JP2008024869A - Method for controlling movement of coke oven and apparatus for the same - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a method for controlling movement of a coke oven excellent in installation expense, detection accuracy and safety, and an apparatus for the same. <P>SOLUTION: Positions of a guide vehicle 21 and an extruder 22 are controlled by photographing recognition panels having coded furnace numbers for specifying the furnace positions and installed at each furnace position of a guide vehicle side and an extruder side of a coke oven, recognizing the furnace number depending on the photographed images and judging whether the guide vehicle 21 and the extruder 22 are in predetermined positions or not. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a method and apparatus for controlling a mobile machine in coke production, and more particularly to position control thereof.

As an apparatus for determining the positional relationship between a conventional guide wheel and an extruder, there is an absolute position detection method using induction radio. This method uses a twisted pair type induction radio line as the induction radio cable used for communication between the ground and the onboard machine. The absolute position is determined with an accuracy of ± 10mm, and the kiln numbers of the two mobile units match. (For example, Patent Document 1).
In addition, various methods have been proposed for an apparatus for accurately stopping a moving machine at a central position after stopping before a stop kiln specified by a PLG (pulse generator) or the like (see, for example, Patent Document 2). ).
In addition, as a method of detecting that the positions of the guide wheel and the extruder coincide with each other, a radiation source is installed in the guide wheel and a receiver is installed in the extruder. There is also a technique for determining that the positional relationship is consistent.
Japanese Examined Patent Publication No. 63-24633 JP 52-63903 A

However, the technique disclosed in Patent Document 1 requires a long-distance induction wireless cable to be laid, and is expensive, such as installing a special control device. There is also a method of determining the relative position of travel using a PLG (pulse generator) etc., and estimating the kiln number by obtaining the travel distance by pulse count from the reference position, but with the accuracy of PLG If errors are accumulated, or slip or wear of the touch roller connected to the PLG is an error factor, it will be a reliability factor. If a power failure occurs, the distance traveled between them will not be added. Need to run.
Further, in the method of Patent Document 2 described above, the position of the guide wheel or the extruder is detected by an optical method using an imaging device or the like. However, the relative position between the guide wheel and the extruder can be ensured. This method is based on the assumption that it can be detected, and if a detection error occurs, it may be difficult to deal with.
Furthermore, in the method of detecting using radiation, there is a problem that the maintenance work at the time of failure becomes the radiation management area work, and the restriction becomes large.

  The present invention was developed as a driver's misoperation prevention device by detecting without depending on the driver that the stop kiln between the guide car and the extruder coincides when manually operating, To provide a coke oven moving machine control method and apparatus capable of preventing erroneous detection due to equipment failure even in the case of unmanned automatic operation and solving the above-mentioned problems of the prior art in installation cost, detection accuracy, and safety. With the goal.

  The coke oven moving machine control method according to the present invention includes a recognition panel in which a kiln number for identifying the kiln position is encoded and installed at each kiln position on the guide wheel side and the extruder side of the coke oven. The image is picked up by an image pickup device mounted on each of the guide wheel and the extruder, the kiln number is recognized based on the picked-up image, and it is determined whether or not the guide wheel and the extruder are at a desired kiln position. The positions of the guide wheel and the extruder are controlled based on the above. In the present invention, a recognition panel disposed at each kiln position on the guide wheel side and the extruder side of the coke oven is imaged, and the kiln number is recognized, so that the guide wheel and the extruder are reliably connected. It is possible to determine the positional relationship, and in manual operation, it can be detected without relying on the driver that the stop kiln between the guide car and the extruder matches, and in the case of unattended automatic operation In this case, it is possible to prevent erroneous detection due to a device failure. In addition, the installation cost is low, the detection accuracy is high, and the position can be detected with safety.

  In addition, the coke oven moving machine control method according to the present invention measures the distance from the previous extrusion furnace position to the current extrusion furnace position, and the measured distance data and the previously stored previous extrusion furnace position this time. Compare the actual distance data to the extrusion kiln position, and if both match or differ within a predetermined range, the extruder and the guide wheel are at the kiln position determined by the captured image Is determined. In the present invention, even if the position of the kiln is erroneously detected at the time of position detection by the image recognition process, the determination is performed using the travel distance measurement value that is other position information, so that erroneous detection can be reliably prevented. . In addition, in order to prevent mileage measurement errors from accumulating on the distance meter side using PLG, the ground element is installed to cancel the error. Since the distance is measured based on the position of the kiln where the operation is performed, the error accumulation can be reduced.

Moreover, the coke oven moving machine control method according to the present invention irradiates the recognition panel with the optical axes of the four LED lights equally arranged from the four directions of the recognition panel. In the present invention, by using LED illumination and irradiating the four corners, the recognition panel is uniformly irradiated, and erroneous detection of image recognition can be prevented.
In the coke oven moving machine control method according to the present invention, the recognition panel is formed of a resin board. When installed in a place with a small heat load, a resin board such as a plastic board can be used, thereby facilitating the mounting work and reducing the adhesion of dust such as coke powder to the panel.

  Further, the coke oven moving machine control device according to the present invention recognizes that the kiln number for specifying the kiln position is encoded and installed at each kiln position on the guide wheel side and the extruder side of the coke oven. The panel, the position detection means mounted on the guide wheel and the extruder, and the output of the position detection means determine whether or not the guide wheel and the extruder are at a desired kiln position, and the guide is based on the determination result. Control means for controlling the position of the car and the extruder. The position detection unit includes an imaging device that images the recognition panel, an image processing unit that processes an image captured by the imaging device, and a kiln number based on the image signal that has been image-processed by the image processing unit. And an arithmetic means for recognizing.

  FIG. 1 is a system configuration diagram of a control device and a mobile device for controlling a mobile device (guide car, extruder) of a coke oven according to an embodiment of the present invention. The control device includes a mobile device control device 10, a guide vehicle control device 11, a guide vehicle position detection device 12, an extruder control device 13, and an extruder position detection device 14. The mobile device control device 10 is a guide vehicle control device. It is possible to communicate with each of the device 11 and the extruder control device 13 about the operation command and the operation status. The mobile device control device 10, the guide vehicle control device 11, and the extruder control device 13 constitute the control means of the present invention.

  The mobile machine control device 10 monitors whether each of the guide wheel 21 and the extruder 22 is in a desired position, that is, whether the guide wheel 21 and the extruder 22 are in the same kiln number, and the coke extrusion. It is an apparatus that determines and controls whether or not the work can be performed. The guide vehicle control device 11 inputs a movement command of the guide vehicle 21 from the mobile device control device 10 and inputs the current position of the guide vehicle 21 from the guide vehicle position detection device 12 and is instructed to the guide vehicle 21. Control movement to position. The guide car position detection device 12 detects which kiln number the position of the guide car 21 in among the kilns having a large number of coke ovens. Similarly, the extruder control device 13 inputs the movement command of the extruder 22 from the mobile device control device 10, and also inputs the current position of the extruder from the extruder position detection device 14, and instructs the extruder 22. Move to the specified position. The extruder position detection device 14 detects the position of the kiln number of the kiln having many coke ovens.

  FIG. 2 is a block diagram showing the configuration of the guide vehicle position detection device 12 (or the extruder position detection device 14). The guide vehicle position detection device 12 includes a camera 31, which is an imaging device, an image processing device 32, and a calculation device 33. A target 45 is attached to each kiln of the coke oven 40. The target 45 constitutes a recognition panel according to the present invention, and a kiln number for specifying the kiln position is coded and drawn (details are described in FIG. 3). A camera 31 comprising a CCD camera or the like images the target 45, and the image processing device 32 performs image processing on the imaging signal from the camera 31 (noise removal by a spatial filter, enhancement processing, etc.). The arithmetic device 33 recognizes the code of the image signal processed by the image processing device 32, that is, the kiln number, detects the current position of the guide wheel 21, and outputs it to the guide vehicle control device 11. The guide vehicle position detection device 12 includes a PLG (pulse generator) 34 that is attached to the guide wheel 21 and generates a pulse as the guide wheel 21 moves. When the arithmetic device 33 takes in the output pulse of the PLG (pulse generator) 34, the arithmetic device 33 integrates the output pulses to obtain the movement distance from the previous extrusion kiln position as the position detection information and the position detection information to the guide car control device 11. Output. Since the movement distance is based on the previous extrusion furnace position, when the guide wheel 21 reaches the previous extrusion furnace position, it is necessary to reset the movement distance by some means (for example, to the calculation device 33 to the destination). Enter the kiln number and reset the travel distance each time the kiln number is recognized). By the way, although the structure of the guide vehicle position detection apparatus 12 was demonstrated here, the structure of the extruder position detection apparatus 14 is the same as the structure of FIG. 3, and in that case position detection information (the current kiln number, the last kiln number). The movement distance from the kiln position of the extrusion) is detected and output to the extruder controller 13.

FIG. 3 is a conceptual diagram showing a state in which the target 45 is attached to each kiln of the coke oven. Corresponding to each position on the guide wheel side 42 and the extruder side 43 of each kiln 41 of the coke oven, a target 45 drawn by coding the kiln number in 3 rows x 3 columns black and white is attached to the lower side thereof. ing. Numbers are displayed as binary numbers, with the left side of the top row as the first digit of the binary number, the middle as the second digit, the right as the third digit, and the middle left as the fourth digit. Or may be displayed in a different order. Usually, there are about 200 kilns, but 3 × 3 = 9 digits is enough because 2 ⁹ = 392 can be expressed. The material of the target 45 may be made of metal, but it is preferably made of a resin such as plastic if it is a place where no thermal load is applied. In addition, if it is made of resin, it can be attached with an adhesive even if it is not welded as in the case of metal, which is preferable in terms of the efficiency of the attaching operation. In addition, in the example of FIG. 3, although the example where five kilns are illustrated, since an actual coke oven is comprised from 200 or more kilns, 200 or more targets 45 can actually be attached. It will be.

  FIG. 4 is an explanatory view of an illuminating device attached around the guide wheel position detecting device 12 (or the extruder position detecting device 14). In order to reliably detect the code of the target 45, an illumination method at the time of imaging is important. However, in the present invention, four circular LED illuminations are used as the illuminating device 35 to irradiate from the four sides of the target 45. Thus, it is configured such that uniform reflected light can be imaged with a camera.

  FIG. 5 shows an example in which the camera 31 and the lighting fixture 35 are attached to the extruder frame 23. By installing the camera 31 and the luminaire 35 below the extruder 22, it is possible to reduce the heat load. Note that these are also attached to the guide wheel 21 in the same manner.

Next, a method for controlling the positions of the guide wheel 21 and the extruder 22 by the coke oven movement control device having the above configuration will be described.
FIG. 6 is a flowchart showing a process for controlling the positions of the guide wheel 21 and the extruder 22.
(A) First, when the process of the mobile device control device 10 starts, a command to move the guide wheel 21 to the kiln number X is output to the guide wheel control device 11 (Step 101). Similarly, a command to move the extruder 22 to the kiln number X is output to the extruder controller 13 (Step 102).
(B) When the movement command is input (Step 201), the guide vehicle control device 11 moves the guide vehicle 21 to the designated kiln number (Step 202). At the time of movement, position detection information (information including the current kiln number and the movement distance from the kiln position of the previous extrusion operation) is input from the guide car position detection device 12 (Step 203) and the position detection information of the guide car 21 is moved. Is output to the mobile device control apparatus 10 (Step 204). The above processing (Step 202 to Step 204) is repeated until the kiln having the commanded kiln number X is reached. When the commanded kiln number X is input from the guide car position detecting device 12 (Step 205), the guide car 21 is stopped there. (Step 206), and outputs a movement completion command to the mobile device control apparatus 10 (Step 207).

(C) Similarly, when a movement command is input (Step 301), the extruder control device 13 moves the extruder 22 to the kiln having the commanded kiln number (Step 302). At the time of movement, the position detection information of the extruder 22 (current kiln number, information including the movement distance from the kiln position of the previous extrusion operation) is input from the extruder position detection device 14 (Step 303), and the position information is It outputs to the mobile device control apparatus 10 (Step 304). The above processing (Step 302 to Step 304) is repeated until the kiln having the commanded kiln number X is reached. When the commanded kiln number X is input from the extruder position detecting device 14 (Step 305), the extruder 22 is stopped there. (Step 306), and outputs a movement completion command to the mobile device control apparatus 10 (Step 307).

(D) The mobile machine control device 10 receives position information (kiln number, travel distance) from the guide car control device 11 and the extruder control device 13 (Step 103, Step 104), and receives a movement completion command from each. Then, it is determined whether both the guide wheel 21 and the extruder 22 have come to the kiln number X (Step 105). If at least one is different from the kiln number X, an error is output (Step 108). If both the guide wheel 21 and the extruder 22 are the kiln number X, the movement distance of each of the guide wheel 21 and the extruder 22 is actually the distance from the previous kiln position to the present kiln position. It is determined whether or not the distance (measurement distance) input at the time of movement is the same (even if the distance is not completely the same, it may be determined that the distance is within a certain range in consideration of the measurement error) (Step 106). ). If the distances match, it is determined that the kiln number is X, and an extrusion operation start command at the kiln number X is output to the extruder control device 13 (Step 107), and the extruder control device 13 In response to the command, the extruder 22 is caused to start the extrusion operation (Step 308). In the above determination, if the distances are different, an error is output (Step 108), and a confirmation warning is urged to the operator or the supervisor of the guide wheel 21 and the extruder 22.

  In the present embodiment, the mobile device control apparatus 10 inputs the travel distance information of the guide wheel 21 and the extruder 22, and determines the consistency between the travel distance and the kiln number (Step 103 to Step 108). ), Without inputting the moving distance information to the moving machine control device 10, in each of the guide vehicle control device 11 and the extruder control device 13, after determining the consistency of the moving distance and the kiln number, the determination result You may make it output to the mobile device control apparatus 10. FIG.

  As described above, in the present embodiment, the target (recognition panel) in which the kiln number that identifies the kiln position is coded and installed at each kiln position on the guide car side and the extruder side of the coke oven, Images are taken by cameras (imaging devices) mounted on the guide car and the extruder, respectively, the kiln number is recognized based on the taken images, and it is determined whether or not the guide car and the extruder are at a desired kiln position. The position of the guide wheel and the extruder is controlled based on the determination result, so that the positional relationship between the guide wheel and the extruder can be reliably determined. It is possible to detect that the stop kilns coincide with each other without depending on the driver, and it is possible to prevent erroneous detection due to a failure of the apparatus even in the case of unattended automatic operation. In addition, the installation cost is low, the detection accuracy is high, and the position can be detected with safety.

  Also, measure the distance from the previous extrusion furnace position to the current extrusion furnace position, and compare the measured distance data with the pre-stored actual distance data from the previous extrusion furnace position to the current extrusion furnace position. However, if both match or differ within a predetermined range, it is determined that the extruder and the guide wheel are at the kiln position determined in the above determination, and it is temporarily determined by the image recognition process. Even if the kiln position is erroneously detected at the time of position detection, since the determination is performed using the travel distance measurement value which is another position signal, the erroneous detection can be reliably prevented. Also, on the distance meter side by PLG, in order to prevent the accumulation of mileage measurement error, a ground element is installed to cancel the error. Since the movement distance is measured on the basis of the position where the work is performed), the error accumulation can be reduced.

Moreover, since the optical axes of the four LED lights are uniformly arranged from the four directions of the recognition panel to irradiate the target (recognition panel), the target (recognition panel) is illuminated uniformly, and image recognition is performed. False detection can be prevented.
Further, the recognition panel is constituted by a resin board. When installed in a place with a small heat load, a resin board such as a plastic board can be used, thereby facilitating the mounting work and reducing the adhesion of dust such as coke powder to the panel.

It is a system configuration diagram of a control device and a mobile device for controlling a mobile device of a coke oven according to an embodiment of the present invention. It is the block diagram which showed the structure of the guide vehicle position detection apparatus (or extruder position detection apparatus). It is a conceptual diagram which shows the state which attached the target to each kiln of a coke oven. It is explanatory drawing of the illuminating device attached to the periphery of a guide vehicle position detection apparatus (or extruder position detection apparatus). It is explanatory drawing which showed the example which attached the camera and the lighting fixture to the extruder mount frame. It is the flowchart which showed the process at the time of controlling the position of a guide wheel and an extruder.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Mobile machine control apparatus, 11 Guide vehicle control apparatus, 12 Guide vehicle position detection apparatus, 13 Extruder control apparatus, 14 Extruder position detection apparatus, 21 Guide car, 22 Extruder, 23 Extruder mount, 31 Camera, 32 Image processing device, 33 arithmetic device, 35 lighting fixture, 40 coke oven, 41 coke oven kiln, 45 target.

Claims (5)

  A recognition panel in which a kiln number for identifying the kiln position is coded and installed at each kiln position on the guide car side and the extruder side of the coke oven is installed by an imaging device mounted on the guide car and the extruder, respectively. Taking an image, recognizing the kiln number based on the captured image, determining whether the guide car and the extruder are at a desired kiln position, and controlling the position of the guide car and the extruder based on the determination result Coke oven moving machine control method characterized by this.   Measure the distance from the previous extruding kiln position to the current extruding kiln position, compare the measured distance data with the previously stored actual distance data from the previous extruding kiln position to the current extruding kiln position, 2. The coke according to claim 1, wherein when the two coincide with each other or the difference is within a predetermined range, it is determined that the guide wheel and the extruder are in a kiln position determined by the captured image. Furnace mover control method.   The coke oven moving machine control method according to claim 1 or 2, wherein the optical axis of four LED lights is uniformly arranged from the four directions of the recognition panel to irradiate the recognition panel.   The coke oven moving machine control method according to any one of claims 1 to 3, wherein the recognition panel is formed of a resin board. A recognition panel in which a kiln number for specifying the kiln position is coded and installed at each kiln position on the guide car side and the extruder side of the coke oven,
Position detection means respectively mounted on the guide wheel and the extruder;
It is determined whether or not the guide wheel and the extruder are at a desired kiln position based on the output of the position detection unit, and includes a control unit that controls the guide wheel and the extruder based on the determination result,
The position detecting means includes
An imaging device for imaging the recognition panel;
Image processing means for processing an image captured by the imaging device;
An apparatus for controlling a coke oven moving machine, comprising: arithmetic means for recognizing a kiln number based on an image signal image-processed by the image processing means.

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