CN114852621A - Diesel generator set conveying system and method and storage medium - Google Patents
Diesel generator set conveying system and method and storage medium Download PDFInfo
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- CN114852621A CN114852621A CN202210481129.3A CN202210481129A CN114852621A CN 114852621 A CN114852621 A CN 114852621A CN 202210481129 A CN202210481129 A CN 202210481129A CN 114852621 A CN114852621 A CN 114852621A
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- 238000004590 computer program Methods 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 6
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0214—Articles of special size, shape or weigh
- B65G2201/0223—Heavy
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
Abstract
The application relates to a diesel generating set conveying system, a method and a storage medium, wherein the system comprises: the device comprises a conveying track, a conveying vehicle, a distance measuring unit and a control unit; the conveying vehicle is positioned on the conveying track and used for conveying the diesel generator set to be conveyed along the conveying track; the distance measuring units are arranged at two ends of the conveying track and used for measuring the moving position of the conveying vehicle on the conveying track; the control unit is electrically connected with the distance measuring unit and is used for controlling the conveying vehicle according to the moving position measured by the distance measuring unit. Like this, can record the mobile position of delivery vehicle on the delivery track in real time through the range finding unit, again by the mobile position that the control unit recorded according to the range finding unit, control delivery vehicle to accomplish this through delivery vehicle is automatic treats the diesel generating set's of carrying transport, need not personnel participation control in whole transportation process, reduced the human cost, and transport efficiency is higher.
Description
Technical Field
The application relates to the field of nuclear power industry, in particular to a diesel generating set conveying system, a method and a storage medium.
Background
With the development of economic society, nuclear power plays an important role in the energy field, and the development prospect is more and more extensive. The emergency diesel generator set is used as emergency equipment of a nuclear power plant, the emergency diesel generator set is very important to be quickly replaced, and after the nuclear power plant loses external power, the diesel generator set is required to provide power so as to ensure the safe shutdown of the equipment, the safe shutdown of a reactor and the maintenance of the reactor in a safe state. After the off-plant power is lost, the emergency diesel generator set usually needs to be automatically started successfully within a short time (e.g. 10 seconds) and start a program to load for supplying power. The safety system adopts a quantum channel design, namely 2 multiplied by 100 percent, so that the nuclear safety can be ensured and the release of radioactive substances cannot exceed the standard as long as 1 channel (1 emergency diesel generator set) executes the safety function. Consequently, when a diesel generating set began work, another carried out self-checking at once, if the discovery trouble needs offline maintenance, just must change diesel generating set, and the change flow includes: the method comprises the steps of offline, disassembling, transporting, warehousing of the fault diesel generator set, ex-warehouse, transporting, installing, online and the like of the standby diesel generator set, wherein the key step with the longest time consumption and the most manpower input is the transportation link of the diesel generator set.
At present, the weight of a diesel generating set adopted by a nuclear power plant is about 90 tons, and the traditional transportation mode of a sleeper and a steel pipe is usually adopted in the conventional mode of conveying the diesel generating set; or the diesel generator set is transported by adopting a mode of hauling a tank car by a steel wire rope; or a flat plate and a rail are paved, and the diesel generator set is transported by adopting a mode that a steel wire rope pulls the roller to roll on the rail. Therefore, the existing mode for conveying the diesel generating set needs personnel to participate in control in the whole conveying process, a large amount of human resources need to be input, and the conveying efficiency is low.
Disclosure of Invention
The application provides a diesel generating set conveying system, a diesel generating set conveying method and a storage medium, and aims to solve the problems that in the existing mode of conveying a diesel generating set, personnel are required to participate in control in the whole conveying process, a large amount of human resources are required to be input, and conveying efficiency is low.
In a first aspect, the present application provides a diesel generator set delivery system, the system comprising: the device comprises a conveying track, a conveying vehicle, a distance measuring unit and a control unit;
the conveying vehicle is positioned on the conveying track and used for conveying the diesel generator set to be conveyed along the conveying track;
the distance measuring units are arranged at two ends of the conveying track and used for measuring the moving position of the conveying vehicle on the conveying track;
the control unit is electrically connected with the distance measuring unit and used for controlling the conveying vehicle according to the moving position measured by the distance measuring unit.
Optionally, the ranging unit comprises a first ultrasonic sensor and a second ultrasonic sensor;
the first ultrasonic sensor is arranged at the first end of the conveying track and used for detecting the distance between the conveying vehicle and the first end of the conveying track;
the second ultrasonic sensor is arranged at the second end of the conveying track and used for detecting the distance between the conveying vehicle and the second end of the conveying track;
the first end of the conveying track and the second end of the conveying track are two ends of the conveying track which are oppositely arranged.
Optionally, the distance measuring unit further comprises a first laser distance meter and a second laser distance meter;
the first laser range finder is arranged at the first end of the conveying track and used for detecting the distance between the conveying vehicle and the first end of the conveying track;
the second laser range finder is arranged at the second end of the conveying track and used for detecting the distance between the conveying vehicle and the second end of the conveying track.
Optionally, the system further comprises a tilt sensor;
the inclination angle sensor is arranged on the diesel generator set to be conveyed and is used for detecting the tipping angle of the diesel generator set to be conveyed.
Optionally, the tilt angle sensor is electrically connected to the control unit, and the control unit is further configured to control the transportation vehicle to stop moving when detecting that a tipping angle of the diesel generator set to be transported is greater than a preset tipping angle.
Optionally, the system further comprises N jacking cylinders and N displacement sensors;
the N jacking cylinders are arranged between the conveying vehicle and the diesel generating set to be conveyed and used for jacking the diesel generating set to be conveyed to a preset height;
the N displacement sensors are correspondingly arranged on the N jacking oil cylinders, and each displacement sensor in the N displacement sensors is used for detecting the jacking height of the corresponding jacking oil cylinder;
n displacement sensor with the control unit electric connection, the control unit is still used for detecting N jacking cylinder moves to under the condition of predetermineeing the height, control N jacking cylinder stops moving.
Optionally, the transport vehicle is driven by a motor.
Optionally, the conveying track is a conductive rail for providing power for the conveying vehicle to move.
In a second aspect, the present application further provides a diesel generator set conveying method, which is applied to the diesel generator set conveying system according to any one of the first aspect, and the method includes:
the distance measuring unit measures the moving position of the conveying vehicle on the conveying track, and the conveying vehicle is used for conveying the diesel generator set to be conveyed along the conveying track;
and the control unit controls the conveying vehicle according to the moving position measured by the distance measuring unit.
Optionally, the controlling unit controls the conveying vehicle according to the moving position measured by the distance measuring unit, and includes:
the control unit determines a preset distance range in which the moving position falls according to the moving position measured by the distance measuring unit;
the control unit determines the acceleration corresponding to the preset distance range in which the moving position falls, and controls the conveying vehicle according to the determined acceleration;
the distance between the conveying vehicle and the first end of the conveying track is divided into different preset distance ranges, the moving position of the conveying vehicle in the moving process on the conveying track can fall into different preset distance ranges, and each preset distance range corresponds to different accelerated speeds.
Optionally, the determining, by the control unit, an acceleration corresponding to a preset distance range in which the moving position falls, and controlling the conveying vehicle according to the determined acceleration includes:
the control unit controls the conveying vehicle to move along the conveying track at a first acceleration under the condition that the moving position is detected to fall into a first preset distance range, wherein the first preset distance range is used for representing the distance range from the first end of the conveying track to a first position, and the first position is a position with a first preset distance from the first end of the conveying track;
the control unit controls the conveying vehicle to move along the conveying track at a second acceleration under the condition that the moving position is detected to fall into a second preset distance range, wherein the second preset distance range is used for representing the distance range from the first position to the second position, the second position is a position which is at a second preset distance from the first end of the conveying track, and the second preset distance is larger than the first preset distance;
the control unit controls the conveying vehicle to move along the conveying track at a third acceleration under the condition that the moving position is detected to fall into a third preset distance range, wherein the third preset distance range is used for representing the distance range from the second position to a third position, the third position is a position which is at a third preset distance from the first end of the conveying track, and the third preset distance is larger than the second preset distance;
the control unit controls the conveying vehicle to move along the conveying track at a fourth acceleration under the condition that the moving position is detected to fall into a fourth preset distance range, wherein the fourth preset distance range is used for representing the distance range from the third position to a fourth position, the fourth position is a position which is away from the first end of the conveying track by a fourth preset distance, and the fourth preset distance is larger than the third preset distance;
the control unit controls the conveying vehicle to move along the conveying track at a fifth preset speed under the condition that the moving position is detected to fall into a fifth preset distance range, wherein the fifth preset distance range is used for representing the distance range from the fourth position to the second end of the conveying track;
wherein the first acceleration and the second acceleration are positive numbers, the third acceleration is zero, the fourth acceleration and the fifth acceleration are negative numbers, the second acceleration is greater than or equal to the first acceleration, and the fourth acceleration is less than or equal to the fifth acceleration.
In a third aspect, the present application further provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the method of delivering a diesel genset according to any one of the embodiments of the second aspect.
Compared with the prior art, the technical scheme provided by the embodiment of the application has the following advantages:
in an embodiment of the present application, a diesel genset delivery system comprises: the device comprises a conveying track, a conveying vehicle, a distance measuring unit and a control unit; the conveying vehicle is positioned on the conveying track and used for conveying the diesel generator set to be conveyed along the conveying track; the distance measuring units are arranged at two ends of the conveying track and used for measuring the moving position of the conveying vehicle on the conveying track; the control unit is used for controlling the conveying vehicle according to the moving position measured by the distance measuring unit. Like this, the unit of finding range among the diesel generating set conveying system can record the mobile position of delivery vehicle on the delivery track in real time, is controlled delivery vehicle according to the mobile position that the unit of finding range measured again by the control unit to accomplish this diesel generating set's of treating the transport through delivery vehicle transport, need not personnel participation control at whole transportation process, reduced the human cost, and transport efficiency is higher.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.
FIG. 1 is a schematic structural diagram of a conveying system of a diesel generator set provided by an embodiment of the application;
FIG. 2 is a schematic diagram of a diesel generating set to be conveyed at a first end of a conveying track according to an embodiment of the application;
FIG. 3 is a schematic view of a diesel generator set to be conveyed at a second end of a conveying track according to an embodiment of the present application;
fig. 4 is a schematic diagram of a diesel generator set to be conveyed according to an embodiment of the present application being lifted;
fig. 5 is a schematic flow chart of a method for conveying a diesel generator set according to an embodiment of the present disclosure;
fig. 6 is a schematic diagram of a relationship between a travel distance and a travel speed of a movable flat car according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a diesel generator set conveying system provided in an embodiment of the present application. As shown in fig. 1, the diesel genset delivery system includes: a conveying track 100, a conveying vehicle 200, a ranging unit 300, and a control unit (not shown in the figure);
the conveying vehicle 200 is located on the conveying track 100, and the conveying vehicle 200 is used for conveying the diesel generator set 400 to be conveyed along the conveying track 100;
the distance measuring units 300 are disposed at both ends of the conveying rail 100, and the distance measuring units 300 are used for measuring the moving positions of the conveying vehicles 200 on the conveying rail 100;
the control unit is electrically connected to the distance measuring unit 300, and the control unit is configured to control the conveying vehicle 200 according to the moving position measured by the distance measuring unit 300.
Specifically, the conveying vehicle 200 may be an electric flat car, a tracked vehicle, or other vehicles, and the power source of the conveying vehicle 200 may be different according to the type, for example, the conveying vehicle 200 may be powered by a storage battery or a guiding connector, may be powered by the conveying track 100 (e.g., a conductor rail), or may be powered by an internal combustion engine, which is not particularly limited in this application. The measuring track may be a real track constructed by a metal conductive material or other materials, or may be a virtual track for indicating a fixed travel track of the conveying vehicle 200. The distance measuring unit 300 may include, but is not limited to: ultrasonic sensors, laser rangefinders, infrared rangefinders, and the like. Since the distance measuring units 300 are disposed at both ends of the conveying track 100, the distance between the conveying vehicle 200 on the conveying track 100 and both ends of the conveying track 100 can be measured in real time, that is, the moving position of the conveying vehicle 200 on the conveying track 100 can be measured. The control unit may be a Programmable Logic Controller (PLC), a control chip, a processor, or the like. This the control unit and range unit 300 electric connection can receive the shift position of conveying vehicle 200 that range unit 300 measured and obtained to control conveying vehicle 200 according to the shift position, thereby accomplish the transport of treating the diesel generating set 400 of carrying through conveying vehicle 200, need not personnel participation control in whole transportation process, reduced the human cost, and transport efficiency is higher.
Further, referring to fig. 2 and fig. 3, fig. 2 is a schematic view of the diesel generator set to be transported provided by the embodiment of the present application being located at a first end of the transportation track, and fig. 3 is a schematic view of the diesel generator set to be transported provided by the embodiment of the present application being located at a second end of the transportation track. As shown in fig. 2 and 3, the ranging unit 300 includes a first ultrasonic sensor 310 and a second ultrasonic sensor 320;
the first ultrasonic sensor 310 is disposed at a first end of the conveying track 100, and the first ultrasonic sensor 310 is configured to detect a distance between the conveying vehicle 200 and the first end of the conveying track 100;
the second ultrasonic sensor 320 is arranged at the second end of the conveying track 100, and the second ultrasonic sensor 320 is used for detecting the distance between the conveying vehicle 200 and the second end of the conveying track 100;
the first end of the conveying rail 100 and the second end of the conveying rail 100 are opposite ends of the conveying rail 100.
In one embodiment, a first ultrasonic sensor 310 may be disposed at the first end of the conveying track 100 (i.e., the departure point of the conveying vehicle 200), and the first ultrasonic sensor 310 may detect the distance between the conveying vehicle 200 and the first end of the conveying track 100 by using a reflected echo of the sound wave 311 after propagating in the medium and hitting the object, thereby detecting the moving position of the conveying vehicle 200 on the conveying track 100, such as detecting the departure point of the conveying vehicle 200 in place; a second ultrasonic sensor 320 may be further disposed at the second end of the conveying track 100 (i.e., the hoisting location of the conveying vehicle 200), and the second ultrasonic sensor 320 may detect the distance between the conveying vehicle 200 and the second end of the conveying track 100 by using a reflected echo of the sound wave 321 after the sound wave propagates in the medium and hits the object, thereby detecting the moving position of the conveying vehicle 200 on the conveying track 100, such as detecting the in-place of the hoisting location of the conveying vehicle 200. Alternatively, when the first ultrasonic sensor 310 detects that the conveying vehicle 200 is located at the departure position, the control unit may issue a command to close the internal contracting brake to the conveying vehicle 200, and move to the hoisting position. When the second ultrasonic sensor 320 detects that the conveying vehicle 200 moves to the hoisting position, the control unit sends a brake command to the conveying vehicle 200 to stop moving.
Further, with continued reference to fig. 2 and 3, the ranging unit 300 further includes a first laser rangefinder (not shown in the figures) and a second laser rangefinder 330;
the first laser range finder is arranged at the first end of the conveying track 100 and is used for detecting the distance between the conveying vehicle 200 and the first end of the conveying track 100;
the second laser distance measuring device 330 is disposed at the second end of the conveying track 100, and the second laser distance measuring device 330 is used for detecting the distance between the conveying vehicle 200 and the second end of the conveying track 100.
In an embodiment, a first laser distance meter may be further disposed at the first end of the conveying track 100 (i.e., the departure point of the conveying vehicle 200), and the first laser distance meter may measure the variation of the distance between the conveying vehicle 200 and the first end of the conveying track 100 in real time through the round-trip flight time of the laser beam, thereby implementing the detection of the moving position of the conveying vehicle 200 on the conveying track 100, such as implementing the in-place detection of the departure point of the conveying vehicle 200; a second laser distance meter 330 may be further disposed at the second end of the conveying track 100 (i.e., the hoisting location of the conveying vehicle 200), and the second laser distance meter 330 may measure the variation of the distance between the conveying vehicle 200 and the second end of the conveying track 100 in real time through the round-trip flight time of the laser beam 331, thereby implementing the detection of the moving position of the conveying vehicle 200 on the conveying track 100, such as implementing the in-place detection of the hoisting location of the conveying vehicle 200. In this way, when the first ultrasonic sensor 310 or the second ultrasonic sensor 320 fails, the first laser distance meter or the second laser distance meter 330 can also detect the failure, so as to realize accurate control of the conveying vehicle 200. Alternatively, when the first laser distance meter detects that the conveying vehicle 200 is located at the departure position, the control unit may send a command of closing the internal contracting brake to the conveying vehicle 200 to move to the hoisting position. When the second laser distance meter 330 detects that the conveying vehicle 200 moves to the hoisting position, the control unit sends a brake command to the conveying vehicle 200 to stop moving.
Further, with continued reference to fig. 2 and 3, the system further includes a tilt sensor 500;
the inclination angle sensor 500 is disposed on the diesel generator set 400 to be transported, and the inclination angle sensor 500 is configured to detect a tilting angle of the diesel generator set 400 to be transported.
In an embodiment, the diesel generator set 400 to be transported may be provided with the tilt angle sensor 500, the tilt angle sensor 500 may be disposed at any position of the diesel generator set 400 to be transported, the number of the tilt angle sensors 500 may be one or multiple, and the tilt angle sensors may be specifically set according to an actual situation, which is not specifically limited in this application.
Further, the tilt angle sensor 500 is electrically connected to the control unit, and the control unit is further configured to control the transportation vehicle 200 to stop moving when detecting that the tilt angle of the diesel generator set 400 to be transported is greater than the preset tilt angle.
In one embodiment, when the tip-over angle during the traveling of the diesel generator set 400 to be transported is greater than the preset tip-over angle, the control unit may control the transporting vehicle 200 to stop traveling, thereby functioning to prevent the diesel generator to be transported from overturning. Besides, the tilt angle sensor 500 can also detect the tilt angle of the diesel generator set 400 to be conveyed in the jacking process. When the tipping angle of the diesel generator set 400 to be conveyed in the jacking process is larger than the preset tipping angle, the control unit can control the diesel generator set 400 to be conveyed to stop jacking. The preset tilting angle can be set according to practical situations, such as 3 °, 5 °, 10 °, and the like, and the application is not limited specifically.
Further, referring to fig. 4, fig. 4 is a schematic diagram of the diesel generator set to be conveyed provided by the embodiment of the present application being lifted, and as shown in fig. 4, the system further includes N lift cylinders 600 and N displacement sensors 700;
the N jacking cylinders 600 are arranged between the conveying vehicle 200 and the diesel generator set 400 to be conveyed, and the N jacking cylinders 600 are used for jacking the diesel generator set 400 to be conveyed to a preset height;
the N displacement sensors 700 are correspondingly arranged on the N jacking cylinders 600, and each displacement sensor 700 in the N displacement sensors 700 is used for detecting the jacking height of the corresponding jacking cylinder 600;
n displacement sensor and the control unit electric connection, the control unit still is used for detecting under N jacking cylinder moves to the condition of predetermineeing the height, and N jacking cylinder stops moving.
In an embodiment, N jacking cylinders 600 can be arranged to jack the diesel generator set 400 to be conveyed, wherein the number of the jacking cylinders 600 can be any value such as 4, 6, 8, and the application is not specifically limited. Each of the lift-up cylinders 600 corresponds to one of the displacement sensors 700, and the displacement sensor 700 is used to detect the lift-up height of the corresponding lift-up cylinder 600. Therefore, whether the N jacking oil cylinders 600 are asynchronous in the jacking process can be determined according to N detection results of the N displacement sensors 700, and the N jacking oil cylinders 600 can be controlled to stop moving when the N jacking oil cylinders 600 reach the preset jacking height.
Further, the conveying vehicle 200 is driven by a motor.
The transport vehicle 200 may be driven by a battery, an internal combustion engine, or the like, or may be driven by a motor. In an embodiment, when the conveying vehicle 200 is driven by a motor, the motor may be powered by an external power source, or the conveying track 100 may also be powered by the motor, which is not particularly limited in this embodiment.
Further, the conveying track 100 is a conductive rail for providing power required for movement to the conveying vehicle 200.
In an embodiment, the conveying vehicle 200 may be an electric flat carriage, the electric flat carriage is powered by the conveying track 100 to supply power to a motor of the electric flat carriage, so as to realize the conveying of the diesel generator set 400 to be conveyed, the conveying track 100 is a conductive rail, and the working principle of the conductive rail and the electric flat carriage for conveying the diesel generator set 400 is as follows: the 380V power supply is reduced to 24-36 volt-ampere full voltage through a step-down transformer, the power is fed to a conductor rail, low voltage is transmitted to a step-up transformer on the electric flat car through a conducting device of the electric flat car 200, the low voltage is boosted to 380V through the step-up transformer, and power is transmitted to a three-phase motor of the electric flat car to drive the electric flat car to run. In this way, the conveying track 100 can not only guide the conveying vehicle 200, but also power the conveying vehicle 200, thereby saving hardware cost.
Besides, the embodiment of the application further provides a diesel generating set conveying method. Referring to fig. 5, fig. 5 is a schematic flow chart of a method for conveying a diesel generator set according to an embodiment of the present application. As shown in fig. 5, the diesel generator set conveying method is applied to the diesel generator set conveying system, and may include the following steps:
In one embodiment, the diesel generator set to be conveyed can be conveyed through the conveying track and the conveying vehicle, and the working principle of conveying the diesel generator set by the conveying track and the conveying vehicle is as follows: the 380V power supply is reduced to 24-36 volt total voltage through a step-down transformer, the power is fed to the conveying track, the low voltage is transmitted to a step-up transformer on the conveying vehicle through a conducting device of the conveying vehicle, the low voltage is boosted to 380V through the step-up transformer, and power is transmitted to a three-phase motor to drive the conveying vehicle to run. The ranging unit may include, but is not limited to: ultrasonic sensors, laser rangefinders, infrared rangefinders, and the like. Because the distance measuring units are arranged at the two ends of the conveying track, the distance between the conveying vehicle and the two ends of the conveying track in the moving process of the conveying vehicle on the conveying track can be measured in real time, and the moving position of the conveying vehicle on the conveying track can also be measured. The control unit may be a Programmable Logic Controller (PLC), a control chip, a processor, or the like. This the control unit and range unit electric connection can receive the measuring moving position of the delivery vehicle who obtains of range unit to control delivery vehicle according to moving position, thereby accomplish the transport of treating the diesel generating set who carries through delivery vehicle, need not personnel participation control in whole transportation process, reduced the human cost, and transport efficiency is higher.
Further, the step 502, the controlling unit controlling the transportation vehicle according to the moving position measured by the distance measuring unit, includes:
the control unit determines a preset distance range in which the moving position falls according to the moving position measured by the distance measuring unit;
the control unit determines the acceleration corresponding to the preset distance range in which the moving position falls, and controls the conveying vehicle according to the determined acceleration;
the distance between the conveying vehicle and the first end of the conveying track is divided into different preset distance ranges, the moving position of the conveying vehicle in the moving process on the conveying track can fall into different preset distance ranges, and each preset distance range corresponds to different accelerated speeds.
In an embodiment, the travel distance of the conveying vehicle on the conveying track may be divided into M segments, each segment of the travel distance corresponds to a different preset distance range, where the value of M may be 3, 4, or 5, and the corresponding acceleration of different preset distance ranges may be the same or different, and the present application is not limited specifically. The control unit may determine a corresponding acceleration according to a preset distance range in which the moving position of the conveying vehicle falls, and control the conveying vehicle to move at the acceleration. For example, when a conveying vehicle is started, the conveying vehicle is started slowly, so that the diesel generator set is prevented from bumping due to large inertia; after the conveying vehicle is started to travel for a certain distance, the control unit can perform uniform acceleration on the conveying vehicle so as to shorten the traveling time; after the conveying vehicle is started to travel for a certain distance, the conveying vehicle accelerates to the maximum value, and the control unit drives the conveying vehicle at a constant speed; when the conveying vehicle starts to travel for a certain distance, the control unit performs uniform acceleration deceleration on the conveying vehicle and stops traveling to the second end of the conveying track, the distance measuring unit detects that the conveying vehicle reaches a hoisting position at the moment, and the control unit sends a brake command to the conveying vehicle. Therefore, the advancing speed of the conveying vehicle can be controlled through real-time data fed back by distance measuring units such as a laser distance meter and the like, and the moving process on the whole conveying track is controlled in a segmented speed control mode, so that the conveying vehicle can rapidly and stably advance.
Further, the step of determining the acceleration corresponding to the preset distance range in which the moving position falls by the control unit and controlling the conveying vehicle according to the determined acceleration includes:
the control unit controls the conveying vehicle to move along the conveying track at a first acceleration under the condition that the detected moving position falls into a first preset distance range, wherein the first preset distance range is used for representing the distance range from the first end of the conveying track to the first position, and the first position is a position with the first end of the conveying track at a first preset distance;
the control unit controls the conveying vehicle to move along the conveying track at a second acceleration under the condition that the detected moving position falls into a second preset distance range, wherein the second preset distance range is used for representing the distance range from the first position to the second position, the second position is a position with a second preset distance from the first end of the conveying track, and the second preset distance is larger than the first preset distance;
the control unit controls the conveying vehicle to move along the conveying track at a third acceleration under the condition that the moving position is detected to fall into a third preset distance range, wherein the third preset distance range is used for representing the distance range from the second position to the third position, the third position is a position with the distance from the first end of the conveying track being a third preset distance, and the third preset distance is larger than the second preset distance;
the control unit controls the conveying vehicle to move along the conveying track at a fourth acceleration under the condition that the moving position is detected to fall into a fourth preset distance range, wherein the fourth preset distance range is used for representing the distance range from a third position to a fourth position, the fourth position is a position with the distance from the first end of the conveying track being a fourth preset distance, and the fourth preset distance is larger than the third preset distance;
the control unit controls the conveying vehicle to move along the conveying track at a fifth preset speed under the condition that the moving position is detected to fall into a fifth preset distance range, wherein the fifth preset distance range is used for representing the distance range from the fourth position to the second end of the conveying track;
wherein the first acceleration and the second acceleration are positive numbers, the third acceleration is zero, the fourth acceleration and the fifth acceleration are negative numbers, the second acceleration is greater than or equal to the first acceleration, and the fourth acceleration is less than or equal to the fifth acceleration.
In one embodiment, the travel distance of the transport vehicle on the transport track may be divided into five segments, each corresponding to a different acceleration. The first preset distance range corresponds to a first acceleration, the second preset distance range corresponds to a second acceleration, the third preset distance range corresponds to a third acceleration, the fourth preset distance range corresponds to a fourth acceleration, the fifth preset distance range corresponds to a fifth acceleration, the second acceleration is larger than or equal to the first acceleration, the first acceleration is larger than or equal to zero, the fourth acceleration is smaller than or equal to the fifth acceleration, and the fifth acceleration is smaller than or equal to zero.
For example, assuming that the travel distance of the conveying vehicle on the conveying track is 40 meters in total, the travel distance corresponding to 0-5 meters is defined as a first preset distance range, and the first preset distance range is a starting stage of the conveying vehicle, and at this time, the control unit may control the conveying vehicle to travel at an acceleration of 0.1 m/s; defining a corresponding travel distance of 5-10 meters as a second preset distance range, wherein the second preset distance range is a transport vehicle acceleration stage, and the control unit can control the transport vehicle to travel at an acceleration of 0.2 m/s; defining a corresponding travel distance of 10-30 meters as a third preset distance range, wherein the third preset distance range is a constant speed travel stage of the conveying vehicle, and the control unit can control the conveying vehicle to travel at an acceleration of 0 m/s; defining the corresponding travel distance of 30-35 m as a fourth preset distance range, wherein the fourth preset distance range is a deceleration stage of the conveying vehicle, and the control unit can control the conveying vehicle to travel at an acceleration of-0.2 m/s; defining the travel distance corresponding to 5-10 meters as a fifth preset distance range, wherein the fifth preset distance range is a parking stage of the conveying vehicle, the control unit can control the conveying vehicle to travel at an acceleration of-0.1 m/s, and a relationship between the travel distance and the travel speed of the conveying vehicle is shown in fig. 6.
Further, the method further comprises:
the control unit controls the conveying vehicle to stop moving under the condition that the rollover angle of the diesel generator set to be conveyed is detected to be larger than the preset rollover angle.
In one embodiment, an inclination angle sensor can be arranged on the diesel generator set to be conveyed, and the inclination angle sensor can detect the tilting angle of the diesel generator set to be conveyed in the advancing and jacking processes. When the diesel generator set to be conveyed advances and the tipping angle in the jacking process is larger than the preset tipping angle, the control unit can control the conveying vehicle to stop advancing or control the diesel generator set to be conveyed to stop jacking, so that the function of preventing the diesel generator set to be conveyed from overturning is achieved. The preset tilting angle can be set according to practical situations, such as 3 °, 5 °, 10 °, and the like, and the application is not limited specifically.
In an embodiment, after diesel generating set that the driving handling was waited to carry arrived conveying vehicle, accessible first ultrasonic sensor detected conveying vehicle at the departure position, and at this moment, control unit PLC can send the instruction to conveying vehicle, and control conveying vehicle advances to hoist and mount position. And in the advancing process of the conveying vehicle, the PLC receives the roll-over angle data transmitted by the inclination angle sensor in real time, and if the roll-over angle of the conveying vehicle is detected to fluctuate by more than 3 degrees, the PLC standing horse control system is powered off to stop the conveying vehicle so as to prevent the conveying vehicle from overturning. The laser range finder collects the travelling distance of the conveying vehicle in real time, and adopts a slow-fast-slow-stop control mode according to the distance, namely the conveying vehicle is started slowly when being started, so that the diesel generating set is prevented from jolting due to large inertia; after the conveying vehicle is started to travel for 5m, the PLC performs uniform acceleration on the conveying vehicle to shorten the traveling time; when the conveying vehicle travels for 10m and accelerates to the maximum value, the PLC drives the conveying vehicle at a constant speed; after the conveying vehicle travels for 30 meters, the PLC performs uniform acceleration deceleration on the conveying vehicle; when the conveying vehicle stops when moving to the position of 40 meters, the second ultrasonic sensor detects that the conveying vehicle reaches the hoisting position, and the PLC sends a brake command to the conveying vehicle to prevent the laser range finder from data failure and stopping at a fixed point. After the conveying vehicle reaches the hoisting position, the PLC sends a jacking instruction to the 4 jacking oil cylinders, the 4 jacking oil cylinders are synchronously lifted, the displacement sensors in the jacking oil cylinders can detect the jacking height of the oil cylinders in real time, and the 4 jacking oil cylinders are prevented from being jacked out of synchronization, so that the diesel generator set is prevented from inclining. In the whole process, the inclination angle sensor collects the angle state of the diesel generating set in real time, if the angle fluctuates by more than 3 degrees, the PLC immediately sends an oil cut-off instruction to the hydraulic locks of the 4 jacking oil cylinders to keep the current state, after the displacement sensor detects the maximum jacking height of 1m, the PLC sends a stop instruction to the 4 jacking oil cylinders, and at the moment, the travelling crane can hoist the diesel generating set to a specified place.
In the embodiment, the diesel generating set is transported by the transporting vehicle and the transporting track to replace the traditional manual traction, so that the transporting time is shortened, the transporting efficiency is improved, and the quick replacement of the diesel generating set is ensured; secondly, the original manual mode is replaced by automatic control, so that the personnel allocation and labor intensity are greatly reduced; thirdly, through the process operation, the abrasion of the laying of the rolling bars is saved, the collision of the equipment is eliminated, and the safety of the equipment is protected; in addition, the automation equipment is used for automatically controlling to replace the traditional manual intervention, the randomness of manual operation is eliminated, the safety risk of personnel in the carrying process is eliminated, for example, if the conveying vehicle passes through a track when meeting personnel or objects in the advancing process, the laser ranging sensor has data jumping, and at the moment, the PLC can control the conveying vehicle to immediately stop.
The present application further provides a computer readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the steps of the method for conveying a diesel generator set according to any one of the foregoing method embodiments.
It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The foregoing are merely exemplary embodiments of the present invention, which enable those skilled in the art to understand or practice the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (12)
1. A diesel-electric generator set delivery system, the system comprising: the device comprises a conveying track, a conveying vehicle, a distance measuring unit and a control unit;
the conveying vehicle is positioned on the conveying track and used for conveying the diesel generator set to be conveyed along the conveying track;
the distance measuring units are arranged at two ends of the conveying track and used for measuring the moving position of the conveying vehicle on the conveying track;
the control unit is electrically connected with the distance measuring unit and used for controlling the conveying vehicle according to the moving position measured by the distance measuring unit.
2. The system of claim 1, wherein the ranging unit comprises a first ultrasonic sensor and a second ultrasonic sensor;
the first ultrasonic sensor is arranged at the first end of the conveying track and used for detecting the distance between the conveying vehicle and the first end of the conveying track;
the second ultrasonic sensor is arranged at the second end of the conveying track and used for detecting the distance between the conveying vehicle and the second end of the conveying track;
the first end of the conveying track and the second end of the conveying track are two ends of the conveying track which are oppositely arranged.
3. The system of claim 2, wherein the ranging unit further comprises a first laser range finder and a second laser range finder;
the first laser range finder is arranged at the first end of the conveying track and used for detecting the distance between the conveying vehicle and the first end of the conveying track;
the second laser range finder is arranged at the second end of the conveying track and used for detecting the distance between the conveying vehicle and the second end of the conveying track.
4. The system of claim 1, further comprising a tilt sensor;
the inclination angle sensor is arranged on the diesel generator set to be conveyed and is used for detecting the tipping angle of the diesel generator set to be conveyed.
5. The system of claim 4, wherein the tilt sensor is electrically connected to the control unit, and the control unit is further configured to control the transport vehicle to stop moving when the tilt angle of the diesel generator set to be transported is detected to be greater than a preset tilt angle.
6. The system of claim 1, further comprising N jacking cylinders and N displacement sensors;
the N jacking cylinders are arranged between the conveying vehicle and the diesel generating set to be conveyed and used for jacking the diesel generating set to be conveyed to a preset height;
the N displacement sensors are correspondingly arranged on the N jacking oil cylinders, and each displacement sensor in the N displacement sensors is used for detecting the jacking height of the corresponding jacking oil cylinder;
n displacement sensor with the control unit electric connection, the control unit is still used for detecting N jacking cylinder moves to under the condition of predetermineeing the height, control N jacking cylinder stops moving.
7. The system of claim 1, wherein the transport vehicle is driven by a motor.
8. The system of claim 7, wherein the transport track is a conductive rail for providing the transport vehicle with power required for movement.
9. A diesel-electric set conveying method, applied to the diesel-electric set conveying system according to any one of claims 1 to 8, comprising:
the distance measuring unit measures the moving position of the conveying vehicle on the conveying track, and the conveying vehicle is used for conveying the diesel generator set to be conveyed along the conveying track;
and the control unit controls the conveying vehicle according to the moving position measured by the distance measuring unit.
10. The method of claim 9, wherein the controlling unit controls the transport vehicle according to the moving position measured by the ranging unit, comprising:
the control unit determines a preset distance range in which the moving position falls according to the moving position measured by the distance measuring unit;
the control unit determines the acceleration corresponding to the preset distance range in which the moving position falls, and controls the conveying vehicle according to the determined acceleration;
the distance between the conveying vehicle and the first end of the conveying track is divided into different preset distance ranges, the moving position of the conveying vehicle in the moving process on the conveying track can fall into different preset distance ranges, and each preset distance range corresponds to different accelerated speeds.
11. The method according to claim 10, wherein the control unit determines an acceleration corresponding to a preset distance range in which the moving position falls, and controls the conveying vehicle according to the determined acceleration, including:
the control unit controls the conveying vehicle to move along the conveying track at a first acceleration under the condition that the moving position is detected to fall into a first preset distance range, wherein the first preset distance range is used for representing the distance range from the first end of the conveying track to a first position, and the first position is a position with a first preset distance from the first end of the conveying track;
the control unit controls the conveying vehicle to move along the conveying track at a second acceleration under the condition that the moving position is detected to fall into a second preset distance range, wherein the second preset distance range is used for representing the distance range from the first position to the second position, the second position is a position which is at a second preset distance from the first end of the conveying track, and the second preset distance is larger than the first preset distance;
the control unit controls the conveying vehicle to move along the conveying track at a third acceleration under the condition that the moving position is detected to fall into a third preset distance range, wherein the third preset distance range is used for representing the distance range from the second position to a third position, the third position is a position which is at a third preset distance from the first end of the conveying track, and the third preset distance is larger than the second preset distance;
the control unit controls the conveying vehicle to move along the conveying track at a fourth acceleration under the condition that the moving position is detected to fall into a fourth preset distance range, wherein the fourth preset distance range is used for representing the distance range from the third position to a fourth position, the fourth position is a position which is away from the first end of the conveying track by a fourth preset distance, and the fourth preset distance is larger than the third preset distance;
the control unit controls the conveying vehicle to move along the conveying track at a fifth preset speed under the condition that the moving position is detected to fall into a fifth preset distance range, wherein the fifth preset distance range is used for representing the distance range from the fourth position to the second end of the conveying track;
wherein the first acceleration and the second acceleration are positive numbers, the third acceleration is zero, the fourth acceleration and the fifth acceleration are negative numbers, the second acceleration is greater than or equal to the first acceleration, and the fourth acceleration is less than or equal to the fifth acceleration.
12. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method for conveying a diesel genset according to any one of claims 9-11.
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| CN202210481129.3A CN114852621A (en) | 2022-05-05 | 2022-05-05 | Diesel generator set conveying system and method and storage medium |
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| CN202210481129.3A CN114852621A (en) | 2022-05-05 | 2022-05-05 | Diesel generator set conveying system and method and storage medium |
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