JPH06306366A - Judgment of abnormality of travel of travel device of traveler for coke oven work - Google Patents

Abstract

PURPOSE:To judge the abnormality of travel occurring during the automatically controlled operation of a traveling device of a traveler for a coke oven work. CONSTITUTION:The title judgment method comprises allowing a memory part 23 to accumulate sequentially data on the detected frequency of cases when, when the revolution speeds or the travel speeds of at least two wheels 12 and 14 during the automatically controlled travel of the travel device 10 of a traveller by means of a travel control part 22 of a travel controller 20 are compared with each other, the difference between the data on the revolution speeds of the respective wheels or between the data on the respective travel speeds exceeds the predetermined range of revolution speeds of wheels or a predetermined range of travel speeds, and detected data on the position of occurrence (the address of the concerned oven) and the wheel concerned, classifying the position of occurrence and the concerned wheel at a definite interval of time according to the accumulated detected data when the frequency of occurrence exceeds a predetermined range of occurrence according to the specified program built in an analytic program part 24, analyzing the state of distribution of the concerned wheels, and the positions of occurrence and judging the position of occurrence of abnormality and the abnormality of travel.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a traveling abnormality judging method in a traveling device of a mobile machine for working a coke oven,
More specifically, it is applied to the work movement for each kiln equipment including each auxiliary equipment of the coke oven facility, and is automatically controlled and operated by the traveling control device to drive and move on the rails and the driven wheels. In a traveling device of a mobile machine for automobiles, with the traveling movement of the traveling device, from the detected data of each wheel rotation speed data or each traveling speed data obtained from two or more wheels, the deterioration state of the traveling device over time, etc. The present invention relates to a traveling abnormality determination method capable of detecting a traveling abnormality at an early stage.

[0002]

2. Description of the Related Art Generally, in a traveling device which is applied to a work machine for a coke oven and travels on an orbit by an automatic control operation operation, for each kiln equipment including each auxiliary equipment of the coke oven facility. For efficient operation by the work mobile machine, it is necessary to perform smooth and effective traveling movement.

Here, as a constitutional aspect of a traveling device which is applied to a mobile machine for working a coke oven of this kind and which is automatically controlled, a drive device mainly composed of an electric motor and a regenerative braking device are used. , A drive device mainly composed of a hydraulic motor and a regenerative braking device, and a braking device of another type,
There are a traveling control device that automatically controls these drive device and braking device, a drive system including drive wheels for the drive device, a driven system including driven wheels, and a braking system including each of these drive and driven wheels. Is a railroad track that is laid between each kiln equipment including each auxiliary equipment that constitutes the coke oven facility, under relatively harsh conditions exposed to the external atmosphere,
The vehicle is moved on the basis of an automatic control driving operation by the traveling control device.

[0004]

In FIG. 5, when the traveling control device operates the traveling device of the working mobile machine by the automatic control operation as described above, it is obtained from two or more wheels of the traveling device. For each wheel rotation speed data or each detection data of each traveling speed data, the normal case is shown by a solid line, and the abnormal case is shown by a dotted line.

In the graph of FIG. 5, in the case of the normal operation indicated by the solid line, the traveling device which is automatically controlled and operated is based on the required control parameters which are preset and adjusted.
The vehicle is gradually accelerated from the traveling start point a to reach a constant speed traveling point b at a predetermined normal traveling speed, and then travels at a constant speed to reach a preliminary braking point c. At this preliminary braking point c, preliminary braking is gradually performed. The vehicle is decelerated, and as a result, the inertial speed is reduced to pass the deceleration running point d, and the vehicle continues to run at a low speed at which braking can be stopped by control. Further, a predetermined braking stop force is applied to reach the braking start point e. Then, the vehicle stops at the stop point f within the target allowable accuracy range.

However, the constituent parts of the traveling device have abnormalities due to deterioration over time, abnormal wear of wheels, cracks in rails, or strong weather conditions such as wind and rain. When an unpredictable situation such as a change exceeding the action occurs, as indicated by a dotted line as abnormal operation, for example, during acceleration from the traveling start point a to the constant speed traveling point b, the wheels are If a slip condition occurs on the wheels, or during preliminary braking from the pre-braking point c to the deceleration running point d, the wheel may be restrained (slip). With each control parameter, the traveling device cannot be automatically controlled to travel between the points a to e or stopped at the stop point f within the allowable accuracy range as expected.

[0007] Then, an abnormality such as aged deterioration of the traveling device in the work mobile machine as described above, an irregular wear of the rail, an occurrence of a crack, or a change exceeding the control action of the external atmosphere. In the conventional case, each of the detections is empirically determined by relying on the five senses associated with the driver's experience, or by performing daily inspections by workers involved in maintenance work.

However, as in the present situation, the fully automatic control of the device configuration has progressed, and in the traveling device of the work mobile machine, which tends to be unmanned, the driver is absent. However, continuous monitoring of the equipment is becoming impossible, which leads to delay in the detection of abnormalities, which may cause a serious accident in the coke oven facility, and is also fatal to the equipment configuration. There were problems such as the possibility of damage.

The present invention has been made in order to solve these problems in view of the above-mentioned conventional circumstances.
The purpose is to accumulate and analyze each detected data based on each wheel rotation speed data or each traveling speed data obtained from two or more wheels during traveling by the automatic control driving operation of the traveling device. Therefore, it is possible to detect abnormalities at least in each component of the traveling device, cracks in rails, etc., so that it is possible to determine the occurrence of an abnormality at an early stage. Is to provide a method.

[0010]

In order to achieve the above object, a traveling abnormality determining method in a traveling device for a coke oven working mobile machine according to the present invention is a traveling device for a working mobile machine which is automatically controlled and operated. At the time of traveling by automatic control driving operation of the traveling device, each wheel rotation speed data obtained from two or more wheels or each detection data of each traveling speed data is sampled and accumulated in time series, and Each detection data accumulated by the set logic program is analyzed, the traveling tendency of the traveling device is quantitatively monitored, and the abnormality occurrence portion is determined and the traveling abnormality is determined.

That is, the present invention is applied to a mobile machine for working a coke oven, and is automatically controlled and operated by a traveling control device to drive a traveling abnormality on a traveling device which is driven on a rail and driven and driven by each wheel. A determination method, wherein, as the traveling device travels, the wheel rotation speeds or traveling speeds of the two or more wheels in the traveling device are compared with each other, and the respective wheel speeds of the two or more wheels are compared. Regarding the number of occurrences when the wheel rotation speed data or the difference of each traveling speed data is out of a predetermined wheel rotation speed range or traveling speed range, the generation position (ceramic address) and the generation applicable wheel Each detection data is sequentially stored in the storage device of the traveling control device, and the number of occurrences when the vehicle speed is out of the predetermined wheel rotation speed range or traveling speed range is set in advance. When the specified number of times exceeds the specified number of times, the generated position and the generated corresponding wheel are classified at regular intervals from the accumulated detection data, and the generated position and the distribution state of the generated corresponding wheel are analyzed. A method for determining a traveling abnormality in a traveling device of a mobile machine for coke oven work, which is characterized by determining an abnormal portion and determining a traveling abnormality.

[0012]

Therefore, according to the present invention, while the vehicle is traveling by the automatic control operation of the traveling device, the wheel rotational speeds or the traveling speeds of the two or more wheels are compared with each other to obtain the wheel rotational speed data or the wheel rotational speed data. The difference of each running speed data,
The number of occurrences when the wheel speed deviates from a predetermined wheel rotation speed range or traveling speed range, and the respective detection data regarding the generation position (pottery address) and the corresponding generation wheel are accumulated in sequence. When the number of occurrences at the specified number of times exceeds the predetermined number range, it is necessary to classify the occurrence position and the occurrence corresponding wheel from the accumulated detection data for each fixed period, and analyze the distribution position of the occurrence position and the occurrence applicable wheel. Thus, the abnormality occurrence portion of the traveling device and the traveling abnormality are determined.

[0013]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a traveling abnormality determining method in a traveling device for a moving machine for coke oven work according to the present invention will be described in detail below with reference to FIGS.

FIG. 1 is a block diagram showing a schematic configuration of a traveling control device in a traveling device for a coke oven working mobile machine to which an embodiment of the traveling abnormality determining method according to the present invention is applied.

That is, in the device configuration of FIG.
Reference numeral 10 denotes a traveling device provided in the work mobile machine, that is, although not shown in the drawing, it indicates a rail installed between the kiln equipments including the auxiliary equipments constituting the coke oven facility. A traveling device that travels and is stopped at each required position is shown. As described above, the traveling device 10 mainly includes a drive device mainly composed of an electric motor, a regenerative braking device, and a hydraulic motor. Drive unit 11 including a drive device, a regenerative braking device, and other braking devices
And a braking device portion 13 are provided, and the driving device portion 11 has driving wheels, in this case, a driving system having driven wheels 12, and a driven system having driven wheels (not shown). Reference numeral 13 has a braking system including either of these driving and driven wheels, in this case, a braking target wheel 14.

Reference numeral 20 denotes a traveling control device for automatically controlling and operating the traveling device 10 and controlling automatic positioning stop of the traveling device 10. The traveling control device 20 stops at least from the traveling start point a. A position detection unit 21 is provided for detecting and outputting each traveling position up to the point f and a stopping position corresponding to a stopping point (hereinafter, simply referred to as a stopping point) f including an allowable stopping range, and the traveling The traveling device 10 has various built-in control parameters for automatic control operation and automatic positioning control stop for the device 10.
2 or more of each wheel, in this case, each wheel rotation speed or each traveling speed of the drive target wheel 12 and the braking target wheel 14 (hereinafter, unified to each wheel rotation speed in order to avoid complexity of description). Compared with each other, the difference between these wheel rotation speed data or each traveling speed data (hereinafter, similarly unified to each wheel rotation speed data) is determined by a predetermined wheel rotation speed range or traveling speed. A travel control unit to which each travel position detection data 21a of the position detection unit 21 is input, including means for outputting an abnormality occurrence when it is out of the range (hereinafter, similarly unified to each wheel speed range) 22 is provided.

Further, separately from the traveling control device 20, together with the detection data (hereinafter simply referred to as traveling / stop position detection data) 21b of each traveling position and stop position from the position detector 21, A storage device 23 for accumulating and storing detection data (hereinafter, simply referred to as abnormality detection data) 22d of occurrence of abnormality from the traveling control unit 22 is provided, and each detection data 2 accumulated in the storage device 23.
An analysis program section 24 for analyzing 1b and 22d according to a preset analysis program and outputting the analysis result to the CRT printer section 25 is provided.

In the case of this embodiment, however, the traveling device 1
0, by extension, when traveling from the traveling start point a by automatic control operation of the work mobile machine, the traveling control unit 22 stops the target stop based on the traveling position detection data 21a output from the position detection unit 21. While measuring the traveling distance with respect to the point f, an appropriate traveling drive / driving speed command 22a is output to the drive device section 11 to cause the traveling device 10 to travel, and the drive target wheel 12
And wheel speed data 12 from the braking target wheel 14
a and 14a are input respectively.

Then, in the traveling control unit 22, the wheel rotation speed data 12a and 14a inputted to the respective wheels are inputted.
Are compared with each other, and these wheel speed data 12
When the difference between a and 14a is out of a predetermined wheel rotation speed range set in advance, it is detected that an abnormality has occurred, and the abnormality occurrence detection data 22b is output to the storage device 23. The traveling device 10 of the stop point f
As the vehicle approaches, the appropriate braking command 22c is output to the braking device unit 13 for braking, and the traveling device 10 is stopped at a predetermined stop point f.

In addition, in the storage device 23, when the abnormality occurrence detection data 22b is input from the traveling control unit 22, the number of occurrences and the position detection unit 21.
The generated position (ceramic address) based on the running / stopped position detection data 21b and the detected data relating to the generated wheel are sequentially stored and accumulated, and the analysis program section 24 is provided with each of these detected data. The detection data is output as the abnormality occurrence data 23a.

Subsequently, in the analysis program section 24,
Abnormality occurrence data 23a input from the storage device 23
Is analyzed according to a built-in analysis program, and the number of occurrences is set in advance for each fixed period when the wheel rotation speed range is out of the range of the abnormality occurrence data 23a. If it exceeds the specified number of times range, and if it exceeds, a predetermined period range, for example, about the occurrence situation in the past month, its occurrence position (pottery address) By classifying by day or hour, and analyzing the occurrence position and the distribution state of the corresponding wheels, it is possible to determine the abnormality occurrence portion and the traveling abnormality, and use these determination and determination results as the device abnormality data 24a. It is output to the CRT / printer unit 25, displayed on the CRT / printer unit 25, and printed out.

It should be noted that at least one of the wheel rotation speed data of each of the two or more wheels in the traveling device 10 is not necessarily limited to the wheel rotation speed data. For example, the position of the traveling device 10 is detected. There is no problem even if it is the detection data obtained from the position data. Then, as described above, the wheel rotation speed data is 1
In the two cases, the same processing as described above can be performed by converting this into speed data and comparing this with speed data obtained from the amount of movement for a certain period by position detection.

On the other hand, in the configuration of the above embodiment, even if each component of the traveling device 10 provided in the working mobile machine is maintained in a normal state, the external atmosphere thereof controls the traveling device 10. When it changes before the action is exceeded, that is, when the track surface is heavily wetted, for example, due to weather conditions such as relatively strong wind and rain, the contact pressure between the track surface and each driven wheel 12, so-called. As described above, the adhesion coefficient deviates from the limit point, and each of the driven wheels 12 becomes idling (skid) or restrained (slip), and as described above,
In some cases, the difference between the wheel rotation speed data of two or more wheels may exceed a preset rotation speed range.

Therefore, in such a case, assuming that the number of occurrences is within a predetermined period, for example, about 2 to 3 times within one day, by considering safety etc. For the maximum value of 3 times, the deviation value may be set to an upper limit, for example, to a value of 4 to 6 by adding about 1 to 2, and a comparison with the number of occurrences may be made. When the number of occurrences within the predetermined period compared with the above exceeds the upper limit value, as a result, it can be considered that an abnormality has occurred, so even here,
Within the predetermined period, for example, in the past one month unit, the occurrence position (pottery address) is classified by day or hour and analyzed, and the same result as above is obtained.

In the analysis, from the occurrence distribution of the inching, the degree of concentration of the occurrence position (pottery address) is determined by the characteristics of the working mobile machine or the traveling device 10 provided in the working mobile machine. However, it is preferable to calculate a kiln address having a number of occurrences equal to or greater than k times the average number of occurrences per kiln (where k is a coefficient of concentration).

Regarding this point, in general, the above-mentioned abnormality of the railroad includes not only uneven wear and cracks due to deterioration over time but also, for example, level fluctuation of railroad surface due to detachment of liner of sleepers and step difference of joint. However, when the traveling device 10 tries to travel through the corresponding position, the normal adhesion coefficient is not always obtained due to the inclination due to the level fluctuation, the bounce due to the step of the seam, etc., and the abnormal rotation speed occurs. In many cases, each of these anomalies is not in the entire length of the coke oven, in other words, in the entire track along the length of each kiln range,
Since the rotation speed abnormality of the traveling device 10 in this case occurs only at the corresponding position because it exists only at a limited position, the analysis result at this time shows that the kiln address where the rotation speed abnormality has occurred If the distribution of is concentrated, this is judged to be an abnormality in the track.

On the other hand, one of the factors causing the abnormality in the rotational speed of the traveling device 10 is the deterioration of each of the drive device portion 11 and the braking device portion 13 over time, and in general, a constant driving force or braking force is generated. Below is a normal mode in which the parameters relating to the braking of the automatic traveling stop control are appropriately set, so that the driving force and the braking force at this point may change,
Or, if the wheels are unevenly worn, a normal adhesion coefficient cannot be obtained between the rail surface and the corresponding wheels, and this also causes abnormal rotation speed.

Such a state occurs with the traveling operation regardless of the traveling position, and unless the occurrence distribution of the rotational speed abnormality at this time is concentrated.
It is determined that the drive unit 11, the braking unit 13, the wheels, and the like are abnormally generated, and the traveling device 10 is abnormal.

Next, FIGS. 2 and 3 show the traveling device 1 described above.
As a mobile machine for coke oven work having 0, in this case, speed detection of each of the first to fourth drive wheels 101 to 104 and the driven wheel 105 during acceleration and deceleration of a four-wheel drive fire engine. Data 101a to 104
a, 105a, and speed detection data 21c in the position detection unit 21 are sampled and graphed.

That is, in FIG. 2, during acceleration, the fourth drive wheel 104 becomes idling (skid) in the traveling portion A, and in FIG. 3, during deceleration,
Each speed condition when the third drive wheel 103 is restrained (slipped) in the traveling portion B is shown.

In addition, FIG. 4 is a graph showing the number of times of slip / skid generation within a certain period for each of the first to fourth drive wheels 101 to 104 and graphing them together. It is explanatory drawing which measures the wheel wear amount for every 104 and shows mutual relationship.

As is clear from FIG. 4, slip
There was a correlation between the number of skids and the amount of wheel wear, which allowed us to detect abnormalities.

[0033]

As described above in detail with reference to the embodiments,
According to the method of the present invention, the method is applied to a mobile machine for working a coke oven, is automatically controlled and operated by a travel control device, drives on a rail, and is a traveling abnormality determination method for a traveling device that travels on each driven wheel. While the vehicle is traveling by the automatic control operation of the traveling device, the wheel rotational speeds or the traveling speeds of the two or more wheels are compared with each other, and the difference between the wheel rotational speed data or the traveling speed data is
The number of occurrences when the wheel speed deviates from a predetermined wheel rotation speed range or traveling speed range, and the respective detection data regarding the generation position (pottery address) and the corresponding generation wheel are accumulated in sequence. When the number of occurrences in the number of times exceeds the predetermined number range, it is necessary to classify the occurrence position and the occurrence corresponding wheel from the accumulated detection data for each fixed period, and analyze the distribution state of the occurrence position and the occurrence applicable wheel. Therefore, it is possible to easily judge the abnormal part of the mobile working machine and the judgment of the running abnormality in the coke oven facility, and it is possible to grasp the actual situation of these at an early stage and take appropriate measures. It is possible to prevent such accidents and damage to the equipment structure.

[Brief description of drawings]

FIG. 1 is a block diagram showing a schematic configuration of a traveling control device in a traveling device of a mobile machine for coke oven work, to which an embodiment of a traveling abnormality determination method according to the present invention is applied.

FIG. 2 shows a first example of speed detection data of drive wheels and driven wheels and speed detection data of a position detection unit at the time of acceleration and deceleration of a four-wheel drive type fire-extinguishing train as a work mobile machine. It is a graph.

FIG. 3 is a graph showing a second example of the same.

FIG. 4 is an explanatory view showing the number of slip / skid occurrences in a four-wheel drive type fire-extinguishing train within a certain period classified by each drive wheel and graphed, and showing the relationship with the wheel wear amount for each drive wheel. is there.

FIG. 5 is an explanatory diagram showing a state of a general traveling automatic positioning stop control operation in a conventional traveling device.

[Explanation of symbols]

 10 Traveling device 11 Drive device part 12 Drive target wheel 12a Wheel rotation speed data 13 Braking device part 14 Braking target wheel 14a Wheel rotation speed data 20 Travel control device 21 Position detection part 21a Travel position detection data 21b Travel / stop position detection data 21c Speed detection data 22 Travel control unit 22a Travel drive / drive speed command 22b Abnormality occurrence detection data 22c Braking command 22d Abnormality detection data 23 Storage device 23a Abnormality occurrence data 24 Analysis program unit 24a Device abnormality data 25 CRT / printer unit 101 to 104th 1st-4th each drive wheel 101a-104a speed detection data 105 driven wheel 105a speed detection data

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Claims (2)

[Claims] 1. Applied to a mobile machine for working a coke oven, and automatically operated by a traveling control device,
A method for determining a traveling abnormality of a traveling device that drives on a rail and travels by driven wheels, wherein each wheel rotation speed or wheel speed obtained from two or more wheels of the traveling device according to traveling movement of the traveling device. The respective traveling speeds are compared with each other, and the wheel rotational speed data or the difference between the respective traveling speed data of these two or more wheels is out of a predetermined wheel rotational speed range or traveling speed range set in advance. In this case, the number of occurrences, the respective detection data relating to the occurrence position (pottery address) and the corresponding wheel are sequentially accumulated in the storage device of the traveling control device, and the predetermined wheel rotation speed or traveling speed range is obtained. When the number of occurrences when it exceeds the predetermined number of times exceeds a preset number of times, the generated position and the corresponding wheel are classified at regular intervals from the accumulated detection data. And analyze the distribution position of the generation position and the generation applicable wheel,
A method for determining a traveling abnormality in a traveling device of a mobile machine for coke oven work, which comprises determining an abnormal portion and determining a traveling abnormality. 2. One of the wheel rotation speed data and the traveling speed data of each of the two or more wheels is detection data obtained from position data obtained by detecting the position of the traveling device. 1. A method for determining a traveling abnormality in a traveling device for a mobile machine for coke oven work according to 1.