JPH07157765A - Method for stopping coke oven moving machine at prescribed position - Google Patents

Abstract

PURPOSE:To accurately stop a coke oven moving machine at a prescribed position. CONSTITUTION:This method for stopping a coke oven moving machine 7 at a prescribed position is to send a distance signal measured by a preceding distance measuring instrument 1 to a computing element 2 for a stopping position, compute the formula (x) = (1x-1min) (1max-1min) showing the relationship between the distance (x) from one end of a target 3 to a point of measurement and the distance (1x) between a range finder and the target from the shortest distance (1min) and the longest distance (1max) to the target 3 and the preknown projected length (L) of the target 3 in the running direction of the moving machine by the computing element 2 for the stopping position, send the computed formula to the computing element 4 for the residual distance by the computing element 2 for the stopping position, determine the actual distance (x) from the distance (1x) to the target 3 actually measured by the succeeding distance measuring instrument 5 utilizing the formula, compute the deviation from the target value (x0) and send the deviation to a speed controller 6 by the computing element 4 for the residual distance and carry out the stop control of the moving machine 7 according to a well-known speed control by the speed controller 6.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for stopping a fixed position of a coke oven moving machine.

[0002]

2. Description of the Related Art In a coke oven, a mobile machine is used to open and close the oven lid. Recently, in order to achieve labor-saving and unmanned operation of the coke oven, a technique of automatically stopping the mobile device at a fixed position has been studied, and various fixed position detection methods therefor have been proposed.

However, since the coke oven is installed outdoors and is exposed to a large amount of dust, corrosive gas, or high temperature, the mobile unit is always operated due to the deformation of the furnace body and the influence of the weather. It is not always possible to accurately detect a fixed position and stop the fixed position without a large error, which is an obstacle to labor saving and unmanned operation.

In order to solve such a problem, Japanese Patent Publication No. 54394/1990 proposes a device for detecting the furnace opening and the furnace lid position of a coke oven. This detection device detects the positional relationship between the furnace opening or the furnace lid from the rotation angle of the angle detection arm that can contact the furnace opening or the furnace lid.

Further, Japanese Utility Model Publication No. 3-18152 discloses that
A fixed position detection device for a coke oven working machine has been proposed. This detection device has a target with a concave and convex boundary step orthogonal to the moving direction of the coke oven working machine at a fixed position on the coke oven side, and the coke oven work is performed by an image detector and a floodlight provided on the coke oven working machine side. It detects the fixed position of the machine.

Further, Japanese Patent Laid-Open No. 3-41189 discloses that
A fixed position detection device for a coke oven working machine has been proposed. This detecting device is provided with a light source and a secondary coil for lighting the light source at a fixed position on the coke oven side, and an image detector and a secondary coil having a photoelectric element at a position corresponding to the light source on the coke oven working machine side. 1 at the position corresponding to
A secondary coil is provided and an exciting power source for the primary coil is provided.

[0007]

However, when the above-mentioned conventional position detecting device is used to stop the coke oven moving machine at a fixed position, the following problems occur. (1) When using the detection device of Japanese Patent Publication No. 2-54394 Since it is a mechanical contact system, the load for maintenance to maintain the function is too heavy, and the mobile device is located near the fixed position to detect the position. Then, the operation is stopped once and the position is corrected if it is displaced from the fixed position, which leads to a decrease in the operating rate of the coke oven itself.

(2) When using the detecting device disclosed in Japanese Utility Model Laid-Open No. 3-18152 and Japanese Unexamined Patent Publication No. 3-41189 Since the fixed position can be detected only at the moment when the vehicle reaches the stop position, the mobile unit is fixed. Since the position is overshooted, the stop position needs to be corrected.

The present invention has been made in order to solve the above-mentioned problems of the prior art, and detects the distance to a fixed position to be stopped during the movement of a mobile unit from moment to moment, until the fixed position is reached. It is an object of the present invention to provide a fixed position stopping method for a coke oven moving machine that can easily stop at a fixed position by performing stop control according to the distance.

[0010]

According to the method for stopping a fixed position of a coke oven moving machine according to the present invention, a planar target having two sides parallel to the vertical direction is fixed in the running direction of the coke oven moving machine. The coke oven carbonization chambers are arranged in an inclined state, and two distance measuring devices are installed in the coke oven moving machine at intervals in the traveling direction of the moving machine. The distance to the target is measured by the measuring device, and the maximum and minimum values of the measured distance signal and the projected length of the target in the traveling direction of the mobile device are used to measure the distance by the second distance measuring device behind the traveling direction. The relationship between the measured value and the distance from the target stop position of the mobile unit is determined, and based on this relationship, the position deviation from the target stop position of the mobile unit from the distance actually measured by the second distance measurement value to the target. Seeking It is characterized in carrying out the target stop position control of the coke oven mobile machine based on the deviation.

[0011]

FIG. 2 is a plan view showing the position of the mobile unit and the distance between the distance measuring device and the target in the present invention. In FIG. 2, the target is indicated by AD, A is a cross section of one parallel side, and D is a cross section of the other side. The target AD is installed at a certain angle θ with respect to the traveling direction of the mobile device (indicated by an arrow), and the projection length in the traveling direction of the mobile device is L. In FIG. 2, the distance between the distance measuring device and the target has a minimum value l _{min at} point A and a maximum value l _{max at} point D. The shortest distance to the target measured by the preceding rangefinder A
From the relationship between l _min and the tilt angle θ of the target, the relationship between the distance l _x between the distance meter and the target and the distance l _X between the range finder and the target as shown in FIG. ) Can be calculated.

X = (l _x −l _min ) / tan θ (1) Here, tan θ can be calculated by tan θ = (l _max −l _min ) / L (2). _{Therefore, x = (l x -l min} ) L / (l max -l min) (3) Since the relative position of the target is known in advance for coking chamber center, which determine the x by measuring the l _x by the If
The relative distance between the position of the rangefinder and the center position of the carbonization chamber can be obtained. Since the distance between the distance meter and the center of the mobile unit is also known in advance, if the relative distance is obtained, the deviation between the position where the mobile unit is stopped at the center of the carbonization chamber and the current position of the mobile unit can be obtained. Therefore, by performing stop control of the mobile unit based on this deviation, the mobile unit can be reliably stopped at the center of the carbonization chamber.

In the present invention, the trailing distance meter B is used as a means for actually measuring the distance to the target used for the stop control. In order to enable the stop control of the mobile unit when traveling in either the left or right direction in FIG. 2, at least the first distance meter and the second distance meter should be set in the traveling direction. It is necessary to be separated by 1/2 or more of the projected length L of the target. The reason is that the relational expression by the equations (1) and (2) can be obtained only after the measurement of the distance to the both ends of the target AD is completed by the preceding distance meter.
On the other hand, when the measurement is completed, it is necessary that the distance from the target stop position has not been exceeded, and if the minimum distance between both rangefinders is obtained from this condition, the mobile unit will be the target when the target range C is measured by the trailing rangefinder. The minimum distance is obtained when the relative position of the target and the trailing distance meter is determined so as to be located at the position, which is 1 / l of the projected length L of the target in the traveling direction.
This is because it corresponds to an interval of 2. The actual distance between both rangefinders is set after the target installation position and control are started so that the target position can be stopped even if the control is started from the time when the measurement by the preceding rangefinder is completed. Will be decided by considering the distance traveled by the mobile device.

[0014]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A fixed position stopping method for a coke oven moving machine according to an embodiment of the present invention will be described with reference to the block diagram of FIG. The distance signal measured by the preceding distance measuring device 1 is sent to the stop position calculator 2. The stop position calculator 2 calculates the shortest distance l _min and the longest distance l _max to the target 3, and the projection length L of the target 3 in the traveling direction of the mobile device, which is known in advance, from the one end of the target to the measurement point x. And the equation (3) showing the relationship of the distance l _X between the rangefinder and the target is calculated. x = (l _x −l _min ) L / (l _max −l _min ) ... (3)

Since the geometrical positional relationship between the mounting position of the target and the center of the carbonization chamber and the geometrical positional relationship between the mounting position of the trailing distance measuring device 5 and the center of the mobile unit are known in advance, the mobile unit When located at the target position (center of the carbonization chamber), the value x _{0 of} x to be instructed by the trailing distance measuring instrument 5 is also predetermined. The stop position calculator 2 sends the calculated formula (3) and the value of x ₀ to the remaining distance calculator 4. The remaining distance calculator 4 calculates the actual _x from the distance l _x measured by the trailing distance measurer 5 to the target 3 by using the formula (3), and x
A deviation from ₀ is calculated, and this deviation is sent to the speed controller 6.
The speed controller 6 controls the stop of the mobile device 7 by known speed control.

Before carrying out the fixed position stopping method of the coke oven moving machine according to the present invention, it is detected that a target position is approached by a limit switch or the like, if necessary.
If the fixed position stopping method is performed after the first stage deceleration is performed in advance, slip due to inertia can be prevented.

[0017]

According to the present invention, the distance to a fixed position at which the mobile machine should be stopped can be detected momentarily, so that the speed can be reduced according to the distance to the fixed position, and the coke mobile machine can be accurately determined. Can be stopped in position.

[0018]

[Brief description of drawings]

FIG. 1 is a block diagram of an apparatus for performing one embodiment of the present invention.

FIG. 2 is a diagram showing a relationship between a distance to a target and a distance detector position.

[Explanation of symbols]

 1 Leading distance measuring device 2 Stop position computing device 3 Target 4 Remaining distance computing device 5 Backward distance meter 6 Speed controller 7 Mobile unit

Claims (1)

[Claims] 1. A planar target having two sides parallel to the vertical direction is arranged in each coke oven carbonization chamber in a state of being inclined at a constant angle with respect to the traveling direction of the coke oven mobile machine, and the coke oven mobile machine is also provided. In this case, two distance measuring devices are installed at intervals in the traveling direction of the mobile unit, the distance to the target is measured by the first distance measuring device in front of the traveling direction, and the maximum value of the measured distance signal is measured. From the minimum value and the projected length of the target in the traveling direction of the mobile unit, the relationship between the measured value measured by the second distance measuring device located behind the traveling direction and the distance from the target stop position of the mobile unit is obtained. Based on the relationship, the position deviation from the target stop position of the mobile machine is obtained from the distance to the target measured by the second distance measurement value, and the target stop position control of the coke oven mobile machine is performed based on this deviation. To do Characteristic method of stopping the fixed position of the coke oven moving machine.