first deceleration buffer speed V1, the quenching car enters the first deceleration buffer stage. And controlling the quenching car to move at a constant speed at a first deceleration buffer speed V1 in the first deceleration buffer stage. When the quench car is moved to the second deceleration position X2, the quench car is directed to a second deceleration phase, i.e., the quench car is directed to a final deceleration phase. And controlling the quenching car to move from the second deceleration position X2 to the target position D in a deceleration and buffering stage so that the quenching car is stopped at the target position D.

Referring to FIG. 5, FIG. 5 is a graphical representation of a second quench car velocity variation in an embodiment of the present invention. As shown in FIG. 5, O is the initial position of the coke quenching car, A is the preset uniform speed position, D is the target position of the coke quenching car, X1 is the first deceleration position, X2 is the second deceleration position, Vmax is the maximum moving speed, and V1 is the first deceleration buffer speed. The second deceleration position X2 is the preset final deceleration position.

Specifically, the quenching car is controlled to start from the initial position O and move towards the preset constant speed position A in an accelerating mode, so that the speed of the quenching car at the preset constant speed position A reaches the maximum moving speed Vmax. When the coke quenching car reaches the uniform speed position A, the coke quenching car enters a uniform speed stage. Further, the coke quenching car is controlled to move at a constant speed from the constant speed position A to the first deceleration position X1 at a constant speed at the maximum moving speed Vmax in the constant speed stage. When the quench car reaches the first deceleration position X1, the quench car enters a first deceleration stage. The quenching car is controlled to start decelerating from a first deceleration position X1 in a first deceleration buffer stage, and when the speed of the quenching car is reduced to a first deceleration buffer speed V1, the quenching car enters the first deceleration buffer stage. And controlling the quenching car to move at a constant speed at a first deceleration buffer speed V1 in the first deceleration buffer stage. When the coke quenching car moves to a second deceleration position X2, the coke quenching car enters a second deceleration stage, namely, the coke quenching car is controlled to enter the last deceleration stage; and controlling the quenching car to move in a deceleration way from the second deceleration position X2 to the target position D in the second deceleration stage so as to stop the quenching car at the target position D.

Referring to FIG. 6, FIG. 6 is a graphical representation of a third quench car velocity profile in an embodiment of the present invention. As shown in FIG. 6, O is the initial position of the coke quenching car, A is the preset uniform speed position, B is the intermediate acceleration position, D is the target position of the coke quenching car, X1 is the first deceleration position, X2 is the second deceleration position, Vmax is the maximum moving speed, V1 is the first deceleration buffer speed, and V3 is the acceleration buffer speed. Wherein the intermediate acceleration position B and the acceleration buffer velocity V3 may be determined according to one or more of the weight of the coke quenching car, the length of the acceleration section, and the maximum moving velocity Vmax, the acceleration buffer velocity V3 being less than the maximum moving velocity Vmax.

Specifically, the coke quenching car is controlled to move from the starting position O, namely, the first acceleration stage is entered, the coke quenching car is controlled to move in an accelerated manner in the first acceleration stage, and when the speed of the coke quenching car reaches the accelerated buffer speed V3, the coke quenching car enters the accelerated buffer stage. And controlling the quenching car to move at a constant speed at an accelerated buffer speed V3 in the accelerated buffer stage, entering a second accelerated stage when the quenching car moves to an intermediate accelerated position B, and controlling the quenching car to continuously move at an accelerated speed in the second accelerated stage so as to enable the speed to be the maximum moving speed Vmax when the quenching car reaches a constant speed position A.

Further, when the coke quenching car reaches the uniform speed position A, the coke quenching car enters a uniform speed stage. And controlling the quenching car to move from the uniform speed position A to the first deceleration position X1 at a uniform speed at the maximum moving speed Vmax in the uniform speed stage. When the quench car reaches the first deceleration position X1, the quench car enters a first deceleration stage. The quenching car is controlled to start decelerating from a first deceleration position X1 in a first deceleration stage, and when the speed of the quenching car is reduced to a first deceleration buffer speed V1, the quenching car enters the first deceleration buffer stage. And controlling the quenching car to move at a constant speed at a first deceleration buffer speed V1 in the first deceleration buffer stage. When the quench car is moved to the second deceleration position X2, the quench car enters a second deceleration phase, i.e., the quench car enters a final deceleration phase. In the second deceleration stage, the quenching car is controlled to move from the second deceleration position X2 to the target position D in a deceleration mode, so that the quenching car is stopped at the target position D.

Referring to FIG. 7, FIG. 7 is a graphical representation of the change in velocity of a fourth quench car in an embodiment of the present invention. As shown in fig. 7, O is a starting position of the quenching car, a is a preset uniform speed position, B is an intermediate acceleration position, D is a target position of the quenching car, X1 is a first deceleration position, X2 is a second deceleration position, X3 is a third deceleration position, Vmax is a maximum moving speed, V1 is a first deceleration buffer speed, V2 is a second deceleration buffer speed, and V3 is an acceleration buffer speed. Wherein, the intermediate acceleration position B and the acceleration buffer speed V3 may be determined according to one or more of the weight of the coke quenching car, the length of the acceleration section, and the maximum moving speed Vmax, the acceleration buffer speed V3 is less than the maximum moving speed Vmax, the first deceleration buffer speed V1 is less than the maximum moving speed Vmax, and the second deceleration buffer speed V2 is less than the first deceleration buffer speed V1. The third deceleration position X3 is the preset final deceleration position.

Further, when the coke quenching car reaches the uniform speed position A, the coke quenching car enters a uniform speed stage. And controlling the quenching car to move from the uniform speed position A to the first deceleration position X1 at a uniform speed at the maximum moving speed Vmax in the uniform speed stage, and when the quenching car reaches the first deceleration position V1, the quenching car enters the first deceleration stage. The coke quenching car is controlled to move in a first deceleration stage, and when the speed of the coke quenching car is reduced to a first deceleration buffer speed V1, the coke quenching car enters the first deceleration buffer stage. And controlling the quenching car to move at a constant speed at a first deceleration buffer speed V1 in the first deceleration buffer stage, and when the quenching car moves to a preset second deceleration position X2, the quenching car enters a second deceleration stage. Controlling the coke quenching car to continue decelerating in the second deceleration stage, and when the speed of the coke quenching car is reduced to a second deceleration buffer speed V2, the coke quenching car enters the second deceleration buffer stage; and controlling the quenching car to move at a second deceleration buffer speed V2 at a constant speed in the second deceleration buffer stage, and when the quenching car reaches a preset third deceleration position X3, enabling the quenching car to enter the third deceleration stage, namely, enabling the quenching car to enter the last deceleration stage. And controlling the quenching car to continue decelerating in the third deceleration stage so that the quenching car is stopped at the target position D.

Further, the quenching car can further comprise a brake device, when the quenching car moves to the target position, whether the speed of the quenching car is smaller than a brake speed threshold value or not is judged, if yes, the brake device is controlled to lock the quenching car, and the quenching car is locked by the brake device to brake the quenching car forcibly, so that the quenching car is stopped at the target position. The band-type brake speed threshold value can be preset, and preferably is 0.2 m/s.

Further, if the speed of the coke quenching car moving to the target position is larger than or equal to the brake speed threshold value, controlling the coke quenching car to continue decelerating and moving until the coke quenching car stops, namely, not controlling the brake device to lock the coke quenching car. Therefore, the damage of the coke quenching car caused by the forced contracting brake at a higher speed can be avoided.

Further, as the quench car continues to move at a reduced speed and stops, the current location of the quench car at the time of stopping may be obtained and used as a new starting location. Because the track is a linear track, the moving direction of the coke quenching car can be changed (namely, the moving direction of the coke quenching car is reversed), and the coke quenching car is controlled to move from the new starting position to the target position. Note that the target position is not changed at this time. The target location may be updated when a new task execution instruction is obtained.

After the moving direction of the coke quenching car is transferred, the related description above may be referred to for controlling the moving process of the coke quenching car from the new starting position to the target position, and details are not repeated here.

In one specific embodiment, if the speed of the coke quenching car reaching the target position is greater than a preset upper speed limit threshold value, the coke quenching car can be locked by the band-type brake device to brake the coke quenching car forcibly, so as to avoid accidents. And the upper speed threshold is greater than the band-type brake speed threshold.

In another specific embodiment, when the emergency braking signal is acquired, the quenching car can be locked by the band-type brake device to perform forced braking on the quenching car so as to avoid accidents. Specifically, the cameras arranged on the track can also collect monitoring images, judge whether obstacles (such as workers and the like) exist in the range of the preset distance of the coke quenching car according to the monitoring images, and if so, can generate an emergency braking signal.

Further, a coke decoking enable determination may be made when the quench car is stopped at the target location. That is, it is determined whether the coke in the coke hopper car can be lowered into the quench car.

Referring to fig. 8, fig. 8 is a schematic view of another quench car positioning method in an embodiment of the invention. The following describes a part of the content different from that of fig. 1. As shown in FIG. 8, a coke guide logo 131 is provided on the coke guide 13, and an alignment camera 141 is provided on the quenching car 14. The coke guide car logos 131 and the alignment cameras 141 are the same in number, the alignment cameras 141 correspond to the coke guide car logos 131 one by one, and the alignment cameras 141 are used for shooting the corresponding coke guide car logos 131 to obtain a coke guide car image, wherein the coke guide car image comprises the coke guide car logos 131. The controller may be coupled to the alignment camera 141 to acquire the coke guide image.

In a particular embodiment, the alignment cameras include a first alignment camera for capturing a first coke barrier car logo to capture a first coke barrier car image and a second alignment camera for capturing a second coke barrier car logo to capture a second coke barrier car image, and the coke barrier car logo 131 includes a first coke barrier car logo and a second coke barrier car logo. The angles of the first and second alignment cameras are preset so that when the quench car 14 and the coke guide 13 are aligned, the first coke guide car logo is located at the center point in the first coke guide image and the second coke guide car logo is also located at the center point in the second coke guide image.

It should be noted that the number of the coke guide logos 131 and the alignment cameras 141 is not limited in the embodiment of the present invention.

Further, after the quench car 14 is parked at the target location, it may be determined whether the quench car 14 and the coke barrier 13 are aligned. Specifically, acquiring a coke guide image, wherein the coke guide image comprises an image of a coke guide logo 131; and judging whether the coke guide logo 131 is at the central point of the coke guide image, if so, judging that the coke quenching car 14 is aligned with the coke guide 13, and otherwise, adjusting the position of the coke quenching car 14 on the track 11. For example, the distance between the quench car 14 and the coke barrier 13 may be determined based on the distance that the position of the coke barrier cart logo 131 in the coke barrier image is offset from the center point, and then the quench car 14 may be moved to align the quench car 14 with the coke barrier 13. It should be noted that, if there are more than one coke guide images, when the coke guide logo 131 in each coke guide image is located at the center point of the coke guide image, it is determined that the coke quenching car 14 is aligned with the coke guide 13.

Further, when it is determined that the coke quenching car 14 and the coke guide 13 are aligned and the coke discharging enable signal is acquired, the coke discharging can be controlled.

Further, a lower focus camera 142 is also provided on the quench car 14. It should be noted that the lower focus camera 142 is disposed at a position where an image of a lower focus process can be acquired, and the specific position where the lower focus camera 142 is disposed in the embodiment of the present invention is not otherwise limited. The lower focus camera 142 may be coupled to the controller to acquire a lower focus image during the lower focus process. Further, the down focus image may be analyzed to identify anomalies in the down focus process.

Further, when the coke lowering completion signal is acquired, the locking of the quench car 14 by the band-type brake device 142 may be released and a new target position may be acquired. More specifically, a new task execution instruction may be retrieved and a new target location determined based on the new task execution instruction. For example, after the coke is removed, the first predetermined location may be used as a new target location and the quench car 14 may be controlled to move to the first predetermined location for quenching. It should be noted that the specific location of the band-type brake device 142 on the quench car 14 is not limited by the embodiments of the present invention.

Referring to fig. 9, fig. 9 is a positioning device for a quench car in an embodiment of the invention, which may include: a vehicle image acquisition module 91, a verification position determination module 92, a measurement position determination module 93, and a location verification module 94.

Specifically, the vehicle image acquiring module 91 is configured to acquire a vehicle image, where the vehicle image includes an image of the coke quenching car, and the vehicle image is acquired by the camera; the verification position determination module 92 is used for determining the position of the quenching car on the track according to the position and/or the size of the quenching car in the vehicle image, and recording the position as a verification position; the measurement position determining module 93 is used for acquiring the measurement position of the coke quenching car on the track, and the measurement position is detected by a position sensor arranged on the track; the positioning and checking module 94 is used for judging whether the measurement position and the checking position meet preset checking conditions, and if so, taking the measurement position as the current position of the coke quenching car; wherein the preset checking condition comprises: the distance between the verification position and the measurement position does not exceed a first preset error.

Further, in the solution of the embodiment of the present invention, the positioning device of the quenching car may further include: an acquisition module (not shown), a first position determination module (not shown), and a movement control module (not shown).

Specifically, the acquisition module is used for acquiring a starting position and a target position of the coke quenching car on the track; the first position determination module is used for determining a first deceleration position, the first deceleration position is located between the starting position and the target position, the range between the first deceleration position and the target position is a deceleration section, the movement process of the coke quenching car in the deceleration section comprises a plurality of deceleration stages and at least one deceleration buffer stage, and the deceleration buffer stage is arranged between adjacent deceleration stages; the movement control module is used for controlling the coke quenching car to move from the starting position to the target position, wherein the speed of the coke quenching car is controlled to gradually decrease in the deceleration stage, and the speed of the coke quenching car is controlled to be kept unchanged in the deceleration buffer stage.

In a specific implementation, the positioning device of the coke quenching car can correspond to a chip with a data processing function in a terminal; or to a chip module having a data processing function in the terminal, or to the terminal.

For more details on the operation principle, the operation mode, the advantages and the like of the positioning device of the quenching car shown in fig. 9, reference may be made to the description related to fig. 1 to 8, and further description is omitted here.

Referring to fig. 1, in an embodiment of the present invention, there is also provided a positioning system for a quenching car, the system including: track 11, position sensor, camera and controller. Wherein the quenching car 14 moves on the track 11, the position sensor is arranged on the track 11, the camera is arranged at least one end of the track 11, and the controller can be arranged inside a quenching car chamber or outside the quenching car chamber, wherein the quenching car chamber is an operation chamber on the quenching car, and the controller is used for executing the positioning method of the quenching car.

The controller may be coupled to a memory storing a computer program, and the controller may read the computer program stored in the memory and execute the steps of the method for positioning a coke quenching car by operating the computer program. The controller may be a processor independent from the memory, or may be a terminal integrating the memory and the processor, but is not limited thereto.

For the principle, structure, operation mode and beneficial effects of the positioning system of the quenching car in the embodiment of the present invention, please refer to the related description of the positioning method of the quenching car, which will not be described herein again.

Embodiments of the present invention also provide a storage medium having a computer program stored thereon, where the computer program is executed by a processor to perform the steps of the method for positioning a coke quenching car. The storage medium may include ROM, RAM, magnetic or optical disks, etc. The storage medium may further include a non-volatile memory (non-volatile) or a non-transitory memory (non-transient), and the like.

The embodiment of the invention also provides a terminal, which comprises a memory and a processor, wherein the memory is stored with a computer program capable of running on the processor, and the processor executes the steps of the coke quenching car positioning method when running the computer program. The terminal includes, but is not limited to, a mobile phone, a computer, a tablet computer and other terminal devices.

It should be understood that, in the embodiment of the present application, the processor may be a Central Processing Unit (CPU), and the processor may also be other general-purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, and the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

It will also be appreciated that the memory in the embodiments of the subject application can be either volatile memory or nonvolatile memory, or can include both volatile and nonvolatile memory. The nonvolatile memory may be a read-only memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an Electrically Erasable PROM (EEPROM), or a flash memory. Volatile memory can be Random Access Memory (RAM), which acts as external cache memory. By way of example and not limitation, many forms of Random Access Memory (RAM) are available, such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (enhanced SDRAM), SDRAM (SLDRAM), synchlink DRAM (SLDRAM), and direct bus RAM (DR RAM).

The above embodiments may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, the above-described embodiments may be implemented in whole or in part in the form of a computer program product. The computer program product comprises one or more computer instructions or computer programs. The procedures or functions according to the embodiments of the present application are wholly or partially generated when the computer instructions or the computer program are loaded or executed on a computer. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer program may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another computer readable storage medium, for example, the computer program may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by wire or wirelessly.

In the several embodiments provided in the present application, it should be understood that the disclosed method, apparatus and system may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative; for example, the division of the unit is only a logic function division, and there may be another division manner in actual implementation; for example, various elements or components may be combined or may be integrated into another system, or some features may be omitted, or not implemented. The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may be physically included alone, or two or more units may be integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit. For example, for each device or product applied to or integrated into a chip, each module/unit included in the device or product may be implemented by hardware such as a circuit, or at least a part of the module/unit may be implemented by a software program running on a processor integrated within the chip, and the rest (if any) part of the module/unit may be implemented by hardware such as a circuit; for each device or product applied to or integrated with the chip module, each module/unit included in the device or product may be implemented by using hardware such as a circuit, and different modules/units may be located in the same component (e.g., a chip, a circuit module, etc.) or different components of the chip module, or at least some of the modules/units may be implemented by using a software program running on a processor integrated within the chip module, and the rest (if any) of the modules/units may be implemented by using hardware such as a circuit; for each device and product applied to or integrated in the terminal, each module/unit included in the device and product may be implemented by using hardware such as a circuit, and different modules/units may be located in the same component (e.g., a chip, a circuit module, etc.) or different components in the terminal, or at least part of the modules/units may be implemented by using a software program running on a processor integrated in the terminal, and the rest (if any) part of the modules/units may be implemented by using hardware such as a circuit.

It should be understood that the term "and/or" herein is merely one type of association relationship that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" in this document indicates that the former and latter related objects are in an "or" relationship.

The "plurality" appearing in the embodiments of the present application means two or more.

The descriptions of the first, second, etc. appearing in the embodiments of the present application are only for illustrating and differentiating the objects, and do not represent the order or the particular limitation of the number of the devices in the embodiments of the present application, and do not constitute any limitation to the embodiments of the present application.

Although the present invention is disclosed above, the present invention is not limited thereto. Various changes and modifications may be effected therein by one skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.

Claims

1. A method of positioning a quench car, wherein the quench car moves along a track, at least one end of the track is provided with a camera, the method comprising:

acquiring a vehicle image, wherein the vehicle image comprises an image of the coke quenching car and is acquired by the camera;

determining the position of the quenching car on the track according to the position and/or the size of the quenching car in the vehicle image, and recording the position as a checking position;

acquiring a measurement position of the coke quenching car on the track, wherein the measurement position is detected by a position sensor arranged on the track;

judging whether the measurement position and the verification position meet preset verification conditions, and if so, taking the measurement position as the current position of the coke quenching car;

wherein the preset checking condition comprises: the distance between the verification position and the measurement position does not exceed a first preset error.

2. The method of positioning a quench car of claim 1, wherein a plurality of coke ovens are positioned along the track, each coke oven being located at a corresponding location, the predetermined calibration conditions further comprising: the first coke oven and the second coke oven are the same coke oven;

the first coke oven is the coke oven corresponding to the checking position, and the second coke oven is the coke oven corresponding to the measuring position.

3. The method for positioning a coke quenching car as claimed in claim 1, wherein one end of the track is provided with a first end camera and the other end is provided with a second end camera, the vehicle images comprise a first end image and a second end image, the first end image is an image collected by the first end camera, the second end image is an image collected by the second end camera, the checking position is selected from one or more of a first end checking position and a second end checking position, the first end checking position is a checking position obtained according to the first end image, and the second end checking position is a checking position obtained according to the second end image.

4. The method of locating a quench car of claim 3, wherein before determining whether the measurement location and the verification location satisfy a predetermined verification condition, the method further comprises:

calculating the sum of the first end distance, the second end distance and the vehicle length of the quenching car, wherein the first end distance is the distance between the first end verification position and the position of the first end camera on the track, and the second end distance is the distance between the second end verification position and the position of the second end camera on the track;

and judging whether the absolute value of the difference value between the sum and the length of the track is smaller than a second preset error, if so, continuously judging whether the measuring position and the checking position meet preset checking conditions, and otherwise, adjusting the shooting angle of the first end camera and/or the second end camera according to the first end image and the second end image.

5. The method for positioning a coke quenching car as claimed in claim 1, wherein a first camera and a second camera are arranged at one end of the track, the vehicle image comprises a first image and a second image, the first image is an image collected by the first camera, the second image is an image collected by the second camera, the verification position is calculated according to a first verification position and a second verification position, the first verification position is a verification position obtained according to the first image, and the second verification position is a verification position obtained according to the second image.

6. The method of locating a quench car of claim 5, wherein before determining whether the measurement location and the verification location satisfy a predetermined verification condition, the method further comprises:

and judging whether the distance between the first checking position and the second checking position is smaller than a third preset error, if so, continuously judging whether the measuring position and the checking position meet preset checking conditions, and otherwise, adjusting the shooting angle of the first camera and/or the second camera according to the first image and the second image.

7. The method of positioning a quench car of claim 6, wherein the check position is a midpoint of the first check position and the second check position.

8. The method of positioning a quench car of claim 1, wherein determining the location of the quench car on the track based on the location and/or size of the quench car in the vehicle image comprises:

determining a size of the quench car in the vehicle image;

reading preset position information, wherein the preset position information is used for describing the corresponding relation between the size and the checking position;

and determining the checking position according to the size and the preset position information.

9. The method of positioning a quench car of claim 1, wherein determining the location of the quench car on the track based on the location and/or size of the quench car in the vehicle image comprises:

determining the position of the coke quenching car in the vehicle image, and recording the position as an image position;

and determining the checking position according to the shooting angle of the camera and the image position by adopting a camera calibration method.

10. The method of claim 1, wherein a coke barrier is positioned on the coke side rail above and parallel to the rail, the coke barrier is positioned on the coke side rail, the coke barrier is positioned on the alignment camera, the coke barrier is positioned on the coke barrier, and the method further comprises, after taking the measurement location as the current location of the coke barrier:

acquiring a target position, and controlling the coke quenching car to move from an initial position to the target position, wherein the initial position is the current position;

judging whether the quenching car and the coke barrier are aligned or not when the speed of the quenching car is reduced to 0 in the process that the quenching car moves from the initial position to the target position;

wherein determining whether the quench car and the coke guide are aligned comprises:

acquiring a coke guide image, wherein the coke guide image comprises an image of a coke guide logo, and the coke guide image is acquired by the alignment camera;

and judging whether the coke guide car mark is positioned at the central point of the coke guide image, if so, judging that the coke quenching car is aligned with the coke guide, and otherwise, adjusting the position of the coke quenching car on the track according to the position of the coke guide car mark in the coke guide image.

11. A positioning device for a quench car that moves along a track, at least one end of the track having a camera disposed thereon, the device comprising:

the vehicle image acquisition module is used for acquiring a vehicle image, wherein the vehicle image comprises an image of the coke quenching car, and the vehicle image is acquired by the camera;

the verification position determining module is used for determining the position of the coke quenching car on the track according to the position and/or the size of the coke quenching car in the vehicle image and recording the position as a verification position;

a measurement position determining module for acquiring a measurement position of the coke quenching car on the track, wherein the measurement position is detected by a position sensor arranged on the track;

the positioning and checking module is used for judging whether the measuring position and the checking position meet preset checking conditions or not, and if so, taking the measuring position as the current position of the coke quenching car;

12. A positioning system for a quench car, the system comprising:

a track on which the quench car moves;

a position sensor disposed on the track;

the camera is arranged at least one end of the track;

a controller for performing the method of positioning a quench car of any of claims 1 to 10.

13. The quench car positioning system of claim 12, wherein the camera comprises: the camera comprises a first end camera and a second end camera, wherein the first end camera is arranged at one end of the track, and the second end camera is arranged at the other end of the track.

14. The quench car positioning system of claim 12, wherein the camera comprises: the first camera and the second camera are arranged at the same end of the track.

15. A storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, performs the steps of the method of locating a quench car as claimed in any of claims 1 to 10.

16. A terminal comprising a memory and a processor, the memory having stored thereon a computer program operable on the processor, characterized in that the processor, when executing the computer program, performs the steps of the method of locating a quenching car according to any of claims 1 to 10.