Coal pushing and charging car automatic aligning control method based on machine vision technology

Abstract

The utility model relates to a machine vision technique-based control mode for the automatic positioning of the pushing larry car. The utility model mainly includes the four steps as below: setting the target para-position area: each coking chamber of the coke oven can be arranged according to the oven number; the special numbers can be used for a couple of special para-position motions and the relevant oven no. status information will be displayed on the display unit of the man-machine interface to facilitate the operation; fixing the mode of operation for the velocity: the comparison can be made between the targeted oven no. and the present oven no, so as to ascertain the appropriate velocity run mode and the relevant parameters in the course of the run procedure; the operation can be made as per the selected velocity run mode and the relevant parameters; the machine vision apparatus is started up for stop operation so as to complete the para-position: after entering the phase of free slide velocity, the machine vision apparatus is started up to ascertain the accurate unoperated position to complete the para-position. The method is adpted to simplify the structure and improve the control level and the rate of the resource utilization as well as realize the high precision para-position.

Description

technical field [0001] The invention relates to the field of industrial automation control, in particular to an automatic alignment control method of a coke pushing coal loading vehicle based on machine vision technology, which can realize high-precision automatic alignment. Background technique [0002] At present, the side-loading coal coke oven is a relatively popular furnace type in China. For this type of furnace, a coke-pushing and coal-charging car must be used in the production process. The coke pushing and charging car moves horizontally along the track on the side of the coke oven, and completes the five actions of pounding coal cakes, removing the furnace door, pushing coke, loading coal cakes, and hanging the furnace door in a cycle. In this cycle, the coke-pushing and coal-charging truck needs to move five times and perform alignment five times. Among them, four times must be aligned with the centerline of the carbonization chamber of the coke oven that needs t...

AI Technical Summary

Problems solved by technology

However, there are also the following deficiencies in this system: 1. Because the encoder is mainly used for coarse alignment and the code disc is used for fine alignment, there is a certain tolerance range; 2. Coke ovens are generally separated and sealed by multiple holes. The composition of the carbonization chamber, at a furnace temperature of 1300 ° C, due to the unevenness of construction and thermal expansion, the center distance of the carbonization chamber is different, showing a nonlinear distribution, which increases the difficulty of distance control; 1. The quality is large. (Taking the 4.3M coke oven as an example) has a self-weight of more than 400 tons, and it is even heavier after being loaded with coal. The inertia in the process of walking is very large, which makes positioning difficult; Normal operation will also affect the alignment accuracy; 5. The gear clearance of the gearbox and the delay of the electro-hydraulic brake action will also bring parking errors and other factors that bring difficulties to the realization of accurate automatic alignment

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