JPS58167676A - Controlling method for automatic driving of coke oven extinguishing carts - Google Patents

Abstract

PURPOSE:A stranded couple type inductive radio way is installed all over the length of the path on which extinguishing cart is operated and the absolute address of the extinguishing cart is detected by means of a continuous cart position detecting unit to detect the present position of the cart exactly and control it. CONSTITUTION:A stranded couple type inductive radio way that can transmit data additionally is installed all over the length of the path on which the extinguishing cart is operated and the absolute address of the cart is continuously detected by the cart controller by means of a continuous address detecting unit by the absolute address detection method. On the basis of the operation control programs, the addresses for individual ovens, the addresses stopping the cart, the addresses for coke work center and the information on the speed inlet by the cart and the information on the pusher operation, the movement, stop and the coke loading of the cart and discharge are commanded in accordance with the operation process to permit the automated control of the extinguishing cart in a coke oven that works coke-receiving operation in the mutual connection with the pusher.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a method for automatically controlling the fire extinguishing truck of a coke oven.゛The fire extinguishing truck of a coke oven is usually operated manually by a driver in the operator's cab, and is aligned with a guide wheel that has stopped in line with the kiln. Proceed to load coke in sync,
After loading coke, drive to the fire extinguishing tower, stop exactly at a predetermined position inside the tower, extinguish the fire with water and drain water, then drive the fire extinguisher around the coke wharf again and stop before the designated coke wharf. The door is then opened and closed, and the coke is unloaded to complete one kiln operation.

However, when operating the fire extinguisher, it is necessary to communicate with other working machines such as an extruder and a coke guide vehicle to confirm each other's operations and positions.

Conventionally, mutual communication between these 1'1F Shiba machines has been confirmed by looking directly with the naked eye, or by using a telephone or radio.

However, such a communication method is prone to false alarms, and mutual location confirmation cannot be completely verified.

Therefore, many attempts have been made to automatically control the operation of coke extinguishing trucks, and recently there have been many attempts to automatically control the operation of coke extinguishing trucks.
A method has been proposed for automatically controlling the operation of a series of working machines including coke guide vehicles and the like.

Automatic control of the fire extinguisher is such that it is stopped at a predetermined position relative to the coke guide vehicle, and started in synchronization with coke extrusion.
After loading coke, it moves along with the fire tower and stops at a fixed position inside the tower to extinguish the fire with water. After the fire is extinguished, the truck moves to a predetermined coke wharf, unloads the coke into the coke wharf, and then moves toward the coke guide car to load coke again. During this series of automated operations, the fire extinguisher detects a number of fixed points set up during the process and performs deceleration and stopping operations appropriate for each point. Because it depends on

The reason for this is that the track of the fire extinguisher is over 200u thick (left, right, up and down) relative to the reactor body and the level line (see page 3), so the ground stator that indicates the fixed point and the ground stator This is because when sending oil over the top, the distance between the fire truck and the onboard element that detects a fixed point on the fire truck constantly changes, making it impossible to maintain detection accuracy.

Therefore, in coke ovens that were built with plans for automatic control of the fire extinguisher from the beginning, the track bed of the fire extinguisher was made solid to maintain detection accuracy, but this required the construction of a strong foundation, which required a large amount of money. It costs money. Further, in existing coke ovens, such reinforcement is not possible due to operational reasons.

In this way, even if the detection accuracy of the ground element and the overhead element is maintained, when aligning the coke guide vehicle and the fire extinguisher, the stopping distance is insufficient due to the installation distance of the onboard element of the kite vehicle, resulting in stopping accuracy. I cannot hope for the same.

As a method to improve the above-mentioned drawbacks, a so-called kiln number detection method was devised to detect the position of the fire extinguisher by reading the mileage of the fire extinguisher instead of ground element detection.
I'm giving. However, even with this method, the idler wheels installed on the fire extinguisher roll on the track and the distance is read by the rotation of the idler wheels, so errors due to slipping of the idlers (page 4) are unavoidable, and as a result, errors in the entire process cannot be avoided. Ground coils are installed at several locations, and at these ground coil points, the absolute position is 1.
The difference is being corrected.

Therefore, although the above method reduces the number of beacons as compared to the conventional method, it does not fundamentally solve the problem that occurs between the beacon and the onboard shear.

Furthermore, when a fire extinguisher is on the site due to a power outage, etc., the distance traveled by the fire extinguisher during that time is not added up, so the location of the fire extinguisher is unknown, and the worker has to manually drive the fire extinguisher to the reference point. It is necessary to force it.

This invention solves all such problems.

The purpose of this project is to automatically control fire extinguishing trucks in coke ovens, and proposes a method for automatically controlling the operation of fire extinguishing trucks using a fermentation radio system.

That is, the present invention provides a method for automatically controlling the operation of a fire extinguishing truck in a coke oven in which a kiln receiver for calcined coke is operated in conjunction with an extruder, in which data can be transmitted over the entire driving route of the extinguishing truck. Twisted pair type induction heat @ line is installed.

With the continuous position detection mechanism based on the absolute address detection method, the fire extinguisher control device continuously detects the absolute position of the fire extinguisher. Tower stop location address, each Coke Wharf center address, and speed information input from fire engines;
The gist is to instruct the fire engine to move, stop, and load/unload coke in sequence according to the work process based on the work information of the extruder.

Next, details of this invention will be explained based on the drawings.

FIG. 1 specifically illustrates the control method of the present invention. That is, a twisted pair type cable (IR) that can perform data transmission over the entire length of the running route of the fire extinguisher (1) is arranged, and its starting end (2) is connected to the position detection part (6) of the fire extinguisher control device (3). 4), connect with the data transmitting/receiving section (5). The position detection section (4) and the data transmission/reception section (5) are
The communication control section (6) is connected to the fire extinguisher control section (7). The fire engine control section (7) also includes an operation panel (8).
, is connected to the printer (9).

On the other hand, an on-vehicle transmitter/receiver 01 is installed on the fire extinguisher (1), and transmits information and commands to the fire extinguisher control device (3) via an antenna 01), and continuously transmits information and commands using an absolute address detection method. The position detection mechanism is configured to continuously detect the absolute position of the fire extinguisher (1). This continuous position detection mechanism uses the absolute address detection method.

Consists of an absolute position detection device and a continuous position detection device.

Figure 2 shows the principle of the phase-type absolute address detection method, in which an untwisted phase reference pair (R) in a twisted pair type cable (I'R) and a phase reference pair (R) twisted at different pitches are used. The signal received by each pair (di (Go-Gn)) is expressed as 2 with the phase reference pair (R) and the in-phase part as "0" and the anti-phase part as "l".
By displaying the fire extinguisher, the position can be detected as the address of 2 to the nth power over the entire length of the route of the fire extinguisher (1). Since the minimum unit of position detection in this method is about 100, the continuous position detection method shown in FIG. 3 is combined with the method of further continuously decomposing the small twisting pitch.

Figures 3(A) to 3(C) show the principle of the continuous position detection method. It is minimum at the intersection position and maximum at the midpoint, and the intersection interval (P).

By appropriately selecting the antenna shape and the distance between the line (IR) antennas, it is possible to make the reception level fluctuation almost sinusoidal. One of the signals from the transmitter (2) is electrically
/2, as shown in Figure 3 (a), the two antennas (a, b) are used to spatially move 1/2 of the guided radio intersection interval.
Connection level pattern shifted by 2 (A).

(B) (Fig. 3 (B)), while the paired line (Go)
When the above-mentioned 1-gear signal received at 1 is passed through a shift 4.1 detector (to), a phase shift k proportional to the distance from the intersection is obtained as shown in Fig. 3 (c).

This phase shift change is converted into electric power by the A/D f converter α→, and the distance from the intersection of the antennas can be continuously obtained.

Figure 4 shows an example of a block diagram of this position detection device.
, the frequency f for the phase reference pair (J?) and each pair (G
o = Gn) and transmits the modulated reference pulse of frequency 2fo. On the other hand, each twisted pair of wires (
Pulse signal 2 fo received at G o = Gn )
is demodulated, received by the reference pair (R), and it is determined whether it is in phase or in phase with the demodulated pulse signal f, and the result is stored in the input register (to).

In addition, by using the continuous position detection method described above, the minimum twist pair @
The distance from the intersection determined from the phase shift change in the twisting pitch (P) of (Go) is also stored in the input register (To) at the same time, and by combining these, the absolute position of the fire engine over the entire length is continuously determined. It is detected by the position detection section (4) and transmitted and stored in the fire engine control section (7) via the communication control section (6).

As a method for detecting absolute bands of 2 to the nth power, as shown in FIG. This can also be achieved by detecting signals corresponding to 1'° and 0° in the binary system by coupling with the antenna in open parts and not coupling with the antenna in dense parts.

Further, although only the method of position detection on the ground side has been described, the position of a fire extinguisher can also be detected using a similar method.

In addition, the fire extinguisher control unit (7) has information such as the kiln exit position of the extruder and the completion of kiln exit preparation between the extruder and the extruder (not shown).

Commands and information for the start and end of extrusion are input and output, and commands and information such as water storage r/level, water valve opening/closing, pump start/stop, etc. are input and output between the fire tower (not shown) and the coke wharf. During this time, commands and information such as filling/emptying the wharf, starting/stopping the cutting feeder, failure, etc. are input/output and stored.

The fire extinguisher control unit (7) executes a control program for the fire extinguisher's work process as shown in FIG.

Equipped with a fire tower, a remote area in the center of Cork Wharf, speed information input from a fire engine, an extruder, and a fire tower.

The communication control unit (6) issues commands to move and stop the fire extinguisher and to load and unload coke according to the information input from the coke wharf etc. and the work oven information input from the operation panel (8).
Data transmitting/receiving section (5), twisted pair type cable (IR)
to the on-board transceiver QO of the fire extinguisher (1) to control the control mechanism of the fire extinguisher (1).

It is configured to receive and store information on work status and to type necessary data by a printer (9).

Now, when a predetermined kiln number designation is input from the operation panel (8) to the fire extinguisher control unit (7) according to the work plan, the fire extinguisher controller (7) controls the fire extinguisher according to the control program for the work process. (1), a command to run in a predetermined direction is issued to start the drive motor of the fire extinguisher (1). Fire truck (
1) starts traveling, the position detection section (4) continuously detects the absolute position of the fire extinguisher and transmits it to the fire extinguisher control section (7), which separately detects the absolute position of the fire extinguisher on the fire extinguisher. Transmitter/receiver 0Q
The speed information of the fire extinguisher and the current position and stoppage of the fire extinguisher are received through the data transmission/reception unit (5).

The braking command position is determined by constantly comparing the kiln number center address and the braking program, and when the fire engine (1) reaches the braking position, it is ready in advance. Based on the braking program, a braking command is sent to the fire extinguisher (1) to operate the brake of the fire extinguisher (1), apply appropriate braking to a predetermined deceleration value, and accurately stop the fire extinguisher at a predetermined center address position.

On the other hand, the relative position between the fire extinguisher (1) and the guide vehicle can be detected by the sensor installed on the fire extinguisher (1), and is transmitted to the fire extinguisher controller ( 7).

After confirming that the extruder, fire engine, and guide car are ready to exit the kiln, the fire engine control unit (7) sends an extrusion start command to the extruder, and when the extrusion start information is input from the extruder, ,
A command to drive the carcass is sent to the fire extinguisher (1), and the fire engine (1)
) is run as a carcass and loaded with coke.

When the extrusion end information is input from the extruder, the fire engine control unit (7) sends a temporary stop command to the fire engine (1), and after temporarily stopping the fire engine (1), the fire engine controller (7) sends a temporary stop command to the fire engine (1), and then sends a command to the fire tower. A travel command is sent to make the fire engine (1) travel to the fire tower.

During this time, the absolute position of the fire engine (1) is continuously detected by the position detection section (4), and transmitted and stored in the fire engine control section (7).

Speed information and current location of the fire truck are input at the same time.

The braking command position is determined by constantly comparing and calculating the stop center address position in the fire tower, and when the braking command position is reached, a braking command is issued based on the braking program, and appropriate braking is performed using a predetermined deceleration value. The fire engine (1) is stopped at a predetermined position inside the fire tower.

Thereafter, the fire engine control unit (7) sends a water spray valve opening/closing command to the fire tower to extinguish the fire with water and drain the water for a predetermined period of time. During this time, the fire extinguisher control unit (7) determined the unloading coke wharf based on the stored coke wharf information, and when the draining completion signal was input, issued a travel command to the coke wharf and determined the fire extinguisher (1). The current position and speed of the fire extinguisher, which is being driven towards Cork Wharf, is input from the position detection unit (4).

The braking command position is determined by constantly comparing and calculating the braking program at the stop center address of the unloading cork wharf, and when the braking command position is reached, a braking command is issued based on the determined braking program, and an appropriate deceleration value is set. The vehicle is braked and unloaded and stopped at the coke wharf, and a door opening/closing command is issued to open and close the door, and the coke is unloaded to the coke wharf to complete one process. When it receives this, it issues a command to run a fire extinguisher to the next kiln, based on the work process control program.

As described above, the present invention provides a twisted pair guided wireless line that can transmit data along the entire driving route of a fire engine, and uses a continuous position detection mechanism based on an absolute address detection method to detect the absolute position of a fire engine. Since the detection is carried out continuously, there is no need for any mechanical contact mechanism as in the idle wheel rotation method, and for example, the position of every 1011 points can be detected accurately, and errors due to slipping etc. do not occur. Moreover, although it is a non-contact detection, the relative position is 30 degrees vertically and horizontally.
Even if the temperature changes by about 0.0111, it can be sufficiently detected, so there is no need to modify the track bed of the existing fire extinguisher.

In addition, when storing the center address of each kiln number in the fire engine control unit, by adding a function to correct the center address of each kiln number due to seasonal and weather conditions, etc. The relative positional deviation is corrected, making it possible to maintain detection accuracy.

Furthermore, even in the event of a power outage, the current position can be immediately detected once the power is restored, and work can be continued, among other advantages.

[Brief explanation of the drawing]

Fig. 1 is a block diagram showing an embodiment of the present invention, Fig. 2 is an explanatory diagram showing the principle of the phase type absolute address detection method, and Figs. 3 (A) to V9 show the principle of the continuous position detection method. 4 is a block diagram of the continuous position detection device, FIG. 5 is an explanatory diagram showing the principle of the level type absolute address detection method, and FIG. 6 is a block diagram of the work program of the fire engine. In the figure, 1... fire engine, 3... fire engine control device, 4...
...Position detection section, 5.. Data transmission and reception section, 6.. Communication control section, 7.. Fire truck control section, 8.. Operation panel, 9.. Printer, 10.. On-vehicle. Transmission/reception section, 11
...Antenna, IR...Twisted pair cable. Applicant: Sumikin Chemical Co., Ltd. (Page 15) Figure 1■ Kadoyu -□F5--] ° Pe first' Control P part 8 7 9゛ 3 Bonoi Abe ■ One ■ □ Pa・IR i Figure 2 0口G寥G1\G. Voluntary procedural amendment 1. Display of case 1982 Patent application No. 50464 2 Name of invention Automatic operation control method for coke oven fire extinguishing vehicle 3 Person making amendment Relationship to case Applicant: # - Case #; 1850-4 Minato, Wakayama City, Wakayama Prefecture , Agent Ginza Pill (561-53, 3-3-12 Ginza, Chuo-ku, Tokyo)
86.0274) (7390) Patent Attorney's Manual 1) Yoshihisa 5, Daily Newsletter, Showa 1999 (Monday)
Date 8, Contents of the amendment As shown in the attached sheet, 1. The following sentence is inserted between lines 8 and 4 on page 14 of the specification of the present application. "Although the above mentioned automatic control of fire trucks in the case of wet fire extinguishing, when using a packet truck when coke dry fire extinguishing is used instead of wet fire extinguishing, the work program is only changed, and basically the There is no difference from the case of a fire engine, so the explanation will be omitted.'' 2. On page 5, line 8, ``inside the premises'' is corrected to ``in case''. 2-

Claims (1)

[Scope of Claims] 1. A method for automatically controlling the operation of a fire extinguishing truck in a coke oven in which a kiln receiver for calcined coke is operated in mutual cooperation with an extruder, including data transmission over the entire driving path of the extinguishing truck. Arranging and installing a twisted pair type spinning wireless line that can be carried out - 1. With a continuous position detection mechanism using an absolute address detection method,
9. Continuously detecting the absolute position of the fire extinguisher with a fire extinguisher control device, and a work process control program 2m provided in the fire extinguisher control device.1. Each verification center landing and fire tower stop position address. The movement of the fire extinguisher is based on the center address of each of the four quays, the speed information manually input from the fire extinguisher, and the work information of the extruder.
1. An automatic operation control method for a coke oven fire extinguishing vehicle, characterized by instructing the stoppage and loading/unloading of coke to be performed sequentially according to a work process.