Blast furnace slot charging car positioning system and method

Abstract

The present application relates to a kind of blast furnace tank on material car positioning system and method, belong to ironmaking control equipment and method technical field.The technical scheme of the present application is: reflective baffle A (11) and reflective baffle B (12) are arranged up and down, horizontally staggered, fixed on reflective baffle support (10), reflective baffle support (10) is fixed on the side front of material car (1), so that reflective baffle A (11) and reflective baffle B (12) are respectively parallel to diffuse reflection laser range finder A (2) and diffuse reflection laser range finder B (3).The beneficial effects of the present application are: through the application of short-range diffuse reflection laser range finder and two reflective baffle, use the signal difference of two diffuse reflection laser range finders as the judgment basis of material car positioning, realize material bin number identification and material car accurate positioning, eliminate the deviation of material car wheel on track, and the interference of body yaw in walking process to system, improve system precision, not only control cost is low, and the influence of site environment is small.

Description

TECHNICAL FIELD

[0001] The present application relates to a kind of high furnace groove loading car positioning system and method, belong to ironmaking control equipment and method technical field. BACKGROUND

[0002] Stainless steel company high furnace groove loading car is not configured with positioning detection device, and positioning operation needs to be completed manually.The dust and fog exist in the environment of loading car site, and the application of long distance laser ranging is not only high in price, but also susceptible to the interference of site environment, and the position of loading car is generally measured by Gray bus, which can work stably under high dust and high temperature, and the measurement accuracy meets the requirements, but the investment cost is higher.Therefore, a new type of positioning control system and method is needed, which can meet the positioning requirements and reduce the control cost. SUMMARY

[0003] The present application provides a kind of high furnace groove loading car positioning system and method, by the application of short range diffuse reflection laser range finder and two reflective baffles, the signal difference of two diffuse reflection laser range finders is used as the judgment basis for loading car positioning, realizes loading car number identification and accurate positioning, eliminates the deviation of loading car wheel on track and the interference of body swing on system during walking process, improves system accuracy, not only low control cost but also small influence by site environment, effectively solves the above problems existing in the background art.

[0004] The technical scheme of the present application is: a kind of high furnace groove loading car positioning system, comprising diffuse reflection laser range finder A, diffuse reflection laser range finder B, smart200pLc, wireless bridge transmitter, wireless bridge receiver, loading PLC, frequency converter, walking motor, reflective baffle support, reflective baffle A and reflective baffle B, the diffuse reflection laser range finder A and diffuse reflection laser range finder B are arranged up and down, and are fixed on one side of loading car;Smart200pLc is installed in protective box, one end is connected with diffuse reflection laser range finder A and diffuse reflection laser range finder B, and the other end is connected with wireless bridge transmitter through network cable;Wireless bridge receiver is placed in control room, and is connected with loading PLC through network cable, and loading PLC controls walking motor through frequency converter, and walking motor is installed on loading car;Reflective baffle A is Z-shaped plate, reflective baffle B is straight plate, reflective baffle A and reflective baffle B are arranged up and down, the horizontal length of two plates is the same and is aligned left and right, reflective baffle A and reflective baffle B are horizontally staggered, and are fixed on reflective baffle support, reflective baffle support is fixed on the front side of loading car, so that reflective baffle A and reflective baffle B are respectively parallel to diffuse reflection laser range A and diffuse reflection laser range finder B.

[0005] The reflective baffle A comprises a-b section, b-d section and d-e section, and the three parts are connected in sequence to form a Z-shaped plate, a-b section and d-e section are loading car number identification section, and b-d section is loading car positioning section.

[0006] The light-reflecting baffle support matches the bunker specifications, and the horizontal position interval of the light-reflecting baffle A and the light-reflecting baffle B on the light-reflecting baffle support matches the bunker specifications.

[0007] The smart200pLc is connected with the diffuse reflection laser range finder A and the diffuse reflection laser range finder B through serial communication.

[0008] The diffuse reflection laser range finder A and the diffuse reflection laser range finder B are short-range diffuse reflection laser range finders.

[0009] A positioning method of a blast furnace slot feeding car, comprising the following steps:

[0010] (1) The feeding car walks on the bunker number identification section a-b section or d-e section, and the signals of the diffuse reflection laser range finder A and the diffuse reflection laser range finder B are X and Y respectively, since the horizontal interval of each two light-reflecting baffles corresponding to each bunker is different, the signal difference is different;

[0011] (2) The horizontal interval of the a-b section and the d-e section of the light-reflecting baffle A is M, the horizontal position difference of the a-b section of the light-reflecting baffle A from the light-reflecting baffle B is L, and the horizontal position difference of the d-e section of the light-reflecting baffle A from the light-reflecting baffle B is M-L;

[0012] (3) The feeding car forward walking and reverse walking are determined by the signal difference, when the feeding car forward walking passes through the b-d section, the signal difference of the diffuse reflection laser range finder A and the diffuse reflection laser range finder B starts to change to small; when the feeding car reverse walking passes through the b-d section, the signal difference of the diffuse reflection laser range finder A and the diffuse reflection laser range finder B starts to change to large;

[0013] (4) The smart200pLc collects the distance signals of the diffuse reflection laser range finder A and the diffuse reflection laser range finder B and the forward and reverse signals of the frequency converter, and outputs the bunker number, the walking motor deceleration position and the parking position signals to the feeding PLC through operation analysis, so as to realize the positioning control of the feeding car, when the signal difference change amount is equal to H, the feeding car decelerates, and when the signal difference change amount is equal to S, the feeding car stops.

[0014] In the step (1), the signal difference X-Y=L1 corresponding to the first bunker, the signal difference X-Y=L2 corresponding to the second bunker, and so on, the signal difference X-Y=Ln corresponding to the n-th bunker.

[0015] The smart200pLc is connected with the diffuse reflection laser range finder A and the diffuse reflection laser range finder B through serial communication.

[0016] The diffuse reflection laser range finder A and the diffuse reflection laser range finder B are short-range diffuse reflection laser range finders.

[0017] The beneficial effects of the present application are: through the application of a short-range diffuse reflection laser range finder and two reflective baffles, using the signal difference of the two diffuse reflection laser range finders as the judgment basis for the positioning of the stock car, realizing the identification of the stock car number and the accurate positioning of the stock car, eliminating the deviation of the stock car wheels on the track and the interference of the body sway during the walking process on the system, improving the system accuracy, and the cost is low and the influence of the site environment is small. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 is a structural schematic diagram of the present application;

[0019] Figure 2 is a circuit connection diagram of the present application;

[0020] Figure 3 is a forward driving schematic diagram of algorithm 1 of the present application;

[0021] Figure 4 is a reverse driving schematic diagram of algorithm 1 of the present application;

[0022] Figure 5 is a forward driving schematic diagram of algorithm 2 of the present application;

[0023] Figure 6 is a reverse driving schematic diagram of algorithm 2 of the present application;

[0024] Figure 7 is a forward driving stock car positioning flow chart of the present application;

[0025] Figure 8 is a reverse driving stock car positioning flow chart of the present application;

[0026] Figure 9 is a size diagram of the reflective baffle of the present application;

[0027] In the figure: stock car 1, diffuse reflection laser range finder A 2, diffuse reflection laser range finder B 3, smart200pLc 4, wireless bridge transmitter 5, wireless bridge receiver 6, upper stock PLC 7, frequency converter 8, walking motor 9, reflective baffle support 10, reflective baffle A 11, reflective baffle B 12. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical scheme and advantages of the embodiment of the application clearer, the technical scheme of the embodiment of the application will be described clearly and completely in combination with the drawings in the embodiment. Obviously, the described embodiment is a part of the embodiments of the application, not all the embodiments of the application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0029] The blast furnace groove feeding car positioning system comprises a diffuse reflection laser range finder A2, a diffuse reflection laser range finder B3, a smart200pLc4, a wireless network bridge transmitter 5, a wireless network bridge receiver 6, a feeding PLC 7, a frequency converter 8, a walking motor 9, a reflective baffle support 10, a reflective baffle A11 and a reflective baffle B12, the diffuse reflection laser range finder A2 and the diffuse reflection laser range finder B3 are arranged above and below and fixed on one side of the feeding car 1; the smart200pLc4 is installed in a protection box, one end of the smart200pLc4 is connected with the diffuse reflection laser range finder A2 and the diffuse reflection laser range finder B3, and the other end of the smart200pLc4 is connected with the wireless network bridge transmitter 5 through a network cable; the wireless network bridge receiver 6 is placed in a control room and connected with the feeding PLC 7 through a network cable; the feeding PLC 7 controls the walking motor 9 through the frequency converter 8, and the walking motor 9 is installed on the feeding car 1; the reflective baffle A11 is a Z-shaped plate, the reflective baffle B12 is a straight plate, the reflective baffle A11 and the reflective baffle B12 are arranged above and below, the two plates are horizontally aligned, the reflective baffle A11 and the reflective baffle B12 are horizontally staggered, the reflective baffle A11 and the reflective baffle B12 are fixed on the reflective baffle support 10, and the reflective baffle support 10 is fixed on the front side of the feeding car 1, so that the reflective baffle A11 and the reflective baffle B12 are respectively parallel to the diffuse reflection laser range finder A2 and the diffuse reflection laser range finder B3.

[0030] The reflective baffle A11 comprises a-b section, b-d section and d-e section, and the three sections are connected in sequence to form a Z-shaped plate, the a-b section and the d-e section are bin identification sections, and the b-d section is a feeding car positioning section.

[0031] The reflective baffle support 10 is matched with the bin specification, and the horizontal position distance of the reflective baffle A11 and the reflective baffle B12 on the reflective baffle support 10 is matched with the bin specification.

[0032] The smart200pLc4 is connected with the diffuse reflection laser range finder A2 and the diffuse reflection laser range finder B3 through serial communication.

[0033] The diffuse reflection laser range finder A2 and the diffuse reflection laser range finder B3 are short-range diffuse reflection laser range finders.

[0034] A blast furnace groove feeding car positioning method comprises the following steps:

[0035] (1) The feeding car walks on the bin identification section a-b section or d-e section, and the signals of the diffuse reflection laser range finder A and the diffuse reflection laser range finder B are X and Y respectively, and since the horizontal distance of the two reflective baffles corresponding to each bin is different, the signal difference is different.

[0036] (2) The horizontal distance of the a-b section and the d-e section of the reflective baffle A is M, the horizontal distance of the a-b section of the reflective baffle A to the reflective baffle B is L, and the horizontal distance of the d-e section of the reflective baffle A to the reflective baffle B is M-L.

[0037] (3) The difference between the signals of the forward and reverse walking of the car determines the different bunker numbers. When the car walks forward through the b-d section, the difference between the signals of the diffuse reflection laser ranging A and the diffuse reflection laser ranging B starts to change to small; when the car walks backward through the b-d section, the difference between the signals of the diffuse reflection laser ranging A and the diffuse reflection laser ranging B starts to change to large;

[0038] (4) The smart200pLc collects the distance signals of the diffuse reflection laser ranging A and the diffuse reflection laser ranging B and the forward and reverse signals of the frequency converter, and outputs the bunker number, the walking motor deceleration position and the parking position signal to the upper feeding PLC through operation analysis, realizes the positioning control of the car, and the car decelerates when the signal difference change amount is equal to H, and the car stops when the signal difference change amount is equal to S.

[0039] In step (1), the signal difference X-Y=L1 corresponds to the first bunker, the signal difference X-Y=L2 corresponds to the second bunker, and so on, and the signal difference X-Y=Ln corresponds to the n bunker.

[0040] The smart200pLc is connected with the diffuse reflection laser ranging A and the diffuse reflection laser ranging B through serial communication.

[0041] The diffuse reflection laser ranging A and the diffuse reflection laser ranging B are short-range diffuse reflection laser range finders.

[0042] In practical application, the diffuse reflection laser range finder A2 and the diffuse reflection laser range finder B3 are arranged up and down, fixed on one side of the material car, the smart200pLc4 is installed in the protection box, one end is connected with the diffuse reflection laser range finder A2 and the diffuse reflection laser range finder B3 through serial communication, the other end is connected with the wireless network bridge transmitter 5 through the network cable. The wireless network bridge receiver 6 is placed in the control room, connected with the feeding PLC 7 through the network cable, the feeding PLC 7 is connected with the frequency converter 8, and the walking motor 9 is controlled to complete the material distribution work of the material car 1. The light-reflecting baffle A11 is a Z-shaped plate, which is respectively divided into a-b section, b-d section and d-e section, wherein the a-b section and the d-e section are the silo number identification sections, and the b-d section is the material car positioning section; the light-reflecting baffle B12 is a straight plate. The light-reflecting baffles A11 and B12 are arranged up and down, the horizontal lengths of the two plates are the same and aligned left and right, the light-reflecting baffles A11 and B12 are horizontally staggered, fixed on the light-reflecting baffle support 10, and the light-reflecting baffle support 10 is fixed in front of the side of the material car 1, so that the light-reflecting baffles A11 and B12 are respectively parallel to the diffuse reflection laser range finder A2 and the diffuse reflection laser range finder B3. The smart200pLc4 collects the distance signals of the diffuse reflection laser range finder A2 and the diffuse reflection laser range finder B3 and the forward and reverse signals of the frequency converter 8, analyzes through operation, and outputs the silo number, walking motor deceleration position and parking position signals to the feeding PLC 7, so as to realize the automatic positioning control of the material car 1.

[0043] Different light-reflecting baffle supports 10 are designed for each silo, and the horizontal position distances of the light-reflecting baffles A11 and B12 fixed by different light-reflecting baffle supports 10 are different.

[0044] Algorithm 1: The silo number is identified by the horizontal position difference value between the silo number identification section of the light-reflecting baffle A11 and the light-reflecting baffle B12.

[0045] The signal of the diffuse reflection laser range finder A2 is X, and the signal of the diffuse reflection laser range finder B3 is Y. The horizontal distance between the a-b section and the d-e section of the light-reflecting baffle A11 is M, the horizontal position difference value between the a-b section of the light-reflecting baffle A11 and the light-reflecting baffle B12 is L, and the horizontal position difference value between the d-e section of the light-reflecting baffle A11 and the light-reflecting baffle B12 is M-L. The forward and reverse walking of the material car is determined by the signal difference value of different silo numbers.

[0046] The material car drives forward through the a-b section:

[0047]

[0048] The material car drives backward through the d-e section:

[0049]

[0050] Algorithm 2: diffuse reflection laser range finder A2 in the material car positioning section signal change to realize the material car positioning. The material car forward walking, through b-d section, diffuse reflection laser range finder A2 signal and diffuse reflection laser range finder B3 signal difference value decreases, when the decrease value is H, the material car slows down, when the decrease value is S, the material car stops; the material car reverse walking, through b-d section, diffuse reflection laser range finder A2 signal diffuse reflection laser range finder B3 signal difference value starts to increase, when the increase value is H, the material car slows down, when the increase value is S, the material car stops.

[0051] The material car forward driving through b-d section:

[0052]

[0053] The material car forward driving through b-d section:

[0054]

[0055] Through the design of two reflective baffles, the signal difference of two diffuse reflection laser range finders is used as the judgment basis for material bin number recognition and material car positioning, which eliminates the interference of the offset of the car wheel on the track and the offset amount Δl of the body swing during walking on the track.

[0056] X-Y=(X+Δl)-(Y+Δl)

[0057] X-Y=(X-Δl)-(Y-Δl)

[0058] The smart200pLc and the diffuse reflection laser range finder communicate through serial communication, and the MBUS_CTRL and MBUS_MSG communication blocks are used to read the diffuse reflection laser range finder signal.

[0059] Embodiment:

[0060] This embodiment is a stainless steel 3# blast furnace trough material car positioning and material bin number recognition system. The blast furnace trough has 13 material bins, of which 1#-3# are miscellaneous ore bins, 4#-7# are pellet bins, 8#-12# are sinter bins, and 13# is a coke bin. The material car distributes material to the 13 material bins respectively.

[0061] Material car: high speed 6m / s, low speed 1.5m / s;

[0062] Material bin opening length: 1m;

[0063] Reflective baffle A: length 2m;

[0064] Reflective baffle B: a-b section length 600mm, b-d section length 1m, d-e section length 600mm;

[0065] The horizontal distance between a-b section and d-e section is M=600mm;

[0066] Diffuse reflection laser range finder: SLDS-C30 RS485

[0067] Distance measuring: 30M

[0068] Accuracy: ±1mm

[0069] Smart200plc: AMSAMOTION CPU224XP standard type

[0070] Relay 214-2BD23 (220V)

[0071] Wireless bridge: SY-E580L-390H

[0072] Reflective baffle from diffuse reflection laser range finder 2m fixed position reflective baffle support.

[0073] Forward travel of the skip through a-b section:

[0074]

[0075] Reverse travel of the skip through d-e section:

[0076]

[0077]

[0078] Forward travel of the skip through b-d section:

[0079]

[0080] Forward travel of the skip through b-d section:

[0081] .

Claims

1. A blast furnace ladle positioning system, characterized by: The application relates to a laser ranging device, which comprises a diffuse reflection laser ranging device A (2), a diffuse reflection laser ranging device B (3), a smart200pLc (4), a wireless bridge transmitter (5), a wireless bridge receiver (6), a feeding PLC (7), a frequency converter (8), a walking motor (9), a reflective baffle support (10), a reflective baffle A (11) and a reflective baffle B (12), wherein the diffuse reflection laser ranging device A (2) and the diffuse reflection laser ranging device B (3) are arranged above and below and are fixed on one side of a material car (1); the smart200pLc (4) is installed in a protection box, one end of the smart200pLc (4) is connected with the diffuse reflection laser ranging device A (2) and the diffuse reflection laser ranging device B (3), and the other end of the smart200pLc (4) is connected with the wireless bridge transmitter (5) through a network cable; the wireless bridge receiver (6) is placed in a control room and is connected with the feeding PLC (7) through a network cable; the feeding PLC (7) controls the walking motor (9) through the frequency converter (8), and the walking motor (9) is installed on the material car (1); the reflective baffle A (11) is a Z-shaped plate, the reflective baffle B (12) is a straight plate, the reflective baffle A (11) and the reflective baffle B (12) are arranged above and below, the horizontal lengths of the two plates are the same and the two plates are aligned left and right, the reflective baffle A (11) and the reflective baffle B (12) are horizontally staggered, the reflective baffle A (11) and the reflective baffle B (12) are fixed on the reflective baffle support (10), and the reflective baffle support (10) is fixed on the front side of the material car (1), so that the reflective baffle A (11) and the reflective baffle B (12) are respectively parallel to the diffuse reflection laser ranging A (2) and the diffuse reflection laser ranging device B (3). The reflective baffle A (11) comprises a-b section, b-d section and d-e section, and the three sections are connected in sequence to form a Z-shaped plate; the a-b section and the d-e section are bin identification sections, and the b-d section is a material car positioning section.

2. A positioning system for a high-temperature vessel loading vehicle as claimed in claim 1, wherein: The reflective baffle support (10) is matched with the bin specification, and the horizontal position distance of the reflective baffle A (11) and the reflective baffle B (12) on the reflective baffle support (10) is matched with the bin specification.

3. The positioning system for a high-temperature furnace slot feeder vehicle of claim 1, wherein: The smart200pLc (4) is connected with the diffuse reflection laser ranging device A (2) and the diffuse reflection laser ranging device B (3) through serial communication.

4. The positioning system for a high-temperature furnace slot feeder vehicle of claim 1, wherein: The diffuse reflection laser ranging device A (2) and the diffuse reflection laser ranging device B (3) are short-range diffuse reflection laser ranging devices.

5. A method for positioning a charging car of a blast furnace, using a positioning system according to any one of claims 1 to 4, characterized in that: The application further discloses a bin identification method, which comprises the following steps: (1) the material car walks on the bin identification section a-b section or d-e section, and the signals of the diffuse reflection laser ranging device A and the diffuse reflection laser ranging device B are X and Y respectively; since the horizontal distance of the two reflective baffles corresponding to each bin is different, the signal difference is different; (2) the horizontal distance of the a-b section and the d-e section of the reflective baffle A is M, the horizontal distance difference of the a-b section of the reflective baffle A from the reflective baffle B is L, and the horizontal distance difference of the d-e section of the reflective baffle A from the reflective baffle B is M-L; (3) the forward walking and the reverse walking of the material car are determined according to the signal difference, when the material car walks forward and passes through the b-d section, the signal difference of the diffuse reflection laser ranging A and the diffuse reflection laser ranging B starts to change to small; when the material car walks reversely and passes through the b-d section, the signal difference of the diffuse reflection laser ranging A and the diffuse reflection laser ranging B starts to change to large. (4) The smart200pLc collects the distance signals of the diffuse reflection laser range finder A and the diffuse reflection laser range finder B and the forward and reverse signals of the frequency converter, and outputs the bin number, the walking motor deceleration position and the parking position signal to the upper feeding PLC through operation analysis, so as to realize the positioning control of the material car, and the material car decelerates when the signal difference change value is equal to H, and the material car stops when the signal difference change value is equal to S.

6. A positioning system for a high-temperature vessel according to claim 5, wherein: In the step (1), the signal difference value X-Y=L1 corresponds to the first bin, the signal difference value X-Y=L2 corresponds to the second bin, and the signal difference value X-Y=Ln corresponds to the nth bin.

7. A positioning system for a high-temperature vessel according to claim 5, wherein: The smart200pLc is connected with the diffuse reflection laser range finder A and the diffuse reflection laser range finder B through serial communication.

8. A positioning system for a high- bay charging car according to claim 5, characterized in that: The diffuse reflection laser range finder A and the diffuse reflection laser range finder B are short-range diffuse reflection laser range finders.

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