JPH0457012B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application The present invention relates to a fixed position stop control method for coke oven working machines for correctly stopping them at predetermined working positions when various working machines move in a coke factory.

Technical Background A coke oven in a coke factory is equipped with various coke oven working machines such as a coal loading car that moves along the top of the oven, an extruder that moves along the side of the oven, a coke guide car, and a fire extinguisher. Each working machine is operated based on the furnace operation work plan.

The most important thing in operating this working machine is to stop it accurately at a predetermined stop position.

Conventionally, in manual operation, a sign was placed in advance at the stop position on the coke oven side, and the driver performed the stop operation while checking the sign with the naked eye.

Recently, various methods of detecting the stop position have been proposed in order to realize labor-saving and unmanned coke oven operation.

As a new method, a number of sensing pieces are installed at the stop position of the coke oven, and the stop position is detected by a proximity switch installed on the working machine side. A floodlight is used to illuminate targets such as reflectors installed along the sides of each kiln, and the reflected light is converted into an electrical signal by an image receiver to detect its position and determine the stop position of the operating machinery. Methods have been proposed to detect errors in fixed position due to the target.

In the former case, the working position of the coke oven is usually 1 to 1.5 m pitch and 100 m per coke oven group.
The coke oven has around 1,100 to 1,100 coal.
Coke is produced by carbonization at 1300℃, discharged through a coke guide car, and then room-temperature coal is charged into the kiln again using a coal loading car.This process is repeated for each kiln.

Therefore, the setting position and the sensing piece are moved and displaced due to repeated expansion due to temperature rise and contraction due to cooling. Therefore, it is necessary to periodically correct the positions of markers and sensing pieces. However, due to the environmental conditions in a coke factory, such as large amounts of dust and corrosive gases and high temperatures, the mounting bolts of the many installed sensing pieces develop rust, and due to restrictions on their mounting locations, it is necessary to regularly adjust their positions. It is extremely difficult to implement this objectively.

The latter method of detecting reflected light is subject to constraints such as the target surface must always be kept clean and not exposed to direct sunlight. In addition, it is impossible to apply this method to the coke oven, which is the running track surface of a coal-carrying car, because rainwater and dust accumulate heavily and it is constantly exposed to direct sunlight.

On the other hand, as a continuous position detection device for the entire running range of coke oven working machines, there is a kiln number detection method that detects the position of the working machine by pulse measurement using a tatsuchi roller or reading the running distance of the working machine using a cell sensor, and a kiln number detection method that detects the position of the working machine. A twisted pair type inductive radio line consisting of a phase reference pair R and pairs of wires G ₀ to _{G o} twisted at mutually different pitches is provided, and each pair of wires G ₀ to G o of the twisted pair type inductive radio line is arranged. By displaying the phase of the signal received at G _o in binary format with the in-phase part of the phase reference pair R as "0" and the opposite-phase part as "1", it can be expressed as an address to the nth power of 2 over the entire running length. Detects absolute position and also minimum twisted pair G ₀
Attempts are being made to put automatic travel control to practical use using a continuous position detection mechanism based on an absolute address detection method that continuously detects the distance from an intersection by detecting signals from the intersection. These have been put to practical use in fire-fighting locomotives that do not require relatively high stopping precision, and have achieved reasonable results.

However, in working machines such as extruders, coke guide cars, and coal loading cars that require strict stopping accuracy of ±10 mm or less, the above-mentioned expansion and contraction of the furnace body, deformation of the furnace body over time, slipping of the touch roller, etc. Due to bouncing, deformation or twisting of the working machine, etc., it is difficult to stop the working machine at the desired position with the required precision.

For this reason, there is a method in which a continuous position detection device is used to stop the machine before the desired stopping position, and the inching operation is repeated until the working position is detected by the sensing piece or target, and the work is stopped at the working position. is proposed.

However, according to this method, in addition to the problems with the sensing piece and target, the operation of stopping → checking the sensing piece → starting by inching → stopping is repeated until the stop control detects the sensing piece or target, which makes it difficult to operate normally. Compared to the manual operation method, the kiln unloading operation time was significantly delayed, so there were problems in practical application.

Purpose of the Invention In view of the current situation, the present invention proposes a fixed-position stop control method for coke oven working machines that can always accurately stop various working machines in a coke factory at a predetermined target stop position.

DISCLOSURE OF THE INVENTION Until reaching a temporary target position set before the target stop position, stop control is performed according to a preset stop control pattern based on information from a continuous position detection device and a speed detection device, and a predetermined deceleration is performed. When the desired speed is reached, the brakes are released and the mode is switched to inertia operation, and after reaching a predetermined distance before the target stop position, position information is obtained from a fixed position detection device consisting of an infrared scanning detector or an optical scanning image detector. When the distance to the target stop position becomes less than or equal to the square of the traveling speed divided by twice the reference control deceleration, the stop control is performed according to a separately set stop control pattern. A fixed-position stop control method for a coke oven working machine, characterized by performing the following steps.

The continuous position detection device in this invention includes:
The kiln number detection method detects the position of the working machine by reading the travel distance of the working machine by measuring pulses using a tatsuchi roller or by measuring the travel distance of the working machine _. A twisted pair type inductive radio line consisting of G _o is arranged, and the phase of the signal received by each pair G ₀ to _{G o} of the twisted pair type inductive radio line is
Phase reference pair R and the in-phase part are "0", the anti-phase part is "1"
By displaying in binary format as , the absolute position is detected as the address to the nth power of 2 over the entire travel length, and the distance from the intersection is continuously detected by transfer detection of the signal from the minimum twisted pair G ₀ . A continuous position detection device using a continuous position detection mechanism using an absolute address detection method can be used.

Next, as an embodiment of the present invention, a case will be described based on the drawings in which the present invention is applied to a coal loading car for charging raw material coal into each kiln of a coke oven.

As shown in FIG. 1, a temporary target position D is set at the center of the charging furnace, that is, in front of the target stop position A, for example, at a position of 1000 mm, and a continuous position detection device 16, which will be described later,
The speed detection section 20 and the stop control section 18 use a brake device, etc. to determine the speed such that υ=√2' where υ: traveling speed βp: reference control deceleration x': distance to temporary target position D Stop control is performed according to stop control pattern L'. Then, the traveling speed υ is the deceleration βp′ during coasting operation without operating the brake, and the temporary target position D
At a time point E when the travel speed reaches a predetermined distance υ', for example 0.25 m/sec, based on the distance difference between the target stop position A and the target stop position A, the brake etc. are loosened and coasting is performed.

In this state, the distance x to the target stop position is, for example,
When it approaches within about 300 mm (position C), the position information from the continuous position detection device 16 is switched to the position information from a fixed position detection device such as an infrared scanning detector described later, and coasting operation is continued.

Then, at the point when the distance x to the target stop position A and the traveling speed υ become x≦υ ² /2βp (position B), the stop control is performed again according to the stop control pattern L where υ=√2. , stops at the target stop position.

The continuous position detection device used for stop control up to the temporary target position D is a kiln number detection method that detects the position of the work machine by reading the travel distance of the work machine by pulse measurement using a tatsuchi roller or by using a cell sensor.
A twisted pair type inductive radio line consisting of an untwisted phase reference pair R and pairs of wires G ₀ to _{G o} twisted at mutually different pitches is provided, and each pair of the twisted pair type inductive radio line is arranged. The phase of the signal received from G ₀ to _{G o} , the phase reference pair R and the in-phase part are “0”,
By performing binary display with the reverse phase part set to "1", the absolute position is detected as an address of 2 to the nth power over the entire traveling length, and the signal from the minimum twisted pair G ₀ is detected by transfer to detect the intersection. A detection signal from a continuous position detection unit using a continuous position detection mechanism based on an absolute address detection method that continuously detects the distance from A control signal is transmitted along the line 1, and the traveling speed is controlled to be decelerated via the brake control section 19.

Further, a fixed position detection device such as an infrared scanning detection device will be explained based on FIGS. 2 and 3. coke oven 1
The kiln 2 is composed of about 100 kilns 2, and each kiln 2 has 4 to 5 charging holes 3 arranged above the furnace. These charging holes 3 are provided with charging lids 6, and the temperature of the charging lids 6 is 200° C. or more higher than that of the surrounding furnace bricks 7. Therefore, there is a difference between the amount of infrared rays emitted from the charging lid 6 and the amount of infrared rays emitted from the surrounding area.

When the coal loading car 4 approaches the target kiln 2, the continuous position detection device detects that it is within 300 mm, and the infrared scanning detector 5 starts detection.
That is, the intensity of the infrared radiation around the charging hole 3 is detected as shading on the image. The detected image is then binarized using a predetermined gray level and processed by the temperature image processing unit 8 as one scanned screen.

That is, as shown in FIG. 4, the binarized data for one screen is converted and stored in the image memory 9 as white pixels and black pixels. This binarized screen is further corrected into a circular shape by an image correction section 11 by comparing it with a built-in reference circular pattern 10, and sent to a distance determination section 12.

In this distance determination section 12, an infrared scanning detector 5
Two windows 13 are arranged symmetrically on the left and right sides of the camera center, and the difference between the areas S ₁ and S ₂ of the detected images 14 occupying within these windows 13 (S ₁ −
S ₂ )/2 is used to detect the positional deviation Δx from the center.

The above-mentioned one-time scanning screen processing is repeated every 100 msec, and the output register 1 is used as position information.
It is stored in 5. The stored detection signal is then input to the stop control section 18, where the speed detection section 20
A control signal is transmitted so that the traveling speed υ from
The traveling speed is then controlled to be decelerated.

The above is a case where an infrared scanning detector is used to control the stoppage of a coal-loading car. It is possible to control the extruder and coke guide car to stop at fixed positions.

Effects of the Invention This invention determines a temporary target position before the target stop position, controls the traveling speed using a continuous position detection device until the temporary target position, and then uses fixed position detection using an infrared scanning detector etc. A two-step operation that uses the device to perform stop control allows various types of work machines to be accurately stopped in a fixed position. Further, since the stop control according to the present invention is performed continuously, there is no delay in the operation time of the kiln, and labor saving and unmanned operation can be achieved, contributing to cost reduction of coke oven operation.

[Brief explanation of the drawing]

Fig. 1 is a diagram showing a method of stop control of a coke oven working machine according to the present invention, Fig. 2 shows a coal loading car equipped with an infrared scanning detector according to the present invention, and Fig. FIG. 3 is an explanatory diagram showing a detected image of the camera of an infrared scanning detector; FIG. 4 is a block diagram illustrating a processing device for detected position information. . 1...Coke oven, 2...Kiln, 3...Charging hole,
4...Coal loading car, 5...Infrared scanning detector, 6...
Charging lid, 7... Furnace brick, 8... Temperature image processing section, 13... Window, 14... Detection image, 16
... Continuous position detection device, A ... Target stop position, B
...temporary target position, L, L'...stop control curve, S ₁ ,
S ₂ ...area.

Claims (1)

[Claims] 1 Until reaching the temporary target position set before the target stop position, stop control is performed according to a preset stop control pattern based on information from the continuous position detection device and speed detection device, and the speed is reduced to a predetermined speed. When the target stop position is reached, the brake is released and the system switches to inertia operation, and after reaching a predetermined distance before the target stop position, the system continues to receive position information from a fixed position detection device consisting of an infrared scanning detector or an optical scanning image detector. Continue inertia operation, and when the distance to the target stop position becomes less than the value obtained by dividing the square of the traveling speed by twice the standard control deceleration, perform stop control according to a separately set stop control pattern. A fixed position stop control method for a coke oven working machine, characterized by: