JPH0397783A - Device for aligning moving machine for coke oven - Google Patents

Abstract

PURPOSE:To accurately and automatically carry out aligning of a moving machine by sensing misalignment of the moving machine with the target center using a sensing mechanism of the target oven port center and correcting the stop position of the moving machine based on the resultant signal. CONSTITUTION:A member 14 to be sensed is present between a light source 9 and the first sensor 8 and arrangement of slits 19 on the member 14 to be sensed is passed through a stop mechanism 22 and a lens 23 in the interior of the first sensor 8 and described as light and shade images on a photoelectric conversion element 24. The sensed signal converted with the photoelectric conversion element 24 is then outputted to the first controller 10 and operation processing is carried out therein to finally judge the oven number of the oven 13 and output a control signal for stopping. Thereby, a travel motor of a moving machine is stopped.

Description

[Detailed description of the invention]

[Industrial Field of Application] The present invention relates to a positioning device for a moving machine for a coke oven, and in particular, the present invention relates to a positioning device for a moving machine for a coke oven. The present invention relates to a positioning device for a moving machine for a coke oven. [Prior Art] Conventionally, accurate alignment of coke oven transfer machines such as an extruder, coal loading car, and guide car with respect to the furnace CI of a coke oven has been accomplished by pushing out the coke using the pusher rod of the extruder. , charging of raw material coal by coal loading car;
Furthermore, it is necessary for various operations such as coke discharge guidance using a guide car and cleaning of the furnace mouth.6 However, there is a phenomenon in which the condition of the equipment changes due to the operating rate of the coke oven, seasonal changes, and changes over time. . We have been understanding the phenomenon of coke oven special features for a long time and have developed coke oven i! [In order to ensure smooth operations, it was necessary to have workers on site to conduct confirmation work. However, coke oven equipment is high temperature and dusty, creating a poor environment for workers, and there is a strong demand for automation or unmanned operation in order to free up workers' work. Furthermore, due to the recent labor shortage, the workforce is aging and there are fewer skilled workers. Changes in the environment are also causing demands for automation and unmanned systems. Traditionally, coke oven rails or backstay furnaces [
] A detection iron piece, block, etc. was attached to the position corresponding to the core, and the mobile pirates were electrically or mechanically aligned with the core of the coke oven.
By changing the characteristics of the body, that is, the furnace, lffi!
Although it was operational at the time of its introduction, over the years it has become difficult to align the system and it has become unusable. The reason for this is that the foundation of the furnace body and the installation foundation of the detection system are different, so the deviation between the mechanical core detected by the detector and the core of the furnace mouth, which is the core of operation, exceeds the allowable value, and eventually it becomes unusable. There is. However, in the current manned operation, it takes 1-0 to 20 years for coke oven mobile machinery to be aligned.
If we recognize that the current situation is that the coke oven mobile machine operator R (hereinafter referred to as the operator) is being used, it becomes clear that the judgment function of the coke oven mobile machine worker R (hereinafter referred to as the operator) is an important element. Regarding this judgment function, the operator visually determines whether or not the positioning of a mobile coke oven machine after the traveling body has stopped is done using a mark T11 from the driver's cab of the mobile machine body. At this time, the kiln number was read from the hearth thorn. In case of poor alignment, the travel controller is used to perform inching work. Furthermore, as we carry out actual operations using this alignment method, we correct the marks if the alignment becomes poor. In these actual operation judgments, the center of the furnace day is used as the basis for visual judgment. Therefore, in order to introduce a positioning device and have the ability to replace the operator's work, the operator's functions must include target center detection PII function represented by match marks, position correction function to replace inching work, and target center periodic function. [It is necessary to organically combine the single core detection function] Conventional technology did not capture such manned functions related to alignment, so it was not a practical device. However, in order to improve the working environment in the coke oven and to increase productivity by saving or unmanning the machine, it is necessary to automatically control these movements e [I1. [Problem to be solved by the invention] The present invention has been made in view of the following circumstances.
Push in coke oven, 'R l, fi. By providing a positioning device that integrates operator-manned operation and 11R functions for mobile machines such as coal loading cars or guide cars, the work of operators of coke oven transfer QI machines can be reduced, and automation and unmanned operation can be achieved. The objective is to realize a mobile machine for a coke oven. [Thousand Steps to Solve the Problem] That is, the present invention runs and stops on rails provided along a coke oven having a large number of ovens, and is capable of running and stopping on rails provided along a coke oven having a large number of ovens, and at the same time providing a control system for each oven of the coke oven. ! Transfer to do work! A co-positioning device for a mobile machine for a coke oven which operatively aligns an RJI machine with respect to the core of each furnace in the coke oven. A target core detector h1 for stopping the mobile machine at a fixed position by detecting the positional relationship between the mobile machine and the corresponding furnace by detecting each of the 115 cores, which are so-called temporary furnace 1L cores, and the stop The furnace for detecting the furnace 1-1 core, which is the final alignment target included in the target core that the moving machine faces, is equipped with a J-core detection mechanism, a A position correction mechanism that finely adjusts and moves the main frame of the mobile machine to correct the relative position of the opening, and a detection signal i from the furnace core detection mechanism.
} This is a 61 N alignment device for a mobile machine for a coke oven, which has a main control mechanism that controls this position correction mechanism based on . The main control mechanism is designed to accurately set the position at the target center by finely adjusting the relative position between the moving machine and the mouth reference center based on the detection signal from the target center detection mechanism indicated by Z. It is also possible to control the correction. As the position correction mechanism for this purpose, it is also possible to adopt the position correction mechanism described in 12 above, and it is also possible to perform corrective movement control of the traveling motor of the mobile device. Furthermore, the upper rudder main control mechanism has a function related to position compensation:
In other words, the information regarding the L target core can be corrected in a timely manner based on the detection signal from the 1-. In addition, the above-mentioned target core detection a! structure includes, for example, a member to be detected such as a barcode plate provided in each coke oven to indicate the oven number, and a movable machine. The frame is equipped with a S2-digit CCD line sensor (CCD one-dimensional sensor), etc.
and a first controller that determines the furnace number of the coke oven based on the furnace number detection signal from the first sensor and outputs a stop control signal to stop the mobile machine at the position of the corresponding furnace. You can adopt what you have. Note that it is also possible to configure the mobile machine to travel while measuring the travel distance from the travel starting point, stop the mobile machine after traveling this predetermined travel distance, and check the furnace number. . In addition, the above-mentioned furnace "1-core detection mechanism may include, for example, an image that detects the difference in light intensity or temperature between the inner part of the furnace [1] which is opened by removing the furnace lid, and the ridge of this furnace opening. It is possible to adopt a device equipped with a second sensor such as a processing camera, and a second controller that outputs a furnace core signal based on the detection and 1z signal from the second sensor. For example, the main $1nmi is 1;
It is possible to employ an L controller that outputs a position alignment control signal for correction based on the furnace t-J core signal from the furnace 1-1 core detection mechanism, such as the controller shown in the above. Furthermore, as a position supplementary mechanism, for example, a mobile machine is constructed from a movable carriage and a main frame that are movable relative to each other, and the rail on which the mobile machine runs is clamped by a rail clamp of the movable carriage after the mobile machine stops. above, or by suctioning it to the rail using an electromagnet. By finely adjusting the main frame of the movable fil with respect to the hearth of the furnace mouth using a cylinder for moving a trolley, etc., it can be accurately adjusted to {e/. A cart moving mechanism that allows alignment can be adopted. [Function] In the coke oven moving machine positioning device according to the present invention, for example, when operating an extruder, the purpose is to discharge coke in a certain oven having a predetermined oven number. First, the mobile machine travels close to the location of the furnace. Here, the target core detection mechanism detects the furnace having the target core, and the moving machine is stopped at a fixed f1''t at 1F.
do. For example, a first sensor detects a member to be detected provided in the furnace. Based on the furnace number detection signal from the first sensor, the first controller determines that the furnace number is a predetermined one, and moves a! By comparing the movement of the machine, it is preliminarily aligned with the furnace opening of the target furnace. Note that the moving machine M may be stopped after the moving machine has traveled the distance from the starting point, and the furnace number } may be checked. Next, the furnace opening core within the target core is detected by the furnace [one core detection mechanism]. For example, based on the detection signal from the second sensor, the accuracy of i:t. Achieve positional implication. That is,
Based on the detection signal from the second sensor, the second controller accurately determines the position of the target furnace nozzle 1, and outputs the furnace nozzle signal to the main control mechanism, for example, the main controller. Move based on this furnace 11 core signal
It calculates the deviation between the machine and the furnace core, and outputs a correction positioning control signal to the position correction mechanism, which instructs the correction distance and correction direction of the moving machine. When this position correction mechanism operates, the main frame of the moving machine is finely adjusted to correct the relative position of the moving machine with respect to the core, so that the core of the mouth of the coke oven is aligned with the core of the mouth of the coke oven. It is. Therefore, the pusher rod of the extruder can enter the furnace from the inside of the furnace mouth without colliding with the neck of the furnace mouth, and the produced coke can be pushed out toward the guide wheel. Note that the same applies to not only an extruder but also a coal loading car or a guide car as a moving machine. [Embodiment] Next, a positioning device 1 for a moving machine for a coke oven according to an embodiment of the invention will be described with reference to FIGS. 1 to 16. The first and second figures are perspective views of the entire positioning device 1. This positioning device 1 for a mobile machine for a coke oven includes a mechanism 2 for detecting the target core of a traveling stop m for preliminary positioning, and a mechanism 2 for detecting the target core of a traveling stop m for preliminary positioning, and a furnace mouth A core detection mechanism 3, a trolley moving machine [4] as a position correction mechanism,
It has a main controller 5 as a main mechanism 181lI that controls each of the above-mentioned mechanisms. Each mechanism will be explained below. 1-. The target center detection mechanism 2 includes a first sensor 8 and a light source 9 mounted on a main frame 7 of a mobile machine 6, and a first controller 10. This first sensor 8 detects the detected member l4 provided corresponding to each furnace worker 3 of the coke oven 12 along the running rail 11 on which the mobile machine 6 runs.
The furnace number detection signal is output to the first controller]O. In addition, in FIG.
6 shows the backstay, and Ql7 shows the rail frame that supports the running rail 11. Figures 2 to 4 show the above-mentioned target center detection. The purpose is to explain the mechanism 2 in more detail. Fig. 2 is an overall layout diagram of the target core detection mechanism 2, Fig. 3 is a block diagram of the general structure, and Fig. 4 is a principle diagram of furnace number detection. The first sensor 8 has a detector composed of, for example, a CCD line sensor, and the first sensor 8 and a light source 9 are connected by a support 18 as shown in FIG. Therefore, the light source 9 located on the back of the detection target member 4 arranged for each furnace 13 can detect the furnace number of each furnace 13 with one light source 9, without having to provide the same number of detection target members 14. Furthermore, the member to be detected 14 is shaped as a barcode plate by forming slits 19 to allow light to pass through, and the light passing through the slits 19 has a pattern corresponding to each furnace 13. is detected by the first sensor 8. By forming the slit 19 in the detected member 14 in this way, the difficulty of detection due to dust around the furnace 13 is reduced. Instead, a white board or other material that can ensure the contrast of the slit 19 can be used depending on the conditions.
At the same time, by constantly supplying clean air to the hood 20If1 section through the air pipe 21, it is possible to prevent obstacles such as dust and water from entering the field of view within the first sensor 8. . Therefore, it can be used in adverse environments. In addition, light source 9
If clean air is also supplied to the light emitting surface of the source 9, it becomes possible to maintain the cleanliness of the light emitting surface of the source 9. As shown in FIG. 3, a detected member 14 exists between the light source 9 and the first sensor 8, and the detected member 1. 4. ．． ．．
The arrangement of the slits 19 of
A bright and dark image is drawn. The detection signal photoelectrically converted by the sensor 24 is transmitted to the first controller 10.
is output to , and is subjected to the τT processing here to finally cut off the furnace number of the furnace 13, output a stop control signal, and stop the running motor (not shown) of the transfer machine 6. It shall be. Note that the −L period aperture mechanism 22 is used to detect the detected member 1 during the day and at night.
．． 4. This is to prevent the first sensor 8 from erroneously detecting or malfunctioning due to changes in the amount of light in the surroundings, and if an automatic aperture mechanism or the like is adopted, it can be used without any adjustment. As shown in the principle diagram of FIG. 4, the photoelectric conversion element r.24
The furnace number is detected from the brightness detection image 25 formed by the six lits 19 above. 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. In the brightness detection image 25, the slit 1-9 appears as a bright part, and the brightness detection line 2
7, it can be determined in which divided field of view 26 the bright portion is located. By assigning numerical weights to each of these divided fields of view 26 and calculating from the position of the divided desk field 26 where the bright portion is detected, it is possible to detect the furnace number information held by the detected member 14. Become. By appropriately selecting the width of the divided field of view 26 or the width and interval of the slits 19, it is possible to detect the furnace number even if the center of the detected member 1-4 and the center of the first sensor 8 do not necessarily coincide. It is. In addition, as an application example of the target core detection mechanism 2, for example, the detected member 14 is installed so that one of the slits 1 and 9 is located at the center position of the oven 13 of the coke oven 12, and the selected detected member By detecting where 1-4 is located in the bright/dark detection image 25, the relative positional relationship between the first sensor 8 and the detected member I4 and the center of the mobile pirate 6 and the center of the oven 13 of the coke oven 12 can be determined. The relative position can be determined and the furnace can be used as a core inspection device.If there is a deviation between the core or target core and the moving machine, the moving machine The said running motor!
! The stop position of an 8-movement machine is to be adjusted by moving the 8-movement machine. However, as mentioned above, in general, the coke oven 12 has a relative relationship with the detected member l4 (;I W
．． Since there is a possibility that the furnace may become misaligned,
-1 core detection mechanism 3 is effective. Furthermore, it goes without saying that any mechanism other than the above-mentioned detection mechanism can be employed as the target center detector fI1!2. Next, the furnace wick detection mechanism 3 will be explained based on FIGS. 5 to 10. Fig. 5 is an example image of the upper and lower parts of the furnace 1130 of the furnace ↓3, and Fig. 6 is the image example of the upper and lower parts of the furnace 1130 of the furnace [1 core detector n3 @F!
As shown in these drawings and FIG. 1, the main frame 7 of the mobile machine 6 of the previous generation includes:
2' in the vertical direction so that it is located nearby. An image processing camera, namely a video camera 3L 32, is provided. However, the number of cameras does not necessarily have to be two. These video cameras 31 and 32 have their imaging centers aligned in the vertical direction, and can take images of the upper and lower parts of the furnace mouth 30, respectively. Moreover, it is movable along each furnace opening 30 as the mobile carpet 6 travels. Further, video memories 33 and 34 are connected to each of the video cameras 3L and 32, and a single frame image processed by the video cameras 31 and 32 is stored in the video memories 33 and 34 as pixel data. J-. The video memories 33 and 34 have a double-image cutter and a bamboo cutter 35.
This is connected to the double image recognition IIl device 36 via. The image switching device 35 outputs the stored contents to the image recognition device 36 by switching to either one of the video memories 33 or 34 according to a command from the image recognition device 36 . The image recognition yA device 36 also sends a control signal to the image switch 35 to switch to either one of the video memories 33 and 34, and also specifies a pixel address in the frame of the image stored in each video memory 33, 34. By doing so, it is possible to read the pixel data at the desired address. It is assumed that the video memories 33, 34, both image switching device 35, and image recognition device 36 constitute a second controller 37. The video cameras 31 and 32 are mounted on the side of the furnace 30 facing the mobile machine 6 and adjusted so that the imaging center of the video camera 32 is vertically below the imaging center of the video camera 31, and other equipment is attached. can also be located at a location remote from the coke oven 12. These furnaces

[''Detection of the furnace mouth 30 by the core detection mechanism 3 is as follows:
This is done after opening the furnace lid 38 of the furnace 13 and exposing the furnace L130 to the video cameras 31 and 32 side. That is, in both images taken by the respective video cameras 31 and 32, the furnace wall 39 is perceived as a dark area and the furnace mouth 30 is perceived as a bright area due to the temperature difference or the light brightness difference, as shown in FIG. As shown in FIG. 5, when performing image processing on the upper part of the furnace port 30, the image recognition device 36 detects that the image of the upper part of the furnace 1130 is 9! } rL1i14k. By switching the cutter 35 to the video memory 33 side and outputting a freeze signal to the video memory 33,
A part of the furnace mouth 30 imaged by the video camera 3J (
When the image recognition device 36 stores the image ``2 part'' and outputs the pixel address corresponding to the pixel required for processing from the ■/○ port (not shown) to the video memory 33, the L record is stored. The corresponding pixel data of the stored image is transferred from the video memory 33 to the image recognition device 3.
Sent to 6. Similarly, this pixel address is set to I.
llF[By shifting and outputting the data, both image data for one side can be obtained. The pixel data has information about the intensity of light. The image recognition device 36 performs the processing described above to obtain both image data for one side, and performs processing to detect the furnace mouth core 39 of the furnace mouth 30. That is, as shown in FIG. 7, first, in order to detect the boundary between the -hi end 30A of the furnace mouth 30, the pixel addresses in the vertical direction at the center of the screen are sequentially output downward from both physical ends. Here, the brightness of the furnace mouth 30 is preset in the image recognition device 36, and ii! ii While inputting the pixel data, set furnace 1]] Search for pixel data with a brightness equal to or higher than the furnace mouth brightness by comparing the brightness, and when the corresponding pixel data is detected, the integration of the number of detections is started, and the pixel data further below is searched for. Continuing the comparison of 6 The product τγ value obtained in this way is the set integration II that specifies that it is inside the furnace mouth 30! When L, a pixel address having pixel data having a brightness J; higher than the first detected furnace CI brightness is stored as the boundary between the furnace 91.39 and the upper end 30A of the furnace port 30. Next, as shown in FIG. 8, in order to detect the boundaries between the left and right ends of the furnace mouth 30 and the furnace wall 39,
Sequentially output the pixel addresses in the water wheel direction from several lines above the pixel address of , from the left end to the right end on both sides, and while inputting the pixel data, compare it with the furnace mouth brightness set at J2 and find the brightness equal to or higher than the same set furnace L1 brightness. Find the pixel data you have. If the corresponding pixel data is not detected even after searching in the horizontal direction to the center of both sides, a search is performed for pixel data one line below in the direction of the waterwheel. When the corresponding pixel data is detected during the search in this manner, the accumulation of the number of detections is started, and the comparison of the pixel data on the right side is continued. When the integrated value obtained in this way is equal to or higher than the set VT value inside the furnace port 30, the pixel address having pixel data with a brightness higher than the first detected furnace port brightness is set as the furnace! ! 39 and the left end 30B of the furnace 130. Next, in order to detect the right end of the furnace mouth 30, the search continues to the right and the brightness of the input pixel data is When the brightness is less than the furnace mouth brightness, the detection count viI is started as the pixel data of the furnace wall 39, and the comparison of the pixel data in the right direction is continued. When the integrated value is greater than or equal to the integrated value, the pixel address having pixel data having a brightness equal to or higher than the last detected furnace mouth brightness is stored as the boundary between the right end 30G of the furnace "13o" and the furnace "&39". Then, based on the stored pixel address, both prime numbers of the furnace mouth 30 are determined using the following equation (L), and the prime numbers are stored. Furnace 11 pixel count = (furnace [1 rightmost pixel address) - (furnace [1 rightmost pixel address)
pixel address at the left end of the furnace mouth). ．． ．． ．． ．． (1) Perform the L process to the bottom of the screen and store the furnace opening prime numbers for each horizontal line. Then, find the maximum number of pixels at the furnace inlet from among all the number of pixels of the furnace ``]'' for each memorized water line, and use the left end address of the furnace mouth and the right end address of the furnace 1 to calculate the number according to formula (2). Obtain the pixel address of the center of the upper part of the furnace mouth (heart of the furnace mouth) 30E. Center pixel address at the top of the furnace mouth = (pixel address at the right end of the furnace mouth – pixel address at the left end of furnace r21)/2...
・・・・・・・・・・・・・・・・・・・・・・・・
・(2) Furthermore, according to Shimoki (3) formula, both sides center 30■]
The center deviation F of the upper part of the furnace mouth is determined from the pixel address and stored. Center deviation of the upper part of the furnace [] = (pixel address at the center of the screen - center pixel address of the 7th section of the furnace) x (-pixel resolution mr7' pixels). ．． ．． ．． ．． ．． ．． (3) Next, in order to perform image processing of the lower part of the furnace eye, the image recognition device 36 switches the iiiir image switch 35 to the video memory 34 side so that an image of the lower part of the furnace [ ] 30 can be obtained. Then, by outputting a freeze signal to the video memory 34, both image data for one side of the lower part of the new furnace port 30 are stored, and in the same manner as described above, a pixel address is output and designated pixel data is input. Then, the process of detecting the center of the lower part of the furnace mouth 30 is performed. Here, in order to detect the boundary of the lower end 30G of the furnace opening 30, as shown in FIG. Furnace wall 39 and furnace mouth 30 using the same method
The pixel address of the boundary with the lower end 30G is found and stored. Next, as shown in FIG. 10, the furnace gI. 39 and hearth mouth 30
In order to detect the boundary between the left end 30H and the right end 30I, pixel data is input by sequentially outputting pixel addresses from the left end to the right end at the top of both surfaces. After this, use the same method as above to find the pixel address of the left end 301-I of the furnace port 30 and the double prime address of the right end 30I of the furnace port 30, and use the above formula (1) to find the pixel address of the furnace 11 both prime numbers. The above operation is repeated several addresses below the pixel address at the bottom end of the furnace, and the number of pixels per line is determined and stored. and. ii! Find the largest furnace] 1 double prime among all the prime numbers you remember, and set it to 30II (7
) Based on the pixel address and the pixel address of the 30 right end of the furnace mouth, the center of the lower part of the furnace eye (heart of the furnace mouth) 30,
The center deviation K of the lower part of the furnace eye is determined by (3) above. By identifying the brightness difference for each pixel address as described above, the furnace [ ] 30
The pixel addresses of the upper end 30A, the upper left end 30B, the right end 30C, and the center 30F, the upper center deviation F, and the lower end 30G. Left end of the do section 3 0 II.
Right end 30I and center 30. each i of J
By detecting the iii elementary address and the lower center deviation K, the actual state of the furnace 1.1 30 can be grasped. Of course, it is possible to apply such a detection mechanism 3 to the furnace port 30 on either the left or right side of the coke oven 12, as well as to the coal loading 115. Note that, in addition to detecting the furnace mouth core using the pixel addresses of each part of the furnace mouth 30 as described above, various information regarding the furnace l2 or the furnace mouth 30 can be obtained. For example, the R-out state of the furnace lid 38 can be determined by whether or not the boundary between the furnace opening 30 and the furnace wall 39 can be detected. In addition, the center deviation F. From the difference in K, the state of distortion in the vertical direction of the furnace mouth 30 can be detected. Furthermore, by using the traveling start point of the mobile machine 6 as a reference point and adding the travel distance from this base point to the furnace [1 core], the left and right furnaces ['
TI 3 0 (7) Relative position can be confirmed. Therefore, it is also possible to detect the strain state of the furnace 12 in the iα angle direction with respect to the traveling direction of the mobile device vi6. Further, by detecting the lower ends 30G of the left and right furnaces [130], it is also possible to check the inclination state of the bottom surface of the furnace 13 in the left-right direction. Thus the video camera 31, 32 or the mobile machine 6
The relative positional relationship between the moving 'atti 6 and the furnace '130 of the furnace 12 can be calculated using an arbitrary position of the main frame 7 of the '130, and this information is transmitted to the second controller 3.
7 to the furnace 1 core signal as an ITF f1 controller 5. This main controller 5 moves the carpet 6 to the furnace 30 based on the 1 core signal. On the other hand, a correction positioning control signal is output to the cart moving mechanism 4 for correcting the relative positional deviation and aligning the position in a workable manner. Next, regarding this trolley moving mechanism 4, FIG.
This will be explained based on Figures 1 to 131. As shown in FIG. 1, the mobile machine 6 includes a front main frame 7, a movable trolley 40 that is movable with respect to the main frame 7, and a movable trolley 40 that moves the movable trolley 40 with respect to the main frame 7. It has a double-acting cylinder 41 that moves instantly. The movable cart 40 has a rectangular main body frame 42 and a frame 43 for connection to the double-movement cylinder 41. It is assumed that the main frame 7 has a dual-movement cylinder 41 and a trolley moving rail 44 fixed to it. Moving wheels 45 are provided on the outer surface of the truck body frame 42 to roll within the truck moving rails 44 . Fig. 1t is a plan view of the movable cart 40 portion of the cart moving mechanism 4, Fig. 12 is a partially omitted front view of the same, and Fig. 13 is a partially omitted side view of the same. ] As shown in the figure, a pair of support shafts 47 each provided with a spring 46 are installed across the central portion of the bogie body frame 42 . Both support shafts 47 each have support pipes 48
This is pushed through the support pipes 48, and both support pipes 48 are integrated by a central plate 49 provided between the support pipes 48. As shown in FIGS. The levers 51 are respectively pivotally mounted, and the rail clamps 52 are each rotatably supported on the clamp rotation shafts 51-. As shown in FIG. 13, this pair of rail clamps 52
A clamping cylinder 53 is provided at the upper part of the clamping cylinder 53, and a clamping member 54 is provided at the lower part of the clamping cylinder 53. It is assumed that the movable trolley 40 itself is arranged at a position where the clamp member 54 faces the traveling rail 11 and can clamp it. It should be noted that in the trolley moving machine g44 having such a configuration, the double-movement cylinder 41 and the clamp cylinder 53 are controlled by a valve stand 60 for cylinder movement. In addition, in FIG. 1, the reference numeral 61 indicates an oil pump unit. Further, the cylinder displacement valve stand 6o is moved by the carriage a! according to the correction positioning control signal from the main controller 5. Structure 4 shall be used. In addition,
The running river rail I1 usually has a pair of them,
In FIG. 1, only the carriage moving mechanism 4 for one of the running rails I1 is shown. Now, in a state where the moving machine 6 of the furnace 1; In response to the sliding signal, first, the clamping cylinder 53 of the movable trolley 40 is moved so that its cylinder rod 53A extends, and the clamping members 54 of the pair of rail clamps 52 are moved around their clamp coupling members 51 to approach each other. When the clamp member 54 is rotated, the clamp member 54 clamps the running rail l1 (see FIG. 13). In this way, the trolley body frame and AS42r'i body of the movable trolley 40 can be fixed to the traveling rail 11. In this fixed state, when the double moving cylinder 41 is moved in either direction, the moving wheels 45 of the movable trolley 40 can be moved within the trolley moving rail 44, so that the cylinder rod 41. A becomes tight between the main frame 7 of the mobile machine 6 and the connecting frame 43 of the mobile platform 1{40, or draws both of them closer to each other. Therefore, movement S of vehicles other than the mobile trolley 40! The machine 6, that is, its main frame 7 is movable relative to the running rail 11, and the cylinder rond 4 ]. By controlling the driving distance and driving direction of A, you can move! The relative position between the 11 m machine 6 and the furnace mouth 30 can be accurately set and positioned. Next, a diagram of the relative positional relationship between the furnace mouth 30 of the furnace 13 and the mobile machine 6 (extruder) shown in FIGS. 14 and 15, and a positioning device for the mobile machine for a coke oven shown in FIG. 1. The operation of the alignment device 1 will be explained with reference to the overall flowchart. As described above, the movable machine 6 includes an extruder, a coal loading car, a guide car, etc., but here, a case will be described in which the position of the extruder is corrected. First, referring to FIG. 16, for the purpose of coke discharge work in the furnace 13 having a predetermined furnace number, the mobile machine beam 6 starts traveling toward the furnace king 3 that is in charge of the furnace (step S1). During the run, the first sensor 8 of the target center detection mechanism 2
continues to detect the detected members 1-4 of each furnace 13,
Furthermore, a predetermined traveling distance of the mobile machine 6 from the starting point of travel is measured, and the traveling motor is decelerated near the target furnace 13.
The furnace 13 of Ila stops running (step S2). By detecting the member 14 to be tested 7.1'J of this furnace L3, its furnace number is confirmed (step S3). In this state, the positional deviation between the center of the mobile machine 6 (covering center or extrusion center, not shown) and the target center is calculated and detected by the mouth reference center detection mechanism 2, and the deviation or deviation is calculated and detected by the main controller. 5 (step S4). By outputting a control signal (correction alignment control signal) from the main controller 5, the cart moving mechanism 4 is driven in step S5 to perform position correction work. Note that this position correction work may be performed by moving the entire mobile robber 6 relative to the target center by sliding the traveling motor. In this state, the furnace lid 38 of the furnace 13 is opened by a working machine (not shown) mounted on the mobile machine 6 (step S6
). FIG. 14 shows this state. Next, the above-mentioned furnace core inspection. Video camera 3 of l1z mechanism 3
1.32, the center of the furnace mouth 30 of the furnace 13 is detected (step S7). That is, the L1 difference between the furnace opening 30 and the furnace opening core (see center deviations F and K in FIGS. 8 and 10) is calculated. Furthermore, in step S8, it is determined whether or not there is this error. If there is no error as shown in FIG.
By extending the coke C, the coke C is pushed out toward the guide wheel (not shown). If there is an error as shown in Figure 14, step S
9, the main controller 5 outputs a control signal (positioning control signal for capture), and step s
At io, the cart moving mechanism 4 is moved and the position correction work is performed to complete extraction to the state shown in FIG. 15, and then the work of step S11 is performed. Furthermore, the main controller 5 can be provided with a learning function by performing an integrated evaluation of the data of the furnace core detection structure 3 detected in step S7. For example, even though the extruder position has been aligned with the target core detection mechanism 2, if the extrusion core position correction (step SIO) is not performed regularly, the furnace body may be deformed. It is possible to correct the information regarding the target center of the n reference center detection M mechanism 2. For example, the deviation detected by the target center detection mechanism 2 and the deviation detected by the furnace mouth core detection mechanism 3 are added together. can be 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 extruders and guide cars, but also to coal loading cars. However, in the guide car When the running rail is embedded in the ground as shown in the figure, an electromagnetic rail brake or the like may be used and an electromagnet may be used to fix the movable cart to the running rail surface. [Invention] Effects of the invention As described above, according to the present invention, after the moving machine is preliminarily stopped at a predetermined furnace position by the target core detection mechanism, the moving machine is stopped at a predetermined furnace position by the position correction mechanism. As a result, the accuracy of relative positioning between the movable machine and the mouth of the coke oven can be improved, and since such positioning can be performed internally, the coke oven This can contribute to reducing manpower or unmanning the aircraft throughout the system.

[Brief explanation of drawings]

FIG. 1 is an overall perspective view of a positioning device 1 for a mobile machine for a coke oven according to an embodiment of the present invention, FIG. Detector 4
Figure 4 is a block diagram of the schematic structure of the i112, Figure 4 is the original silicon diagram of the furnace number detection of the target core detection mechanism 2, Figure 5 is the upper and lower sides of the furnace mouth 30 in the furnace [1 core detection mechanism 3]. Fig. 6 is a diagram of the device configuration of the furnace core detection mechanism 3, Figs. The same figure shows an example of the lower part recognition process of the furnace mouth 30, and the figure 'm11 shows the moving trolley 40 in the trolley moving mechanism 4.
Figure 12 is the same, a partially simplified view of the mobile trolley 40, Figure 13 is the same, a partially omitted side view of the mobile trolley 40, Figures 4 and 15 are the same. The relative positional relationship between the furnace 12 130 of the furnace 13 and the mobile machine 6 (extruder) 116 is a flowchart of the operation of the positioning device 1 of the mobile machine for a coke oven. ? ．． ．． ．． Positioning device for coke oven mobile machinery 2.
．． ．． ．． ．． ．． Target center detection mechanism for stopping running 3. ．． ．． ．． ．．
．． Furnace core detection mechanism 4. ．． ．． ．． ．． ．． Trolley movement a! Structure (position correction machine!R) 5
− * − * − *Main controller (main control mechanism)
6■. ．． 、． ．． Mobile machine 6A. ．． ．． ．． Pusher rod of mobile machine 6 (extruder) 7. ．． ．． ．． ．． ．． Main frame 8 of mobile machine 6. ．． ．．
．． ．． ．． First sensor 9 , , , , light source 10 . ．． ．． ．． ．． ．． ! n- controller 1 1 . ．． ．．
．． ．． ．． Traveling rail 12. ．． ．． ．． ．． ．． Coke oven 1 3. ．． ．． ．． ．． ．． Furnace 1 4 of coke oven 12 . ．． ．．
．． ．． ．． Detected member of furnace 13 (barcode plate) 1 5. ．． ．． ．． ．． ．． Charging port 1 6. ．． ．． ．． ．． ．． Backstay l7...Rail frame is. ．． ．． ．． ．． ．． Pillar 1 9. ．． ．． ．． ．． ．． Slit 20. ．． ．． ．． ．． ．． Food 2 1. ．． ．． ．． ．． ．． Air pipe 22. ．． ．． ．． ．． ．． Aperture mechanism 23. ．． ．． ．． ．． ．． Lens 24. ．． ．． ．． ．． ．． Kyuden conversion element 2 5. ．． ．． ．． ．． ．． Brightness detection image 2 6. ．． ．． ．． ．． ．． Split field of view 2 7. ．． ．． ．． ．． ．． Light/dark detection line 30. ．． ．． ．． ．． ．． Furnace 13 Furnace 1” 30A. ．． ．． ．． Upper end 30B of furnace mouth 30. ．． ．． ．． Upper left end 30C of furnace 1130. ．． ．． ．． Upper right end 30D of furnace mouth 30. ．． ．． ．． Center of screen 30E of furnace [ ] 30. ．． ．． ．． Upper center of furnace [] 30 (furnace mouth core) F. ．．
．． ．． ．． ．． ．． ．． 1 = Partial center deviation of furnace mouth 30 30G-. −
Lower end 30H of furnace mouth 30. ．． ．． ．． Lower left end 30 I of the furnace opening 30. ．． ．． ．． Lower right end of furnace mouth 30 3 0 J
．． ．． ．． ．． Lower center of furnace [ ] 30 (furnace mouth core) K. ．． ．． ．． ．．
．． ．． ．． Lower center deviation of furnace mouth 30 31.32. ．． 、． ．． ．．
Video cameras 33, 3 4. ．． ．． ．． ．． ．． Video memory 35-*--
--Image switcher 3 6. ．． ．． ．． ．． ．． Image recognition device 37. ．． ．． ．． ．． ．． Second controller 38. ．． ．． ．． ．． ．． Furnace lid 39...furnace wall 40. ．． ．． ．． ．． ．． Mobile trolley 4 1. ．． ．． ．． ．． ．． Double moving cylinder 4. l. A. ．． ．． ．． Cylinder Rondo 42. ．． ．． ．． ．． ．． Bogie body frame 4 3. ．． ．． ．． ．． ．． Connection frame 4 4. ．． ．． ．． ．． ．． Rail for moving trolley 4 5. ．． ．．
．． ．． ．． Transportation wheels 4 6. ．． ．． ．． ．． ．． Spring 4 7. ．． ．． ．． ．． ．． A pair of support shafts 48. ．． ．． ．．
．． ．． A pair of support pipes 49. ．． ．． ．． ．． ．． Center plate 50. ．． ．． ．． ．． ．． Co-driving wheel support bracket 5 1
．． ．． ．． ．． ．． ．． Clamp rotation axis 5 2 . ．． ．． ．． ．． ．． A pair of rail clamps 53.
．． ．． ．． ．． ．． Clamp cylinder 53A. ．． ．． ．． cylinder rondo 54. ．． ．． ．． ．． ．． Clamp member 60. ．． ．． ．． ．． ．． Cylinder drive valve stand 6 1
．． ．． ．． ．． ．． ．． Oil pump unit C. ．． ．． ．． ．． ．． ．． ．． coke

Claims (3)

[Claims] (1) A coke oven mobile machine positioning device that operably aligns a mobile machine that moves on rails provided along a coke oven having a large number of ovens with respect to the furnace mouth. , a target core detection mechanism for detecting the positional relationship between the moving machine and the corresponding furnace by detecting the target core of each oven in the coke oven; a furnace wick detection mechanism for detecting a furnace wick; a position correction mechanism that finely adjusts and moves a main frame of the mobile machine so as to correct a relative position between the mobile machine and the furnace wick; and a main control mechanism that controls the position correction mechanism based on a detection signal from the furnace core detection mechanism. (2) The target center detection mechanism detects a deviation between the mobile machine and the target center, and the stop position of the mobile machine is corrected based on the detection signal.
1) A positioning device for a moving machine for a coke oven as described above. (3) The positioning device for a moving machine for a coke oven according to claim (1), wherein the information regarding the target core is corrected in a timely manner based on a detection signal from the furnace mouth core detection mechanism.