An unmanned control device and method for a cross-travel vehicle

Abstract

The present invention discloses an unmanned control device and method for a trolley for crossing spans, a trolley sensor for measuring the weight of the steel billet on the trolley for crossing spans and the position of the trolley for crossing spans; a trolley driving mechanism for controlling the movement of the trolley for crossing spans; a trolley sensor for measuring the weight of the steel billet on the trolley and the position of the trolley; a trolley remote control unit for collecting signals from the trolley sensor; and a trolley ground control unit for collecting signals from the trolley sensor and receiving signals from the trolley remote control unit through a wireless communication unit to control the trolley driving mechanism. The present invention transmits detection signals such as the trolley's range, operating speed status, and whether billets are loaded through wireless communication signals, and combines data such as the weight change of the trolley for crossing spans, and adopts a trolley operation determination method for crossing spans to automatically determine the operating direction and control the trolley, thereby realizing unmanned operation of the trolley for crossing spans.

Description

Technical Field

[0001] The present invention relates to a control technology for a cross-span trolley, and more specifically, to an unmanned control device and method for a cross-span trolley, and in particular to an unmanned control device and method for a cross-span trolley in a steel enterprise. Background Art

[0002] The cross-span trolley is a commonly used equipment in steel mills, mainly used for the transfer and handling of products and materials. Large-scale plant buildings of steel enterprises often occupy several spans. Cranes can be used to transport products and materials within the span, and cross-span trolleys are needed to transport between spans. In the traditional production process, the crane first transports the product or material to the designated location, and then the cross-span trolley is used as a handling vehicle to transfer the product or material to another span, waiting for another crane to lift it. Due to the heavy load (up to dozens of tons), large inertia, vibration during operation and other factors, the cross-span trolley still has many problems in actual use. Many processes have to be manually operated by personnel, which has low operating efficiency and slow production turnover. At the same time, improper coordination between ground operations and cranes can easily cause accidents. According to the normal operating process, the ground personnel start the cross-span trolley to the crane lifting position. Due to the inertia of the cross-span trolley, accidents often occur before the cross-span trolley is stable or the operator makes a mistake in operation, causing failures and shutdowns.

[0003] For steel companies, the most important thing is to be able to meet the fully automatic and unmanned control of industry operations in two adjacent spans. Summary of the invention

[0004] In view of the above-mentioned defects existing in the prior art, the purpose of the present invention is to provide an unmanned control device and method for a cross-span trolley, which transmits detection signals such as the driving range, running speed status, and whether the blanks are loaded through wireless communication signals, and combines data such as the weight change of the cross-span trolley, and adopts a cross-span trolley operation determination method to automatically determine the running direction and control the trolley, thereby realizing unmanned operation of the cross-span trolley.

[0005] To achieve the above object, the present invention adopts the following technical solution:

[0006] On the one hand, an unmanned control device for a cross-travel vehicle:

[0007] A trolley sensor is used to measure the weight of the steel billet on the trolley and the position of the trolley;

[0008] A trolley driving mechanism, used to control the movement of the crossing trolley;

[0009] A traveling sensor, used to measure the weight of the steel billet on the traveling crane and the position of the traveling crane;

[0010] A trolley remote control unit, used to collect signals from the driving sensors;

[0011] The trolley ground control unit is used to collect signals from the trolley sensors and receive signals from the trolley remote control unit through a wireless communication unit to control the trolley driving mechanism.

[0012] Preferably, the trolley sensor comprises:

[0013] A trolley weight sensor is installed on the cross-span trolley and is used to measure the weight of the steel billet on the cross-span trolley;

[0014] A trolley position detector for measuring the position of the crossing trolley; and / or

[0015] The driving sensor comprises:

[0016] A crane weight sensor is installed on the crane and is used to measure the weight of the steel billet hoisted on the crane;

[0017] A vehicle position detector is installed on the vehicle and is used to measure the position of the vehicle and / or

[0018] The trolley position detector is arranged in the hoisting area.

[0019] Preferably, the trolley ground control unit receives a signal from the trolley remote control unit, and then obtains the movement direction of the trolley according to a method for determining the movement of the trolley, and controls the trolley to move to a target position.

[0020] Preferably, the method for determining the operation of the over-crossing vehicle is as follows:

[0021] When the trolley meets the hoisting conditions, the trolley ground control unit controls the trolley driving mechanism to move the cross-span trolley to the hoisting point in the hoisting area, waiting for the trolley to perform loading operations;

[0022] When the loading operation of the crane is completed and the conditions for the transfer and transportation are met, the trolley ground control unit controls the trolley driving mechanism to move the transfer trolley to the hoisting point in the hoisting area of ​​the adjacent crane, waiting for the blank to be hoisted away;

[0023] When the loading operation of the crane is completed and the trolley return condition is met, if the adjacent crane meets the lifting conditions, the trolley ground control unit controls the trolley drive mechanism to move the cross-span trolley to the lifting point in the lifting area of ​​the adjacent crane; if the adjacent crane does not meet the lifting conditions, the trolley ground control unit controls the trolley drive mechanism to move the cross-span trolley to the parking point and wait for a new cross-span transportation task.

[0024] On the other hand, an unmanned control method for a cross-span trolley is provided, wherein the unmanned control device for the cross-span trolley is used to perform the following steps:

[0025] 1) Implementing motion control on the crossing trolley;

[0026] 2) The vehicle enters the hoisting area;

[0027] 3) The wireless signal is transmitted between the driving vehicle and the crossing vehicle through the wireless communication unit;

[0028] 4) The trolley ground control unit receives the signal from the trolley remote control unit, and then obtains the movement direction of the trolley according to the trolley operation determination method, and controls the trolley to run to the target position.

[0029] Preferably, in step 1), the trolley ground control unit controls the trolley driving mechanism to realize the movement of the crossing trolley, and the trolley position detector measures the position of the crossing trolley; and / or

[0030] In the step 2): the vehicle position detector measures whether the vehicle has entered the hoisting area; and / or

[0031] In the step 3), the trolley remote control unit transmits the weight of the steel billet hoisted on the crane and the position of the crane to the trolley ground control unit via the wireless communication unit.

[0032] Preferably, in step 4), the method for determining the operation of the over-crossing vehicle is as follows:

[0033] When the trolley meets the hoisting conditions, the trolley ground control unit controls the trolley driving mechanism to move the cross-span trolley to the hoisting point in the hoisting area, waiting for the trolley to perform loading operations;

[0034] When the loading operation of the crane is completed and the conditions for the transfer and transportation are met, the trolley ground control unit controls the trolley driving mechanism to move the transfer trolley to the hoisting point in the hoisting area of ​​the adjacent crane, waiting for the blank to be hoisted away;

[0035] When the loading operation of the crane is completed and the trolley return condition is met, if the adjacent crane meets the lifting conditions, the trolley ground control unit controls the trolley drive mechanism to move the cross-span trolley to the lifting point in the lifting area of ​​the adjacent crane; if the adjacent crane does not meet the lifting conditions, the trolley ground control unit controls the trolley drive mechanism to move the cross-span trolley to the parking point and wait for a new cross-span transportation task.

[0036] Preferably, the crane satisfies the lifting conditions including that the crane is located in the lifting area, the crane has a billet to be lifted, and the crane moves at a low speed or stops.

[0037] Preferably, the completion of the crane loading operation and the satisfaction of the transfer transport conditions, the completion of the crane loading operation and the satisfaction of the trolley return conditions both include the presence of billets on the transfer trolley, the absence of billets on the lifting crane, the high-speed movement of the crane, and the crane leaving the lifting area.

[0038] Preferably, in step 1), the crossing trolley adopts variable speed control, that is, it starts at low speed, runs at high speed, then runs at low speed to the target position, and finally stops moving.

[0039] The present invention provides an unmanned control device and method for a span-crossing trolley. For a span-crossing trolley in a steel enterprise, the most important thing is a fully automatic unmanned control method that can meet the driving operation of two adjacent spans. In view of the current status and problems of the control technology of span-crossing trolleys, the present invention proposes a fully automatic unmanned control device and method for a span-crossing trolley. The method transmits detection signals such as the driving range, running speed status, and whether the billet is loaded through wireless communication signals, and combines the data such as the weight change of the span-crossing trolley, and adopts the span-crossing trolley operation determination method to automatically determine the running direction and control the trolley, thereby realizing unmanned operation of the span-crossing trolley. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 It is a schematic diagram of the framework of the unmanned control device for the cross-travel vehicle of the present invention;

[0041] Figure 2 It is a schematic diagram of the principle of the unmanned control method of the straddle-crossing trolley of the present invention. DETAILED DESCRIPTION

[0042] In order to better understand the above technical solution of the present invention, the technical solution of the present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0043] Example 1, please combine Figure 1 As shown, the present invention provides an unmanned control device for a crossing trolley:

[0044] A trolley sensor is used to measure the weight of the steel billet on the trolley 100 and the position of the trolley 100;

[0045] The trolley driving mechanism 1 is used to control the movement of the cross-over trolley 100 and drive the cross-over trolley 100 to move forward and backward;

[0046] A traveling sensor, used to measure the weight of the steel billet on the traveling crane 200 and the position of the traveling crane 200;

[0047] The trolley remote control unit 2, installed on the trolley 200, is a PLC device with the functions of position and weight data collection, wireless signal transmission, and periodic signal output. It receives the relevant position and weight signal data from the trolley weight sensor 7 and the trolley position detector 8, and transmits these signals to the trolley ground control unit 3 through the wireless communication unit 4;

[0048] The trolley ground control unit 3 is a PLC controller or computer device with functions of weight and distance data collection, wireless signal transmission, data analysis and judgment, and control of the movement of the crossing trolley 100. It receives the relevant weight, position of the crossing trolley 100, driving signal and other data from the trolley weight sensor 5, the trolley position detector 6, and the wireless communication unit 4, and controls the trolley driving mechanism 1 to realize the automatic operation of the crossing trolley 100 after analysis and judgment;

[0049] The wireless communication unit 4 is respectively installed on the trolley ground control unit 3 and the trolley 200 to realize wireless transmission of control signals.

[0050] The trolley sensors include:

[0051] The trolley weight sensor 5 is installed on the cross-over trolley 100 and is a weighing device used to measure the weight of the steel billet on the cross-over trolley 100;

[0052] The trolley position detector 6 is a distance meter used to measure the position of the trolley 100 .

[0053] Driving sensors include:

[0054] The crane weight sensor 7 is installed on the crane 200 and is a weighing device used to measure the weight of the steel billet hoisted on the crane 200;

[0055] The vehicle position detector 8, installed on the vehicle 200, is a position measurement sensor used to detect whether the vehicle 200 is within a certain range.

[0056] The trolley position detector 6 is arranged in the hoisting area, and is used to measure whether the position of the cross-trolley 100 is located at the hoisting point.

[0057] Example 2, please combine Figure 1 and Figure 2 As shown, the present invention also provides an unmanned control method for a crossing trolley, and the unmanned control device for the crossing trolley in Example 1 is used to perform the following steps:

[0058] 1) Control of the movement of the crossing trolley 100: The movement of the crossing trolley 100 is controlled by the trolley ground control unit 3 to control the forward and reverse rotation of the wheels of the trolley driving mechanism 1 to realize the forward or backward movement of the crossing trolley 100, such as Figure 1As shown, the movement range of the cross-span trolley 100 is from the A-span lifting point 9 to the B-span lifting point 10. When the crane 200 performs lifting operations on the cross-span trolley 100 (i.e., loading steel billets onto the cross-span trolley 100 or lifting steel billets off the cross-span trolley 100), the cross-span trolley 100 must be located at the A-span lifting point 9 or the B-span lifting point 10.

[0059] The current position of the crossing trolley 100 is measured in real time by the trolley position detector 6, which is a position measurement sensor installed on one side of the crossing trolley 100, and can measure the distance between the crossing trolley 100 and the trolley position detector 6, thereby accurately obtaining the current position of the crossing trolley 100. In order to improve the working efficiency of the crossing trolley 100, a variable speed control method is adopted, starting at a low speed, then running at a high speed, reducing the speed when approaching the target position, and finally stopping.

[0060] 2) Detection of the crane 200 entering the lifting area: The lifting point position of the same cross-span trolley 100 is fixed. The crane 200 can load and unload steel billets only at the lifting point position. To realize unmanned control of the cross-span trolley 100, it is necessary to obtain whether the crane 200 is in the lifting area.

[0061] The lifting area refers to the area within a certain range centered on the lifting point, such as Figure 2 As shown, the hoisting area of ​​the A span crane 200 refers to the area within a distance L from the A span hoisting point 9, and the same is true for the B span crane 200. The crane position detector 8 is used to detect whether the crane 200 is in the hoisting area.

[0062] 3) Transmission of signals between the crane 200 and the crossing trolley 100: The crane 200 will automatically transmit signals to the trolley ground control unit 3 at a regular period, mainly including signals such as whether the crane is in the lifting area, whether there are hoisted blanks, and whether the crane is moving at high speed. These signals are collected by the trolley remote control unit 2 and transmitted to the trolley ground control unit 3 via the wireless communication unit 4.

[0063] 4) Control method of the crossing trolley 100: The trolley ground control unit 3 is used to receive the signal transmitted by the driving vehicle 200, and at the same time collect signals such as the position and load weight of the crossing trolley 100, and obtain the movement direction of the crossing trolley 100 according to the operation judgment method of the crossing trolley 100, and control the crossing trolley 100 to run to the target position.

[0064] The specific method for determining the operation of the cross-travel vehicle is as follows:

[0065] The empty span-crossing trolley 100 is generally parked at the middle position between the two spans, i.e., the parking point 11.

[0066] When the crane meets the lifting conditions (the crane is in the lifting area, there are billets to be lifted by the crane, the crane is moving at a low speed or stopped), the trolley ground control unit 3 controls the trolley driving mechanism 1 to move the cross-span trolley 100 to the lifting point in the lifting area (from the A span lifting point 9 to the B span lifting point 10), and waits for the crane 200 to perform loading operations;

[0067] When the loading operation of the trolley is completed and the conditions for the transfer and transportation are met (there are blanks on the cross-span trolley, the hoisting trolley has no blanks, the trolley is moving at high speed, and the trolley leaves the hoisting area), the trolley ground control unit 3 controls the trolley driving mechanism 1 to move the cross-span trolley 100 to the hoisting point in the hoisting area of ​​the adjacent trolley, waiting for the blanks to be hoisted away;

[0068] When the loading operation of the trolley is completed and the conditions for the trolley to return to its original position are met (there are blanks on the cross-span trolley, the lifting trolley has no blanks, the trolley is moving at high speed, and the trolley leaves the lifting area), if the adjacent trolley meets the lifting conditions, the trolley ground control unit 3 controls the trolley drive mechanism 1 to move the cross-span trolley 100 to the lifting point in the lifting area of ​​the adjacent trolley; if the adjacent trolley does not meet the lifting conditions, the trolley ground control unit 3 controls the trolley drive mechanism 1 to move the cross-span trolley 100 to the parking point 11, waiting for a new cross-span transportation task.

[0069] Embodiment 3, the empty cross-span trolley 100 is located at the parking point 11, and there are blanks in span A that need to be transferred to span B. The trolley 200 for span A carrying the blanks enters the lifting area. The trolley remote control unit 2 on the trolley 200 detects the signal of the trolley 200 being in the lifting area, the signal of the billet being lifted, and the low-speed signal through the trolley weight sensor 7 and the trolley position detector 8, and transmits it to the trolley ground control unit 3 through the wireless communication unit 4. The trolley ground control unit 3 determines that the trolley 200 for span A meets the lifting conditions based on the received signals, and there is a demand for billet transfer in span A, and immediately controls the trolley drive mechanism 1 to drive the cross-span trolley 100 to the lifting point 9 of span A, waiting for the trolley 200 for span A to perform loading operations.

[0070] After the loading operation of the A span trolley 200 is completed, the empty trolley starts to leave the hoisting area of ​​the A span, and the trolley ground control unit 3 detects the signal that there are blanks on the cross-span trolley 100 through the trolley weight sensor 5, and at the same time receives the signal that there are no blanks on the trolley, the high-speed operation signal of the trolley, and the signal that the trolley has left the hoisting area sent by the trolley remote control unit 2 on the A span trolley 200, and determines that the conditions for cross-span transportation have been met, and immediately controls the cross-span trolley 100 to move to the B span hoisting point 10, waiting for the B span trolley 200 to perform unloading operations.

[0071] After the unloading operation of the B span trolley 200 is completed, it starts to leave the B span hoisting area with the billet hoisted. The trolley ground control unit 3 detects the signal that there is no billet on the cross-span trolley 100 through the trolley weight sensor 5, and at the same time receives the billet signal on the trolley, the high-speed operation signal of the trolley, and the signal that the trolley has left the hoisting area sent by the trolley remote control unit 2 on the B span trolley 200, and determines that the unloading task of the B span trolley 200 is completed and the trolley return condition is met. At this time, there are two situations: one is that the trolley ground control unit 3 determines that the A span trolley 200 meets the hoisting conditions, then controls the cross-span trolley 100 to run directly to the A span hoisting point 9 to start a new round of operations; the other is that the A span trolley 200 does not meet the hoisting conditions and there is no billet transfer demand in the A span, then controls the cross-span trolley 100 to run to the parking point 11 to wait for new operation tasks.

[0072] Those skilled in the art should recognize that the above embodiments are only used to illustrate the present invention, and are not intended to limit the present invention. As long as they are within the spirit of the present invention, any changes or modifications to the above embodiments will fall within the scope of the claims of the present invention.

Claims

1. An unmanned control device for a cross-travel vehicle, characterized in that: A trolley sensor is used to measure the weight of the steel billet on the trolley and the position of the trolley; A trolley driving mechanism, used to control the movement of the crossing trolley; A traveling sensor, used to measure the weight of the steel billet on the traveling crane and the position of the traveling crane; A trolley remote control unit, used to collect signals from the driving sensors; The trolley ground control unit is used to collect signals from the trolley sensors and receive signals from the trolley remote control unit through a wireless communication unit to control the trolley driving mechanism. The trolley sensor comprises: A trolley weight sensor is installed on the cross-span trolley and is used to measure the weight of the steel billet on the cross-span trolley; A trolley position detector, used to measure the position of the crossing trolley; The driving sensor comprises: A crane weight sensor is installed on the crane and is used to measure the weight of the steel billet hoisted on the crane; A vehicle position detector, mounted on the vehicle and used to measure the position of the vehicle; The trolley position detector is arranged in the hoisting area. The trolley ground control unit receives the signal from the trolley remote control unit, and then obtains the movement direction of the trolley according to the trolley operation determination method, and controls the trolley to run to the target position. The method for determining the operation of the over-crossing trolley is as follows: When the trolley meets the hoisting conditions, the trolley ground control unit controls the trolley driving mechanism to move the cross-span trolley to the hoisting point in the hoisting area, waiting for the trolley to perform loading operations; When the loading operation of the crane is completed and the conditions for the transfer and transportation are met, the trolley ground control unit controls the trolley driving mechanism to move the transfer trolley to the hoisting point in the hoisting area of ​​the adjacent crane, waiting for the blank to be hoisted away; When the loading operation of the crane is completed and the trolley return condition is met, if the adjacent crane meets the lifting conditions, the trolley ground control unit controls the trolley drive mechanism to move the cross-span trolley to the lifting point in the lifting area of ​​the adjacent crane; if the adjacent crane does not meet the lifting conditions, the trolley ground control unit controls the trolley drive mechanism to move the cross-span trolley to the parking point and wait for a new cross-span transportation task.

2. An unmanned control method for a cross-travel vehicle, characterized in that: The following steps are performed using the unmanned control device for the straddle-crossing trolley as claimed in claim 1: 1) Implementing motion control on the crossing trolley; 2) The vehicle enters the hoisting area; 3) The wireless signal is transmitted between the driving vehicle and the crossing vehicle through the wireless communication unit; 4) The trolley ground control unit receives the signal from the trolley remote control unit, and then obtains the movement direction of the trolley according to the trolley operation determination method, and controls the trolley to run to the target position. In step 4), the method for determining the operation of the over-crossing vehicle is as follows: When the trolley meets the hoisting conditions, the trolley ground control unit controls the trolley driving mechanism to move the cross-span trolley to the hoisting point in the hoisting area, waiting for the trolley to perform loading operations; When the loading operation of the crane is completed and the conditions for the transfer and transportation are met, the trolley ground control unit controls the trolley driving mechanism to move the transfer trolley to the hoisting point in the hoisting area of ​​the adjacent crane, waiting for the blank to be hoisted away; When the loading operation of the crane is completed and the trolley return condition is met, if the adjacent crane meets the lifting conditions, the trolley ground control unit controls the trolley drive mechanism to move the cross-span trolley to the lifting point in the lifting area of ​​the adjacent crane; if the adjacent crane does not meet the lifting conditions, the trolley ground control unit controls the trolley drive mechanism to move the cross-span trolley to the parking point and wait for a new cross-span transportation task.

3. The unmanned control method for a cross-travel vehicle according to claim 2, characterized in that: In the step 1), the trolley ground control unit controls the trolley driving mechanism to realize the movement of the crossing trolley, and the trolley position detector measures the position of the crossing trolley; and / or In the step 2): the vehicle position detector measures whether the vehicle has entered the hoisting area; and / or In the step 3), the trolley remote control unit transmits the weight of the steel billet hoisted on the crane and the position of the crane to the trolley ground control unit via the wireless communication unit.

4. The unmanned control method for a cross-travel vehicle according to claim 2, characterized in that: The crane meeting the lifting conditions includes that the crane is located in the lifting area, the crane has a billet to be lifted, and the crane is moving at a low speed or is stopped.

5. The unmanned control method for a cross-travel vehicle according to claim 2, characterized in that: The completion of the crane loading operation and the satisfaction of the transfer and transportation conditions, and the completion of the crane loading operation and the satisfaction of the trolley return conditions both include the presence of blanks on the transfer trolley, the absence of blanks on the lifting crane, the high-speed movement of the crane, and the crane leaving the lifting area.

6. The unmanned control method for a cross-travel vehicle according to claim 2, characterized in that: In the step 1), the crossing trolley adopts variable speed control, that is, it starts at a low speed, runs at a high speed, then runs at a low speed to the target position, and finally stops moving.

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