JPH0380188B2 - - Google Patents
Info
- Publication number
- JPH0380188B2 JPH0380188B2 JP59103417A JP10341784A JPH0380188B2 JP H0380188 B2 JPH0380188 B2 JP H0380188B2 JP 59103417 A JP59103417 A JP 59103417A JP 10341784 A JP10341784 A JP 10341784A JP H0380188 B2 JPH0380188 B2 JP H0380188B2
- Authority
- JP
- Japan
- Prior art keywords
- speed
- detection device
- information
- position detection
- control
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
- 238000001514 detection method Methods 0.000 claims description 46
- 238000000034 method Methods 0.000 claims description 11
- 239000000571 coke Substances 0.000 claims description 9
- 230000006866 deterioration Effects 0.000 description 6
- 230000005856 abnormality Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 2
- 239000003245 coal Substances 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 239000011295 pitch Substances 0.000 description 1
- 238000011179 visual inspection Methods 0.000 description 1
Landscapes
- Coke Industry (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Description
【発明の詳細な説明】
産業上の利用分野
この発明は、コークス炉移動機械の走行、停止
を連続位置検出装置からの位置情報、速度検出装
置からの速度情報、制御装置に備えられた各窯番
中心番地、入力される作業窯情報に基づいて自動
制御する方法に関する。DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application This invention detects the running and stopping of a moving coke oven machine using continuous position information from a position detection device, speed information from a speed detection device, and information on each kiln equipped with a control device. This invention relates to a method of automatic control based on the block center address and input work kiln information.
従来技術
コークス炉の窯出作業は、作業計画に基づいて
定められた窯出炉室に押出機、装炭車、コークガ
イド車、消火車（乾式消火の場合はバケツトカ
ー）の各作業機械を移動させて順次操作し、一定
の作業を繰返して行なう。そして、各作業機械が
それぞれ所定の作業を行う際は、互いに連絡を取
り合つて相互の作業や位置を確認しながら進める
必要がある。Prior art The work of unloading a coke oven from a kiln is carried out by moving the working machines, including the extruder, coal loading car, coke guide car, and fire truck (bucket truck in the case of dry fire extinguishing), to the kiln unloading room determined based on the work plan. Operate sequentially and perform certain tasks repeatedly. When each work machine performs a predetermined work, it is necessary to communicate with each other and confirm each other's work and position.
従来、これら作業機械の連絡確認は、直接肉眼
で見るか、電話や無線を使用して行われていた。
しかし、かかる連絡方法では誤報が起りやすく、
また相互位置の確認は完全に保証できなかつた。 Conventionally, communication between these working machines has been confirmed by direct visual inspection or by using a telephone or radio.
However, such contact methods are prone to false alarms,
Also, confirmation of mutual positions could not be completely guaranteed.
そのため、従来から上記各作業機械の運転を自
動制御する方法が種々提案され、一部実施されて
いる。しかし、各作業機械の位置の検出精度の信
頼性や走行制御の信頼性など必ずしも満足できる
ものではない。 Therefore, various methods for automatically controlling the operation of the above-mentioned working machines have been proposed and some have been implemented. However, the reliability of the detection accuracy of the position of each working machine and the reliability of travel control are not always satisfactory.
例えば、コークス炉移動機械の走行距離を読み
取り、移動機械の位置を連続位置検出する窯番検
知方法（特公昭53−17601など）や、移動機械の
全作業工程にわたつてデータ伝送を合せて行ない
得る撚り合せ対型ケーブルを配設し、絶対番地検
出方式による連続位置検出機構によつて移動機械
の絶対位置を連続検知する方式（特開昭58−
166407など）等の連続位置検出装置からの位置情
報、速度検出装置からの速度情報、および制御装
置に備えられた各窯番中心番地、入力される作業
窯情報に基づいて移動機械の走行を自動制御する
方法においては、位置検出装置で検出入力される
位置情報は、一定時間ごとに最新情報として更新
され、制御部に入力される。一方、速度検出装置
からの速度情報も連続的に制御部に入力され、移
動機械の制御減速、停止に際し、速度情報と現在
位置とを絶えず比較し、あらかじめ定められた減
速値により適切な制御を行ない、停止目標位置に
正確に停止せしめている。 For example, there is a kiln number detection method (such as Japanese Patent Publication No. 53-17601) that reads the traveling distance of a moving machine in a coke oven and continuously detects the position of the moving machine, and a method that transmits data throughout the entire working process of the moving machine. A system in which the absolute position of a mobile machine is continuously detected using a continuous position detection mechanism based on an absolute address detection method (Japanese Patent Application Laid-Open No. 1983-1999)
166407, etc.), speed information from a speed detection device, the center address of each kiln number provided in the control device, and the input work kiln information. In the control method, the position information detected and input by the position detection device is updated as the latest information at regular time intervals and input to the control unit. On the other hand, speed information from the speed detection device is also continuously input to the control unit, and when controlling deceleration or stopping of the moving machine, the speed information is constantly compared with the current position and appropriate control is performed using a predetermined deceleration value. The robot is stopped accurately at the target stop position.
しかし、実際には移動機械が走行しているにも
かかわらず、位置検出装置の劣化や故障によつて
位置情報が更新されない状態が発生した場合や、
速度検出装置の劣化や故障によつて検出速度が実
速度に比べ極端に低く、または高く入力された場
合は、停止目標位置に正確に停止できないばかり
でなく、暴走の危険がある。 However, there may be cases where the position information is not updated due to deterioration or failure of the position detection device even though the mobile machine is actually moving.
If the detected speed is input to be extremely low or high compared to the actual speed due to deterioration or failure of the speed detection device, not only will it not be possible to accurately stop at the target stop position, but there is also a risk of runaway.
発明の目的
この発明は、前記事情にかんがみなされたもの
で、移動機械が高速走行中、あるいは備えられた
制動プログラムに基づいて制動動作中に位置検出
装置の劣化や故障によつて位置情報が更新されな
かつたり、速度検出装置の劣化や故障によつて検
出速度実速度に比べ極端に低く、または高く入力
された場合、直ちにその異常を検出し、移動機械
の逸送、暴走を防止できるコークス炉移動機械の
走行自動制御方法を提案するものである。Purpose of the Invention The present invention was made in consideration of the above-mentioned circumstances, and the position information is updated due to deterioration or failure of the position detection device while the mobile machine is running at high speed or is braking based on a built-in braking program. A coke oven that can immediately detect an abnormality and prevent the moving machine from running away or running out of control if the input speed is extremely low or high compared to the actual speed due to deterioration or failure of the speed detection device. This paper proposes an automatic travel control method for mobile machines.
発明の開示
この発明は、連続位置検出装置からの位置情
報、速度検出装置からの速度情報、および各窯番
中心番地、作業窯情報に基づいてコークス炉移動
機械の走行を自動制御する方法において、連続位
置検出装置からの番地位置の変化による走行距離
と速度検出装置からの速度情報による同一時間内
の走行距離を比較演算し、両者の差があらかじめ
定められた範囲を超えると緊急停止せしめること
を要旨とする。DISCLOSURE OF THE INVENTION The present invention provides a method for automatically controlling the travel of a coke oven moving machine based on position information from a continuous position detection device, speed information from a speed detection device, and each oven number center address and working oven information. The system compares and calculates the distance traveled in the same time based on changes in address position from the continuous position detection device and the distance traveled in the same time based on speed information from the speed detection device, and if the difference between the two exceeds a predetermined range, an emergency stop is performed. This is the summary.
次に、この発明の一実施例を図面に基づいて説
明する。 Next, one embodiment of the present invention will be described based on the drawings.
今、検出単位0.5cmの撚り合せ対型誘導無線に
よる絶対番地位置検出装置を備えたコークス炉移
動機械に、この発明を実施した場合について説明
する。 Now, a case will be described in which the present invention is implemented in a coke oven mobile machine equipped with an absolute address position detection device using twisted-pair induction radio with a detection unit of 0.5 cm.
上記位置検出装置は、撚り合せ対型ケーブル
（以下IRケーブルと称す）中の撚り合せのない位
相基準対と互いに異なるピツチで撚り合された各
対線に受信される信号を位相基準対と同相部を
“０”、逆相部を“１”として２進法表示を行うこ
とにより、移動機械の走行路全長にわたり２のｎ
乗番地として位置を検出すると共に、さらに最小
撚り合せ対線に受信される信号位相を検波するこ
とによつて、0.5cm以下の単位で位置検出するも
のである。 The above position detection device detects signals received by the untwisted phase reference pair in the twisted pair cable (hereinafter referred to as IR cable) and the signals received by each pair twisted at different pitches from each other in phase with the phase reference pair. By performing a binary display with the section as "0" and the reverse phase section as "1", the
In addition to detecting the position as the boarding address, the position is also detected in units of 0.5 cm or less by detecting the phase of the signal received by the minimum twisted pair.
すなわち、第１図に示すように、移動機械の軌
道に沿つてIRケーブル１を配設し、始端２をア
プローチケーブルを介して地上に設置した位置検
出用発信器３と接続する。 That is, as shown in FIG. 1, an IR cable 1 is arranged along the trajectory of a mobile machine, and a starting end 2 is connected to a position detection transmitter 3 installed on the ground via an approach cable.
一方、移動機械上には、位置検出部５、速度検
出部６、走行制御部７、および比較部８を内蔵し
た制御装置４、位置検出用アンテナ９、速度発信
器１０を搭載すると共に、移動機械の駆動用電動
機に設けた油圧式デイスクブレーキ１２を制御装
置４に接続したブレーキ制御部１１に接続し、ま
た非常ブレーキ１３を制御装置４からの指令によ
り作動するように設ける。 On the other hand, the mobile machine is equipped with a control device 4 including a position detection section 5, a speed detection section 6, a travel control section 7, and a comparison section 8, a position detection antenna 9, and a speed transmitter 10. A hydraulic disc brake 12 provided on an electric motor for driving the machine is connected to a brake control section 11 connected to a control device 4, and an emergency brake 13 is provided to be activated by a command from the control device 4.
なお、制御装置４には、各窯番中心番地のほか
移動機械を所定速度で走行させると共に、停止目
標位置に正確に停止させるのに必要な制御プログ
ラム、すなわち標準距離速度パターンを入力記憶
させる。 In addition to the center address of each kiln number, the control device 4 is input and stored with a control program necessary for driving the mobile machine at a predetermined speed and accurately stopping it at a target stop position, that is, a standard distance speed pattern.
そして、位置検出用発信器３から発信される信
号をIRケーブル１を介して位置検出用アンテナ
９で受信し、位置検出部５で連続的に検出される
停止目標位置までの距離の変化と、速度発信器１
０から速度検出部６に入力される各時点の実速度
を走行制御部７に入力して演算し、かつ制御開始
位置に達したならば標準距離速度パターンと比較
して、そのパターンに従つて減速するように、ブ
レーキ制御部１１でブレーキ油圧制御電圧を決め
て発信し、油圧式デイスクブレーキ１２の油圧を
制御して停止目標地点に正確に停止するよう減速
制御する。 Then, the signal transmitted from the position detection transmitter 3 is received by the position detection antenna 9 via the IR cable 1, and the change in distance to the target stop position is continuously detected by the position detection unit 5. Speed transmitter 1
The actual speed at each point in time that is input from 0 to the speed detection unit 6 is input to the travel control unit 7 and calculated, and when the control start position is reached, it is compared with a standard distance speed pattern and the speed is adjusted according to the pattern. The brake control unit 11 determines and transmits a brake hydraulic control voltage so as to decelerate the vehicle, and controls the hydraulic pressure of the hydraulic disc brake 12 to perform deceleration control so as to accurately stop at the target stop point.
上記速度制御と同時に、位置検出部５によつて
位置情報として検出される番地位置の変化による
走行距離と、速度検出部６から入力される速度情
報に基づいて演算される同一時間（例えば１／10
秒ごと）内における走行距離を比較部８で連続し
て比較する。そして、両者の差があらかじめ設定
した範囲を超えた場合、例えば位置検出装置が劣
化または故障して位置情報が更新されない場合
や、速度検出装置が劣化または故障して検出速度
が実速度に比べ極端に低くあるいは高く入力され
た場合には、比較部８でこの異常を直ちに検出し
て信号を発し非常ブレーキ１３を作動して急停止
せしめる。また、走行制御部７において、機器の
劣化または故障により、演算される値が標準距離
速度パターンに比べ極端に高いか、または低い場
合も、信号を発して非常ブレーキ１３を作動して
急停止せしめる。 Simultaneously with the above speed control, the same time (for example, 1/ Ten
The comparison unit 8 continuously compares the distance traveled within the period (every second). If the difference between the two exceeds a preset range, for example, if the position detection device deteriorates or breaks down and the position information is not updated, or if the speed detection device deteriorates or breaks down and the detected speed is extremely high compared to the actual speed. If the input is low or high, the comparator 8 immediately detects this abnormality, issues a signal, and activates the emergency brake 13 to bring the vehicle to a sudden stop. Furthermore, if the calculated value in the travel control section 7 is extremely high or low compared to the standard distance speed pattern due to equipment deterioration or failure, a signal is issued and the emergency brake 13 is activated to cause a sudden stop. .
上記において、あらかじめ設定する差値の限定
範囲としては、例えば連続位置検出装置からの
１／10秒ごとの番地位置の変化による走行距離
と、速度検出装置からの速度情報による同一時間
内の走行距離の、いずれか高い方を値の10％とす
る。 In the above, the limited range of the difference value set in advance is, for example, the distance traveled based on changes in address position every 1/10 seconds from a continuous position detection device, and the distance traveled within the same time based on speed information from a speed detection device. , whichever is higher is 10% of the value.
以上は走行距離を比較する場合について説明し
たが、位置検出部５から得られる一定時間Δtに
おける走行距離Δxによつて求められる平均速度
Δv＝Δx／Δtと、速度検出部６から入力される実
速度v′を比較しても同様の効果が得られる。 The above description has been about comparing travel distances, but the average speed Δv=Δx/Δt obtained from the travel distance Δx in a certain time Δt obtained from the position detection section 5 and the actual speed input from the speed detection section 6 A similar effect can be obtained by comparing the speeds v'.
また、以上は、位置検出装置としてIRケーブ
ル、停止制御装置として油圧式デイスクブレーキ
を使用した場合であるが、位置検出装置として
は、走行パルスを計測する方法など他の手段を用
いることができ、また停止制御装置としては、電
磁軌条ブレーキなど連続的にブレーキ力を制御で
きる他の制御装置を使用することができる。 Furthermore, although the above is a case where an IR cable is used as the position detection device and a hydraulic disc brake is used as the stop control device, other means such as a method of measuring running pulses can be used as the position detection device. Further, as the stop control device, other control devices capable of continuously controlling the braking force, such as an electromagnetic rail brake, can be used.
発明の効果
この発明は、連続位置検出装置からの番地位置
の変化による走行距離と、速度検出装置からの速
度情報による同一時間内の走行距離を比較演算
し、その両者の差値があらかじめ定めた範囲を超
えた場合に移動機械を緊急停止せしめるので、移
動機械が高速走行中あるいは制動自動制御中に関
連機器の劣化や故障により異常を生じた場合、こ
の異常を直ちに検出して緊急停止でき、移動機械
の暴走による衝突や、逸送による停止位置に対す
るオーバーラーンを防止することができる。Effects of the Invention This invention compares and calculates the distance traveled due to a change in address position from a continuous position detection device and the distance traveled within the same time based on speed information from a speed detection device, and the difference value between the two is determined in advance. If the range is exceeded, the mobile machine will be brought to an emergency stop, so if the mobile machine is running at high speed or during automatic braking control and an abnormality occurs due to deterioration or failure of related equipment, this abnormality can be immediately detected and an emergency stop can be made. It is possible to prevent collisions due to runaway of the moving machine and overrun to the stop position due to misdirection.
第１図はこの発明の一実施例における装置の概
略を示すブロツク図である。
１…IRケーブル、２…始端、３…位置検出用
発信器、４…検出装置、５…位置検出部、６…速
度検出部、７…走行制御部、８…比較部、９…位
置検出用アンテナ、１０…速度発信器、１１…ブ
レーキ制御部、１２…油圧式デイスクブレーキ、
１３…非常ブレーキ。
FIG. 1 is a block diagram schematically showing an apparatus in an embodiment of the present invention. 1...IR cable, 2...Starting end, 3...Transmitter for position detection, 4...Detection device, 5...Position detection section, 6...Speed detection section, 7...Travel control section, 8...Comparison section, 9...For position detection Antenna, 10... Speed transmitter, 11... Brake control unit, 12... Hydraulic disc brake,
13...Emergency brake.
Claims (1)
装置からの速度情報、および各窯番中心番地、作
業窯情報に基づいてコークス炉移動機械の走行を
自動制御する方法において、連続位置検出装置か
らの番地位置の変化による走行距離と速度検出装
置からの速度情報による同一時間内の走行距離を
比較演算し、両者の差があらかじめ定めた範囲を
超えると緊急停止せしめることを特徴とするコー
クス炉移動機械の走行自動制御方法。1. In a method for automatically controlling the travel of a coke oven moving machine based on position information from a continuous position detection device, speed information from a speed detection device, center address of each kiln number, and working oven information, A coke oven mobile machine that compares and calculates the distance traveled due to a change in address position and the distance traveled within the same time based on speed information from a speed detection device, and causes an emergency stop if the difference between the two exceeds a predetermined range. automatic driving control method.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP10341784A JPS6051780A (en) | 1984-05-21 | 1984-05-21 | Method for automatically controlling running of coke oven travelling machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP10341784A JPS6051780A (en) | 1984-05-21 | 1984-05-21 | Method for automatically controlling running of coke oven travelling machine |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP16082983A Division JPS6051779A (en) | 1983-08-31 | 1983-08-31 | Method for preventing collision of coke oven travelling machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS6051780A JPS6051780A (en) | 1985-03-23 |
| JPH0380188B2 true JPH0380188B2 (en) | 1991-12-24 |
Family
ID=14353467
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP10341784A Granted JPS6051780A (en) | 1984-05-21 | 1984-05-21 | Method for automatically controlling running of coke oven travelling machine |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6051780A (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104087320B (en) * | 2014-07-10 | 2017-01-18 | 武汉钢铁(集团)公司 | Positioning method and device of coke furnace locomotive |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5257202A (en) * | 1975-11-03 | 1977-05-11 | Westinghouse Electric Corp | Method and device for controlling trasporting car |
| JPS58166407A (en) * | 1982-03-26 | 1983-10-01 | Sumikin Coke Co Ltd | Automatic controlling method of coke furnace operation |
-
1984
- 1984-05-21 JP JP10341784A patent/JPS6051780A/en active Granted
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5257202A (en) * | 1975-11-03 | 1977-05-11 | Westinghouse Electric Corp | Method and device for controlling trasporting car |
| JPS58166407A (en) * | 1982-03-26 | 1983-10-01 | Sumikin Coke Co Ltd | Automatic controlling method of coke furnace operation |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS6051780A (en) | 1985-03-23 |
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