JP2691199B2 - Positioning device for mobile machine for coke oven - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to an alignment device for a coke oven moving machine, and more particularly to accurately and automatically aligning the moving machine with a furnace core of a coke oven. The present invention relates to a positioning device for a coke oven moving machine which is designed to be performed by

[Prior Art] Accurately aligning a coke oven moving machine such as an extruder, a coal car, or a guide vehicle with a furnace mouth of a coke oven has conventionally been performed by pushing out coke with a pusher rod of an extruder. It is necessary for various operations such as charging of raw coal by a coal car, guidance of coke discharge by a guide car, and cleaning of the furnace mouth. However, there is a phenomenon that the equipment condition changes due to the operating rate of the coke oven, seasonal changes, and secular changes.

In the past, in order to understand such phenomena unique to the coke oven and to smoothly operate the coke oven equipment, it was necessary to place workers on site to perform confirmation work.

However, the coke oven equipment is hot and dusty and is in a bad environment for workers, and there is a strong demand for automation or unmanned operation in order to free up the workers' work. Furthermore, the recent aging of workers due to a labor shortage and changes in the working environment, such as the decrease in skilled workers, are also factors that demand automation and unmanned work.

Conventionally, a detection iron piece, a block, or the like is attached at a position corresponding to the rail of the coke oven or the core of the back stay, and the movable machine is electrically or mechanically aligned with the core of the coke furnace. However, due to the characteristics of the coke oven itself, that is, the furnace fluctuates, what could be operated when the equipment was installed became difficult to align with the passage of time, and eventually became unusable. The reason for this is that the basis of the furnace body and the basis of mounting the detection system are different, so the deviation between the machine core by the detector and the core of the furnace, which is the core of operation, exceeds the allowable value There is.

However, if it is recognized that the current manned operation has allowed the coke oven moving machine to be used for 10 to 20 years without any alignment problems, the coke oven moving machine worker (hereinafter referred to as an operator) judges You can see that the function is an important factor. In terms of this judgment function, the operator visually judges the quality of alignment of the moving machine for the coke oven after the traveling is stopped from the driver's cab of the moving machine body with a match mark. At this time, the kiln number is read from the furnace lid. In the case of misalignment, the traveling controller is taken and inching work is performed. Further, when the actual operation is executed by such an alignment method, if the alignment of the operation becomes poor, the match mark is corrected. In these alignment determinations in actual operation, the center of the furnace opening is used as a reference for visual identification.

Therefore, in order to introduce a positioning device and have the ability to replace the work of the operator, the target core detection function represented by the match mark as a function of the operator, the position correction function instead of the inching work, and the target core periodically. It is necessary to organically combine the furnace core detection function with the aim of corrective correction. Since no conventional technology captures such manned functions related to alignment, it has not been a practical device.

However, in order to improve the working environment in the coke oven and to improve productivity by saving labor or unmanning the machine, these mobile machines also need to automatically control them.

[Problems to be Solved by the Invention] The present invention has been made in view of the above circumstances.
Providing a positioning device that provides manned operation / judgment functions by the operator to mobile machines such as extruders, coal-charging cars or guide cars in coke ovens reduces the work of operators of mobile machines for coke ovens, and The challenge is to realize an automated and unmanned coke oven moving machine.

[Means for Solving the Problems] That is, the present invention is for running and stopping on rails provided along a coke oven having a large number of ovens and performing work on each oven of the coke oven at any time. A positioning device for a coke oven moving machine, which aligns a moving machine so as to be operable with respect to a furnace opening of the furnace, and is a so-called temporary furnace opening core that reflects the furnace opening cores of the respective coke ovens. The target core detection mechanism for stopping the moving machine at a fixed position by detecting the positional relationship between the moving machine and the corresponding furnace by detecting the respective target cores, and the target core that the stopped moving mechanism faces. A furnace core detection mechanism for detecting a furnace core which is a final alignment target included in the mobile machine, and a moving machine for correcting the relative position between the mobile machine and the furnace core. Is a positioning device for a coke oven moving machine having a position correction mechanism for finely moving the main frame and a main control mechanism for controlling the position correction mechanism based on a detection signal from the furnace core detection mechanism.

Incidentally, the main control unit performs a correction control so that the relative position between the moving machine and the target core is finely adjusted and moved based on the detection signal from the target signal detection mechanism so as to accurately set the position on the target core. Is also possible. As the position correcting mechanism for this purpose, the above position correcting mechanism can be adopted, and the traveling motor of the mobile machine may be directly driven and controlled.

Further, the main control mechanism may have a learning function for position correction. That is, the information regarding the target core is corrected at appropriate times by the detection signal from the furnace core detection mechanism, and the position correction process after the detection of the target core can be minimized.

Further, as the target core detecting mechanism, for example, a detected member such as a bar code plate provided in each furnace to indicate the furnace number of a coke oven and a frame of a mobile machine are provided.
The first sensor such as a CCD line sensor (CCD one-dimensional sensor) and the furnace number detection signal from this first sensor are used to judge the furnace number of the coke oven and stop the moving machine at the corresponding furnace position. It is possible to employ a device having a first controller that outputs a control signal for use.

Further, as the furnace core detection mechanism, for example, image processing for detecting a difference in light intensity or a difference in temperature between the inward striking of the furnace opening opened by removing the furnace lid and the green portion of the furnace opening. A device including a second sensor such as a camera and a second controller that outputs a furnace core signal based on a detection signal from the second sensor can be adopted.

Further, as the main control mechanism, for example, one having a main controller that outputs a correction alignment control signal by a furnace core signal from a furnace core detecting mechanism such as the second controller can be adopted. .

Furthermore, as the position correction mechanism, for example, a mobile machine is composed of a mobile carriage and a main frame that can move relative to each other, and a rail on which the mobile machine travels is clamped by a rail clamp of the mobile carriage after the mobile machine is stopped. , Or after being attached to the rail with an electromagnet,
It is possible to employ a carriage moving mechanism capable of accurately aligning the main frame of the mobile machine with the furnace core of the furnace mouth by finely adjusting the main frame of the mobile machine using the carriage moving cylinder or the like.

[Operation] In the alignment device for a moving machine for a coke oven according to the present invention, for example, when an extruder is operated, the device is moved for the purpose of discharging coke in a certain oven having a predetermined oven number. The machine first runs near the location of the furnace. Here, the target core detecting mechanism detects the furnace having the target core and stops the mobile machine at a fixed position. For example, the first sensor detects the detected member provided in the furnace. The furnace number detection signal from the first sensor determines that the first controller has the predetermined furnace number, and by stopping the traveling of the mobile machine, this is preliminarily set to the furnace opening of the target furnace. Align. It should be noted that the traveling machine may be stopped after the traveling distance from the traveling origin of the traveling machine and the furnace number may be confirmed.

Then, the furnace core detection mechanism detects the furnace core in the target core. For example, accurate alignment is realized based on the detection signal from the second sensor. That is, the second controller accurately determines the furnace core position of the target furnace core based on the detection signal from the second sensor, and outputs the furnace core signal to the main control mechanism such as the main controller.

The main controller calculates the deviation between the mobile machine and the furnace core based on the furnace core signal, and outputs a correction alignment control signal for instructing the correction distance and the correction direction of the mobile machine to the position correction mechanism.

By operating this position correction mechanism, the main frame of the moving machine is finely adjusted so as to correct the relative position of the moving machine with respect to the furnace core, and the main frame of the moving machine is made to coincide with the furnace core of the coke furnace. . Therefore, the pusher rod of the extruder can enter the furnace from the inside of the furnace without colliding with the edge of the furnace, and the produced coke can be pushed out to the guide car side.

The same applies not only to the extruder as a moving machine but also to a coal car or a guide car.

[Embodiment] Next, an alignment apparatus 1 for a coke oven moving machine according to an embodiment of the present invention will be described with reference to FIGS. 1 to 16.

FIG. 1 is an overall perspective view of the alignment device 1.
The alignment device 1 for a mobile machine for a coke oven includes a target core detection mechanism 2 for stopping traveling, which performs preliminary position detection.
And a furnace core detection mechanism 3 that finally performs accurate position detection
And a carriage moving mechanism 4 as a position correcting mechanism, and a main controller 5 as a main control mechanism for controlling each of the above mechanisms. Each mechanism will be sequentially described below.

The target core detection mechanism 2 has a first sensor 8 provided on the main frame 7 of the mobile machine 6 and a first controller 10 for the light source 9. This first sensor 8 is
A furnace number detection signal is output to the first controller 10 by detecting the detected members 14 provided corresponding to the respective furnaces 13 of the coke ovens 12 along the traveling rails 11 on which the mobile machine 6 travels. . In FIG. 1, reference numeral 15 indicates a charging port for charging the raw material coal into the furnace 13, reference numeral 16 indicates a back stay, and reference numeral 17 indicates a rail supporting the traveling rail 11.

2 to 4 are for explaining the target core detection mechanism 2 described above in more detail. FIG. 2 is an overall layout diagram of the target core detection mechanism 2, and FIG. 3 is a block diagram of a schematic configuration thereof. , FIG. 4 is a principle diagram of detecting the furnace number.

The first sensor 8 has a detector composed of, for example, a CCD line sensor, and the first sensor 8 and the light source 9 are connected by a column 18 as shown in FIG. Therefore, it is possible to detect the furnace number of each furnace 13 by one light source 9 arranged on the back surface of the detected member 14 arranged for each furnace 13 without providing the same number of the detected members 14. Become.

Further, the member 14 to be detected has a slit for passing light.
It is formed as a bar code plate by forming 19 and the first sensor 8 detects light that has passed through this slit 19 having a pattern corresponding to each furnace 13. By forming the slits 19 in the member to be detected 14 in this manner, the difficulty of detection due to dust around the furnace 14 is reduced. In addition, instead of the light source 9, a white plate,
As long as the contrast of the slit 19 can be secured, it can be used depending on the conditions.

Further, a hood 20 is provided between the first sensor 8 and the light source 9.
In addition to installing the air pipe 21 inside the hood 20
Thus, by always supplying normal air, it is possible to prevent dust, water, and other obstacles from entering the visual field in the first sensor 8. Therefore, it can withstand use in a bad environment. If clean air is also supplied to the light emitting surface of the light source 9, the light emitting surface of the light source 9 can be kept clean.

As shown in FIG. 3, the detected member 14 exists between the light source 9 and the first sensor 8, and the slit 19 on the detected member 14 is present.
The arrangement of the first is the diaphragm mechanism 22 and the lens inside the sensor 8.
A bright and dark image is drawn on the photoelectric conversion element 24 through 23.
The detection signal photoelectrically converted by the photoelectric conversion element 24 is output to the first controller 10, and is finally processed by calculation to determine the furnace number of the furnace 13 and output a stop control signal. The traveling motor (not shown) of the mobile machine 6 is stopped.

The diaphragm mechanism 22 is for preventing the first sensor 8 from being erroneously detected or malfunctioning due to a change in the amount of light around the detected member 14 during the day and night, and if an automatic diaphragm mechanism or the like is adopted. It can be used without adjustment.

As shown in the principle diagram of FIG. 4, the furnace number is detected from the bright / dark detection image 25 formed by the slit 19 formed on the photoelectric conversion element 24. That is, the bright / dark detection image 25 is divided into divided visual fields 26 corresponding to the number determined from the number of furnaces to be detected. Slits in the light / dark detection image 25
When 19 is reflected as a bright portion and is detected along the bright / dark detection line 27, it is possible to determine which divided visual field 26 has the bright portion. By numerically weighting each of the divided visual fields 26 and calculating from the position of the divided visual field 26 detecting the bright part, it becomes possible to detect the furnace number information of the detected member 14. . By appropriately selecting the width of this divided field of view 26 or the width and spacing of the slits 19,
Even if the center of the member to be detected 14 and the center of the first sensor 8 do not necessarily match, the furnace number can be detected.

As an application example of the target core detection mechanism 2, for example, the detected member 14 is installed such that one of the slits 19 is located at the center position of the furnace 13 of the coke oven 12, and the selected detected member 14 is The relative position relationship between the first sensor 8 and the member to be detected 14 and by extension, the relative position between the center of the moving machine 6 and the center of the furnace 13 of the coke oven 12 are determined by detecting the position of the bright and dark detection image 25. It can be used as a furnace core detector. When there is a deviation between the furnace core or the target core and the moving machine 6, the traveling motor of the moving machine is driven to correct the stop position of the moving machine.

However, in general, as described above, the relative position of the coke oven 12 with respect to the member to be detected 14 may shift due to aging, etc. Therefore, the furnace core detection mechanism 3 as described below is used.
Is valid.

Needless to say, any desired mechanism can be used as the target core detection mechanism 2 other than the above-described detection mechanism.

Next, the furnace core detection mechanism 3 will be described with reference to FIGS. 5 to 10. FIG. 5 is an image example view of the upper and lower portions of the furnace opening 30 of the furnace 13, and FIG. 6 is a schematic configuration diagram of the furnace core detection mechanism 3, and the movement is performed as shown in these drawings and FIG. The main frame 7 of the machine 6 is provided with two image processing cameras, that is, video cameras 31 and 32 in the vertical direction so as to be located near the furnace 13. However, the number of cameras does not necessarily have to be two. These camcorders 3
1 and 32 have their imaging centers aligned in the vertical direction.
Images of the upper part and the lower part of 0 can be captured.
Further, it can move along each furnace opening 30 as the mobile machine 6 runs.

In addition, each of the video cameras 31 and 32 is a video camera.
33 and 34 are connected, and an image of a single frame captured by the video cameras 31 and 32 is stored in the video memories 33 and 34 as pixel data.

The video cameras 33 and 34 are connected to an image recognition device 36 via an image switch 35.

The image switching device 35 outputs the stored content to the image recognition device 36 by switching to one of the video memories 33 and 34 in response to a command from the image recognition device 36.

Further, the image recognition device 36 sends a control signal to the image switching device 35 to switch to either one of the video memories 33 and 34, and at the same time, designates a pixel address in the frame of the image stored in each of the video memories 33 and 34. This makes it possible to read pixel data at any address.

A second controller 37 is constituted by the video memories 33, 34, the image switch 35, and the image recognition device 36.

The video cameras 31 and 32 are furnaces facing the mobile machine 6.
On the 30 side, the image pickup center of the video camera 32 is adjusted to be attached vertically below the image pickup center of the video camera 31, and this is attached, and other equipment can be placed at a place distant from the coke oven 12. .

The detection of the furnace opening 30 by the furnace core detection mechanism 3 is
This is done after the furnace lid 38 of 13 is opened to expose the furnace opening 30 to the video camera 31, 32 side. That is, in the images captured by the video cameras 31 and 32, the furnace wall 39 is regarded as a dark portion and the furnace opening 30 is regarded as a bright portion due to the temperature difference or the lightness difference as shown in FIG.

Then, as shown in FIG. 5, when performing the image processing of the upper part of the furnace opening 30, the image switching device 35 is switched to the video memory 33 side so that the image recognition device 36 can obtain the image of the upper part of the furnace opening 30. By outputting a freeze signal to the video memory 33, the image of a part (upper part) of the furnace opening 30 captured by the video camera 31 is slaughtered.

The image recognition device 36 is then connected to its I / O port (not shown).
When the pixel address corresponding to the pixel required for processing is output from the video memory 33 to the video memory 33, the corresponding pixel data of the captured image is sent from the video memory 33 to the image recognition device 36. Similarly, by sequentially shifting and outputting the pixel addresses, image data for one screen can be obtained. Then, the pixel data has information of light intensity.

The image recognition device 36 obtains one screen of image data by performing the above-described processing to set the furnace opening 30 to the furnace opening core 39.
Is detected. That is, as shown in FIG.
First of all, in order to detect the boundary of the upper end 30A of the furnace opening 30,
Pixel addresses in the vertical direction of the screen center are sequentially output downward from the upper end of the screen.

Here, the brightness of the furnace opening 30 is preset in the image recognition device 36, and while inputting pixel data, the pixel data having a brightness equal to or higher than the furnace opening brightness is searched for by comparing with the set furnace opening brightness, and the corresponding pixel is searched. When data is detected, integration of the number of detections is started, and the pixel data below is continued to be compared.

When the integrated value obtained in this way is equal to or greater than the set integrated value specified for the inside of the furnace opening 30, the pixel address having the pixel data of the brightness detected at the first or more of the furnace opening is used as the furnace wall 39 and the furnace opening.
The same pixel address is stored as a boundary with the upper end 30A of 30.

Next, as shown in FIG. 8, in order to detect the boundary between the left and right ends of the furnace opening 30 and the furnace wall 39, pixel addresses in the horizontal direction from several lines above the pixel address of the upper end 30A from the left end of the screen. Pixel data having a brightness equal to or higher than the set furnace port brightness is searched by sequentially outputting to the right end and comparing with the furnace port brightness set while inputting pixel data. If the pixel data is not detected even when the screen center is searched in the horizontal direction, the pixel data in the horizontal direction one line below is searched.

When the corresponding pixel data is detected during the search in this way, the integration of the number of detections is started, and the comparison of the pixel data on the right side is continued.

When the integrated value thus obtained is equal to or greater than the set integrated value in the furnace opening 30, the pixel address having the pixel data of the brightness detected at the first or more of the furnace opening is set to the left end of the furnace wall 39 and the furnace opening 30. The same pixel address is stored as a boundary with 30B.

Next, in order to detect the right end of the furnace opening 30, the search to the right is continued, and when the brightness of the input image data is less than the brightness of the furnace opening, the detection times are integrated as pixel data of the furnace wall 39. And the comparison of pixel data in the right direction is continued.

When the integrated value is greater than or equal to the integrated value specified for the furnace wall 39,
The pixel address having the pixel data having the lightness of the furnace mouth brightness or higher detected last is stored as the boundary between the right end 30C of the furnace mouth 30 and the furnace wall 39. Then, based on the stored pixel address, the furnace opening 30 is calculated by the following equation (1).
The number of pixels of is calculated and stored.

Furnace port pixel number = (furnace port right end pixel address) − (furnace port left end pixel address) (1) The above process is performed to the bottom of the screen to store the furnace port pixel number for each horizontal line.

Then, the maximum furnace opening pixel number is searched from the stored total furnace opening pixel number for each horizontal line, and from the furnace opening left end address and the furnace opening right end address, the following formula (2) is used.
Get the pixel address of the center (furnace core) 30E above the furnace mouth.

Center pixel address at the top of the furnace = (Pixel address at the right end of the furnace) -Pixel address at the left end of the furnace) -2 (2) Further, from the pixel address of the screen center 30D to the top of the furnace by the formula (3) The central deviation F is obtained and stored.

Center deviation at the top of the furnace = (pixel address at the center of the screen-center pixel address at the top of the furnace) x (resolution of one pixel mm / pixel) (3) Next, to perform image processing at the bottom of the furnace The image recognition device 36 switches the image switch 35 to the video memory 34 side so that an image of the lower part of the furnace opening 30 can be obtained. Then, by outputting a freeze signal to the video memory 34, the image data for one screen below the new furnace opening 30 can be saved.
In the same manner as described above, the pixel address is output and the designated pixel data is input to perform the center detection processing of the lower portion of the furnace opening 30.

Here, in order to detect the boundary of the lower end 30G of the furnace opening 30, the pixel data in the vertical direction of the screen center is sequentially output from the lower end of the screen upward as shown in FIG. In the same way, the bottom of the furnace wall 39 and furnace mouth 30
Find the pixel address of the boundary with 30G and store it.

Next, as shown in FIG. 10, the furnace wall 39 and the left end 30 of the furnace opening 30 are
In order to detect the boundary between H and the right edge 30I, pixel data is input by sequentially outputting pixel addresses from the left edge to the right edge at the top of the screen. After this, using the same method as above, the pixel address of the left end 30H of the furnace opening 30 and the right end 30I of the furnace opening 30
The pixel address of the furnace opening is calculated by using the equation (1) and stored, and the above operation is repeated up to several addresses below the pixel address at the lower end of the furnace opening, and the furnace opening pixel for each line is searched. Find and remember the number.

Then, the maximum number of furnace port pixels is searched from the stored total number of pixels, and the center of the lower part of the furnace port ((2) is calculated from the pixel address of the furnace port left end 30H and the pixel address of the furnace port right end 30I ( The pixel address of the furnace core 30J is obtained, and the center deviation K at the lower part of the furnace is calculated by the above (3).

Based on the above brightness difference identification for each pixel address, each pixel address of the upper end 30A of the furnace opening 30, the upper left end 30B, the left end 30C and the center 30E, and the upper center deviation F, the lower end 30G, the lower left end 30H, the right end The actual state of the furnace opening 30 can be grasped by detecting the pixel addresses of 30I and the center 30J and the center deviation K of the lower part. Of course, the furnace opening on either side of the coke oven 12
It is possible to apply the detection mechanism 3 to the charging port 30 and the charging port 15 in this manner.

It should be noted that not only the furnace core is detected by using the pixel address of each part of the furnace mouth 30 as described above, but also the furnace 12 or the furnace mouth
You can get various information about 30. For example,
The attachment / detachment state of the furnace wall 38 can be grasped depending on whether or not the boundary between the furnace port 30 and the furnace wall 39 can be detected.

Further, the vertical strain state of the furnace opening 30 can be detected from the difference between the center deviations F and K.

Further, by using the traveling start point of the mobile machine 6 as a reference point and adding the traveling distance from this reference point to the core of the furnace, the relative positions of the left and right furnace ports 30 on both sides of the coke oven 12 of a certain furnace 13 are determined. You can check. Therefore, it is possible to detect the strain state of the furnace 12 in the direction perpendicular to the traveling direction of the mobile machine 6. Further, by detecting the lower ends 30G of the left and right furnace ports 30, respectively, it is possible to confirm the inclination state of the bottom surface of the furnace 13 in the left-right direction.

Thus, the relative positional relationship between the mobile machine 6 and the furnace opening 30 of the furnace 12 can be calculated using the video cameras 31, 32 or an arbitrary position of the main frame 7 of the mobile machine 6 as a reference point. The second controller 37 outputs the signal to the main controller 5 as a furnace core signal.

On the basis of the furnace core signal, the main controller 5 corrects the relative displacement of the moving machine 6 with respect to the furnace mouth 30 and corrects a positioning control signal for positioning the workable machine 6 to the trolley. Output to the moving mechanism 4.

Next, the carriage moving mechanism 4 will be described with reference to FIGS.
Description will be made with reference to FIGS. 11 to 13.

As shown in FIG. 1, the mobile machine 6 drives the main frame 7, a movable carriage 40 movable with respect to the main frame 7, and the movable carriage 40 so as to move with respect to the main frame 7. It has a double-acting cylinder 41.

The moving carriage 40 has a rectangular carriage body frame 42 and a frame 43 for connecting to the double-acting cylinder 41. The double cylinder 41 and the carriage moving rail 44 are fixed to the main frame 7. On the outer surface of the trolley body frame 42, moving wheels 45 rolling inside the trolley moving rail 44 are provided.

FIG. 11 is a plan view of the moving carriage 40 portion of the carriage moving mechanism 4.
FIG. 12 is the same, partially omitted front view, and FIG. 13 is the same, partially omitted side view.As shown in FIG. 11, the bogie main body frame 42 is provided with springs 46 over its central portion. A pair of provided support shafts 47 are installed. Both support shafts 47 are inserted through support pipes 48, respectively, and both support pipes 48 are integrated by a central plate 49 provided between the support pipes 48.

As shown in FIGS. 12 and 13, the support pipe 48 is
The rotating shaft supporting brackets 50 are fixed to the lower parts of the rotating shaft supporting brackets 50, and the clamp rotating shafts 51 are pivotally attached to the rotating shaft supporting brackets 50, respectively. Each clamp 52 is rotatably supported.

As shown in FIG. 13, the pair of rail clamps 52 is provided with a clamp cylinder 53 on the upper part thereof, and a clamp member 54 is provided on the lower part thereof. It is assumed that the movable carriage 40 itself is arranged at a position where the clamp member 54 faces the traveling rail 11 and can be clamped.

In the trolley moving mechanism 4 having such a configuration, the cylinder driving valve stand 60 drives and controls both the moving cylinders 41 and the clamping cylinder 53. In FIG. 1, reference numeral 61 indicates an oil pump unit.
Further, the cylinder drive valve stand 60 drives the carriage moving mechanism 5 in response to a correction alignment control signal from the main controller 5. It should be noted that the traveling rails 11 are usually provided with a pair thereof, and in FIG. 1, only one traveling rail 11 of the carriage moving mechanism 5 is shown.

Now, the moving machine 6 is moved to the position of the furnace 13 having a predetermined furnace number.
In a state in which the carriage is stopped, in the carriage moving mechanism 4 having such a configuration as described above, the cylinder rod 53A of the clamping cylinder 53 of the moving carriage 40 is first extended by the drive signal from the cylinder drive valve stand 60. When the clamp members 54 of the pair of rail clamps 52 are rotated around the clamp rotation shaft 51 so as to approach each other, the clamp members 54 clamp the traveling rail 11 (see FIG. 13). In this way, the carriage base frame 42 of the moving carriage 40 can be fixed to the traveling rail 11.

When the double-moving cylinder 41 is driven in either direction in this fixed state, the moving carriage 40 can roll its moving wheels 45 in the carriage moving rail 44, so that the cylinder rod 41A of the double-moving cylinder 41 can be moved. Squeezes between the main frame 7 of the mobile machine 6 and the connecting frame 43 of the moving carriage 40, or pulls the two close to each other.

Therefore, the mobile machine 6 other than the mobile trolley 40, that is, the main frame 7 thereof can be moved with respect to the traveling rail 11, and the drive distance and the drive direction of the cylinder rod 41A are controlled to enable the mobile machine 6 to operate. The relative position with respect to the furnace opening 30 can be accurately set and positioned.

Next, the relative positional relationship diagram between the furnace opening 30 of the furnace 13 shown in FIGS. 14 and 15 and the moving machine 6 (extruder), and the alignment device for the coke oven moving machine shown in FIG. Alignment device 1
Will be described. As the mobile machine 6, there is an extruder, a coal car, a guide wheel, or the like as described above. Here, a case where the position of the extruder is corrected will be described.

First, referring to FIG. 16, for the purpose of coke discharge work in the furnace 13 having a predetermined furnace number, the mobile machine 6 starts traveling toward the furnace 13 having this furnace number (step S1).

During traveling, the first sensor 8 of the target core detection mechanism 2 continues to detect the detected member 14 of each furnace 13, and also measures the predetermined traveling distance from the traveling start point of the mobile machine 6 to determine the target furnace. The traveling motor is decelerated near 13 to reach the target furnace 13 and the traveling is stopped (step S2). The furnace number is confirmed by detecting the detected member 14 of the furnace 13 (step S3).

In this state, the target core detection mechanism 2 calculates and detects the positional deviation between the center of position of the mobile machine 6 (lid lead or push core: not shown) and the target core, and the deviation or deviation is sent to the main controller 5. Send (step S4). By outputting a control signal (correction alignment control signal) from the main controller 5, the carriage moving mechanism 4 is moved in step S5.
To correct the position.

The position correcting work may be performed by driving the traveling motor to move the entire mobile machine 6 with respect to the target core.

In this state, the work machine (not shown) mounted on the moving mechanism 6 opens the furnace lid 38 of the furnace 13 (step S6).
This state is shown in FIG.

Next, the video cameras 31, 32 of the furnace core detection mechanism 3 are described.
Detects the center of the furnace opening 30 of the furnace 13 (step S7).
That is, the error between the furnace opening 31 and the furnace core (see center deviations F and K in FIGS. 8 and 10) is calculated.

Further, in step S8, it is determined whether or not this error exists. If there is no error as shown in FIG. 15, the process proceeds to step S11, and then the pusher rod 6A is extended to push the coke C toward the guide vehicle (not shown).

If there is an error as shown in FIG. 14, step S9
By outputting a control signal (correction alignment control signal) from the main controller 5 at step S10, the carriage moving mechanism 4 is driven in step S10, and the position correction work is performed to complete the correction to the state shown in FIG. To Step S11
The work of is done.

Furthermore, the main controller 5 can be provided with a learning function by integrating and evaluating the data of the furnace core detection mechanism 3 detected in step S7. For example, if it is necessary to steadily correct the position of the extrusion core (step S10) even if the extruder alignment is executed on the target core detection mechanism 2, it is determined that the furnace body is deformed. ,
Information about the target core of the target core detection mechanism 2 can be corrected. For example, the deviation detected by the target core detection mechanism 2 and the deviation detected by the furnace port core detection mechanism 3 can be added and fed back to the position correction operation by the target core detection mechanism 2.

It goes without saying that the present invention can be applied not only to the extruder and the guide car but also to a coal car. However, when the traveling rail is embedded in the ground as in a guide car, an electromagnetic rail brake or the like may be used and an electromagnet may be used to fix the traveling carriage to the traveling rail surface. .

[Effects of the Invention] As described above, according to the present invention, the moving machine is preliminarily stopped at the predetermined furnace position by the target lead detection mechanism.
Since the position of the moving machine is adjusted by the position correction mechanism so that the moving machine can be operated with respect to the furnace, the accuracy of stopping the relative position of the moving machine in the coke oven with respect to the furnace mouth can be improved, and such positioning can be performed automatically. Since it can be carried out automatically, it can contribute to the labor saving or unmanning of the entire coke oven system.

[Brief description of the drawings]

FIG. 1 is an overall perspective view of a positioning device 1 for a coke oven moving machine according to an embodiment of the present invention, FIG. 2 is the same as an overall layout diagram of a target core detection mechanism 2, and FIG. FIG. 4 is a block diagram of the schematic configuration of the detection mechanism 2, FIG. 4 is the same as the principle diagram of the furnace number detection of the target core detection mechanism 2, and FIG. Fig. 6, Fig. 6 is the same as the device configuration diagram of the furnace core detection mechanism 3, Figs. 7 and 8 are the same, Fig. 7 is an example of upper recognition processing of the furnace mouth 30, and Figs. 9 and 10 are the same. Fig. 11 is a plan view of the moving carriage 40 portion of the carriage moving mechanism 4, Fig. 12 is the same, Fig. 12 is the same, partially omitted front view of the moving carriage 40, and Fig. 13 is the same. , A partially omitted side view of the moving carriage 40, and FIGS. 14 and 15 show the furnace opening 30 of the furnace 13 and the moving machine 6
Figure 16 shows the relative positional relationship with the (extruder).
It is a flowchart figure of operation | movement of. 1 ... Positioning device for moving machine for coke oven 2 ... Target core detection mechanism for traveling stop 3 ... Furnace core detection mechanism 4 ... Truck moving mechanism (position correction mechanism) 5 ... Main controller (main control) Mechanism) 6 ... Mobile machine 6A ... Pusher rod of mobile machine 6 (extruder) 7 ... Main frame of mobile machine 8 ... First sensor 9 ... Light source 10 ... First controller 11 ... Rail for traveling 12 …… Coke oven 13 …… Oven of coke oven 12 14 …… Detected member (bar code plate) of oven 13 ………… Inlet 16 …… Back stay 17 …… Railway rail 18 …… Post 19 …… Slit 20 …… Hood 21 …… Air pipe 22 …… Aperture mechanism 23 …… Lens 24 …… Photoelectric conversion element 25 …… Bright and dark detection image 26 …… Split field 27 …… Bright and dark detection line 30 …… of the furnace 13 Furnace opening 30A …… Upper end of furnace opening 30B …… Upper left end of furnace opening 30C …… Furnace opening 30 Right end of the section 30D …… Center of screen of furnace opening 30E …… Top center of furnace opening 30 (core of furnace opening) F …… Upper center deviation of furnace opening 30G… Bottom end of furnace opening 30H …… of furnace opening 30 Lower left end 30I …… Lower right end of furnace opening 30J …… Lower center of furnace opening 30 (furnace core) K …… Lower center deviation of furnace opening 30 31,32 …… Video camera 33,34 …… Video memory 35 …… Image switcher 36 …… Image recognition device 37 …… Second controller 38 …… Furnace lid 39 …… Furnace wall 40 …… Moving carriage 41 …… Double-acting cylinder 41A …… Cylinder rod 42 …… Bogie body frame 43 …… Coupling frame 44 …… Truck movement rail 45 …… Movement wheel 46 …… Spring 47 …… A pair of support shafts 48 …… A pair of support pipes 49 …… Center plate 50 …… For rotation axis support Bracket 51 …… Clamp rotation axis 52 …… A pair of rail clamps 53 …… Clamping cylinder 53A …… Cylinder rod 54 …… Clan Member 60 …… Cylinder drive valve stand 61 …… Oil pump unit C …… Coke S1 to S11 …… Step

Front page continuation (72) Inventor Takahiro Higaki 19 Natsushima-cho, Yokosuka City, Kanagawa Sumitomo Heavy Industries, Ltd. Oppama Shipyard (72) Inventor Sada Muramatsu 19 Natsushima-cho, Yokosuka City, Kanagawa Sumitomo Heavy Industries Co., Ltd. Oppama Inside the shipyard (72) Inventor Fumiaki Saito 19 Natsushima-cho, Yokosuka City, Kanagawa Sumitomo Heavy Industries, Ltd. Oppama Shipyard (56) Reference JP-A-59-109583 (JP, A) JP-A-64-20292 (JP) , A) Actually developed 60-60442 (JP, U) Japanese patent 52-43841 (JP, B2)

Claims (2)

(57) [Claims] 1. A coke oven mobile machine alignment device for aligning a mobile machine, which moves on a rail provided along a coke oven having a plurality of ovens, to a furnace opening of the oven. And a member to be detected, which is attached to each furnace in the coke oven and has a slit coded corresponding to the furnace, and the brightness of light transmitted through the slit by irradiating the member to be detected with light. A target core detecting mechanism for correcting the position of the moving machine with respect to the target core by detecting the furnace number and the positional relationship between the position center of the moving machine and the target core, and the position-corrected movement. In a state where the machine has removed the furnace lid of the furnace, a furnace core detection mechanism for detecting the furnace core of the furnace mouth included in the target core by image processing, the mobile machine, and A position correction mechanism for finely adjusting and moving the main frame of the mobile machine so as to correct the relative position between the furnace core and the furnace core detected by the furnace core detection mechanism, and a detection signal from the furnace core detection mechanism. And a main control mechanism for controlling the position correcting mechanism based on the above. 2. A positioning device for a coke oven moving machine according to claim 1, wherein the information relating to the target core is corrected in time by a detection signal from the furnace core detection mechanism.