JPS6051780A - Method for automatically controlling running of coke oven travelling machine - Google Patents

Abstract

PURPOSE:To prevent accidents due to the deterioration and troubles of apparatuses, by urgently stopping machines when a difference between machine travelling distances obtd. by different two systems exceeds a preset value in the titled controlling method using an absolute address detecting system. CONSTITUTION:A signal from an oscillator 3 for position detection is received through IR cable 1 and an antenna 9 by a position detection part 5, inputted together with the actual speed each time inputted from a speed oscillator 10 into a speed detecting part 6, into a travel controlling part 7 and arithmetically calculated. When the signal reaches a control initiating position, a disc brake 12 is operated through a control part 11 so as to reduce speed according to a preset pattern. At the same time, a travelling distance from the position detection part 5 is compared with a travelling distance calculated according to a speed information obtd. from the speed detection part 6 in a comparison part 8 every 1/10sec. When the difference therebetween exceeds a preset value, an emergency brake 13 is operated by a signal from the comparison part 8.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application This invention detects the running and stopping of each moving machine in a coke oven by continuously detecting position information and speed from a position detecting device. h
), the center address of each kiln number provided in the control device, and the method of automatic control based on input working kiln information.

[Prior art] - During the unloading work of a cous oven, each working machine, such as an extruder, a coal loading car, a coke guide car, and a fire extinguishing truck (in the case of dry fire extinguishing, a packet car), is placed in the kiln unloading room determined based on the work plan. Move and operate sequentially to perform certain tasks repeatedly. When each work machine performs a predetermined work, it is necessary to communicate with each other and confirm each other's work and position.

Conventionally, communication between these working machines has been confirmed by direct visual inspection or by using a telephone or radio.

However, such a communication method is likely to cause false alarms, and confirmation of mutual positions cannot be completely guaranteed.

Therefore, various methods for automatically controlling the operation of the above-mentioned working machines have been proposed and some have been implemented. but,
The reliability of the detection accuracy of the position of each work machine and the reliability of travel control are not always satisfactory.

For example, an oven number detection method that reads the travel distance of a moving coke oven machine and continuously detects the position of the moving machine (Special Publication No. 53)
-17601, etc.) or a twisted pair cable that can transmit data throughout the entire working process of the mobile machine, and a system that continuously detects the absolute position of the mobile machine using a continuous position detection mechanism using an absolute address detection method. Based on the position information from a continuous position detection device such as JP-A-58-166407, speed information from a speed detection device, the center address of each kiln number provided in the control device, and the input work kiln information. In the method of automatically controlling the travel of a mobile machine, position information detected and input by a position detection device (i.e., updated as the latest information at regular intervals and input to the control unit); Information is also continuously input to the control unit, and when the moving machine is braked, decelerated, or stopped, it constantly compares the speed information with the current position, performs appropriate control based on a predetermined deceleration value, and accurately reaches the target stop position. It has been stopped.

However, even though the mobile machine is actually moving, there are cases where the position information is not updated due to deterioration or failure of the position detection device, or when the detected speed is not the actual speed due to deterioration or failure of the speed detection device. If the input is extremely low or high compared to , not only will it not be possible to stop accurately at the target stop position, but there is also a risk of runaway.

Purpose of the Invention The present invention has been made in view of the above-mentioned circumstances, and is intended to prevent position information from being updated due to deterioration or failure of the position detection device while the mobile machine is running at high speed or during braking operation based on the provided braking program. If the detected speed is extremely low or high compared to the actual speed due to deterioration or malfunction of the speed detection device, the coke oven mobile machine can immediately detect the abnormality and prevent the mobile machine from moving or running out of control. This paper proposes an automatic driving control method.

DISCLOSURE OF THE INVENTION The present invention provides a method for automatically controlling the travel of a coke oven moving machine based on position information from a continuous position detection device, speed information from a speed detection device, and information on the center address of each kiln number and working oven. The system compares and calculates the distance traveled in the same time based on changes in address position from the continuous position detection device and the distance traveled in the same time based on speed information from the speed detection device, and if the difference between the two exceeds a predetermined range, an emergency stop is performed. This is the summary.

Next, one embodiment of the present invention will be described based on the drawings.

Now, a case will be described in which the present invention is implemented in a coke oven mobile machine equipped with an absolute address position detection device using twisted-pair guided radio with a detection unit of 0.5 loaves.

The above position detection device uses a twisted pair cable (hereinafter referred to as IR).
The signal received by each pair of wires twisted at different pitches from the untwisted phase reference pair in the cable (referred to as a cable) is 2.
By performing base display, the position is detected as a 2 to the nth power address over the entire length of the traveling path of the mobile machine, and by further detecting the phase of the signal received by the minimum twisted pair, the It detects the position in units.

That is, as shown in Fig. 1, an IR cable (1) is arranged along the trajectory of the mobile machine, and a position detection transmitter (2) is installed on the ground with the start end (2) connected to the approach cable.
3) Connect with.

On the other hand, on the mobile machine, there is a control device (4) containing a position detection section (5), a speed detection section (6), a traveling control section (7), and a comparison section (8), and a position detection antenna (9). ), equipped with a speed transmitter αO, and a control device for the hydraulic disc brake 0 installed in the drive motor of the mobile machine (4)
The emergency brake α is connected to the brake control unit (b) connected to the control unit (4), and an emergency brake α is provided so as to be activated by a command from the control unit (4).

In addition, the control device (4) inputs and stores a braking program, that is, a standard distance speed pattern, which is necessary to make the Baka-moving machine of each kiln number center address travel at a predetermined speed and stop accurately at the target stop position. let

Then, the signal transmitted from the position detection transmitter (3) is sent to the position detection antenna (9) via the IR cable (1).
The vehicle is controlled based on changes in the distance to the stop target position, which are received by the position detector (5) and continuously detected by the position detector (5), and the actual speed at each point in time, which is input from the speed transmitter α0 to the speed detector (6). When the braking start position is reached, the brake hydraulic control voltage is determined and transmitted by the brake control unit OD so that the brake hydraulic pressure control voltage is inputted to section (7) and calculated, and when the braking start position is reached, it is compared with the standard distance speed pattern and decelerated according to that pattern. Then, the hydraulic pressure of the hydraulic disc brake @ is controlled to perform deceleration control so that the vehicle stops accurately at the target stop point.

Simultaneously with the above-mentioned speed control, the same time period (e.g. The comparison unit (8) continuously compares the distance traveled within 1/10 seconds). If the difference between the two exceeds a preset range, for example, if the position detection device deteriorates or breaks down and the position information is not updated, or if the speed detection device deteriorates or breaks down and the detected speed is extremely high compared to the actual speed. If the input value is low or high, the comparator (8) immediately detects this abnormality, issues a signal, and activates the emergency brake (to) to bring the vehicle to a sudden stop. Additionally, if the calculated value is extremely high or low compared to the standard distance speed pattern due to equipment deterioration or failure, the travel control unit (7) will also issue a signal and activate the emergency brake. to a sudden stop.

In the above, the limited range of the difference value set in advance is, for example, the distance traveled based on changes in address position every 1/10 seconds from a continuous position detection device, and the distance traveled within the same time based on speed information from a speed detection device. 10 of the higher value.

The above description has been about the case where traveling distances are compared, but the average speed ΔV - ΔX/Δt determined by the traveling distance ΔX in a certain time Δt obtained from the position detecting section (5) and the average speed ΔV-ΔX/Δt input from the speed detecting section (6) A similar effect can be obtained by comparing the actual speeds V'.

In addition, although the above is a case where an IR cable is used as the position detection device and a hydraulic disc brake is used as the stop control device, other means such as a method of measuring running pulses can be used as the position detection device. Further, as the stop control device, other control devices capable of continuously controlling the braking force, such as an electromagnetic rail brake, can be used.

Effects of the Invention This invention compares and calculates the distance traveled due to a change in address position from a continuous position detection device and the distance traveled within the same time based on speed information from a speed detection device, and the difference value between the two is determined in advance. If the range is exceeded, the mobile machine will be brought to an emergency stop, so if the mobile machine is running at high speed or during automatic braking control, if related equipment deteriorates or malfunctions, this abnormality will be immediately detected and an emergency action will be taken. It is possible to prevent collisions caused by the moving machine running out of control and overrunning the stopped position due to forward and backward movements.

[Brief explanation of drawings]

FIG. 1 is a block diagram schematically showing an apparatus in an embodiment of the present invention. DESCRIPTION OF SYMBOLS 1... IR cable, 2... Starting end, 3... Transmitter for position detection, 4... Detection device, 5... Position detection part,
6... Speed detection section, 7... Travel control section, 8... Comparison section, 9... Position detection antenna, 10... Speed transmitter, 11... Brake control section, 12. ...Hydraulic disc brake, 13...Emergency brake. Applicant Sumikin Chemical Co., Ltd.

Claims (1)

[Claims] In a method for automatically controlling the travel of a moving coke oven machine based on position information from a continuous position detection device, speed information from a speed detection device, center address of each kiln number, and work oven information, the address from the continuous position detection device A mobile coke oven machine characterized in that it compares and calculates the travel distance due to a change in position and the travel distance in the same time based on speed information from a speed detection device, and causes an emergency stop when the difference between the two exceeds a predetermined range. Automatic driving control method.