Automatic driving positioning method for coke oven car

Abstract

The present application relates to a kind of coke oven car automatic driving positioning method, the method establishes a set of X-axis coordinate system along the car walking route using laser radar data, visual camera along the car operation, using the oven number plate of whole course collection determines the oven number where the car is located, to accurately calculate the car running distance, then through servo motion control system to control the car driving device to the car positioning, during the car running process, absolute rotary encoder and laser radar accurately determine the car running distance, two-value real-time correction can ensure the positioning accuracy of car, if wheel skidding occurs, then the distance of wheel skidding is used as compensation data, automatically add car this method is accurate, anti environmental interference ability is strong, can whole course to encoder correction, solve the technical problem that wheel skidding cannot be accurately positioned.

Description

Technical Field

[0001] This invention belongs to the field of automation technology for coke oven trolleys in the coking industry, and specifically relates to a method for positioning and automatic driving of coke oven trolleys. Background Technology

[0002] In coke oven production operations, the positioning accuracy and reliability of the four main coke oven cars are crucial to coke production efficiency and system safety. Inaccurate positioning of the main coke oven cars can cause malfunctions in processes such as coke pushing, coal charging, coke blocking, and coke quenching, and may even lead to accidents. Therefore, providing a stable and highly accurate positioning method has become an urgent need in the field of coke oven car automation control.

[0003] Existing methods for positioning coke oven trolleys include manual control, which involves high labor intensity, harsh working conditions, and is prone to errors; and automated positioning systems, often employing the following technical approach: a code tag + incremental rotary encoder positioning device. This method uses an incremental rotary encoder for precise positioning, while intermittently placed code tags and photoelectric switches identify the furnace number, achieving a coarse measurement of position. Simultaneously, the position information detected by the code tags and photoelectric switches corrects the incremental rotary encoder data. However, this solution cannot correct the encoder throughout the entire travel distance, failing to consistently identify the trolley's position. Furthermore, wheel slippage is common during coke oven trolley movement. When wheels slip, the motor drives the wheels to rotate, but the wheels are actually slipping without moving, or the distance moved does not match the actual distance detected by the incremental rotary encoder mounted on the motor, leading to inaccurate positioning. Summary of the Invention

[0004] In view of the above-mentioned technical problems, the purpose of this invention is to provide an automatic positioning method for coke oven trolleys. This method solves the problems of high labor intensity and easy misoperation caused by manual control; at the same time, it solves the problems of difficult installation and construction, inaccurate positioning, poor resistance to environmental interference, inability to calibrate the encoder throughout the process, and inability to accurately position due to wheel slippage in existing automated positioning systems.

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

[0006] A method for positioning an automated driving system for a coke oven trolley is disclosed. This method utilizes an automated driving system for the coke oven trolley, which includes a coke oven, a trolley, a vision camera, a furnace number plate, a drive unit, a rotary encoder, a track, an address detector, a lidar, and a servo motion control system. A track is provided on one side of the coke oven, and the trolley moves along the track. Multiple furnace number plates are provided on the oven wall adjacent to the trolley, and these plates are respectively installed on the oven walls of different coke ovens along the direction of the trolley's movement. Each furnace number plate is printed with the corresponding furnace number of the coke oven.

[0007] A vision camera is installed on one side of the trolley body, and the vision camera is parallel and opposite to the furnace number plate installed on the coke oven; wheels are installed at the bottom of the trolley, and the wheels are driven by a drive device, and the servo motor of the drive device is equipped with a rotary encoder.

[0008] The lidar is installed at the rear of the vehicle, and a radar reflective film is installed on the end of the track facing the lidar.

[0009] The autonomous driving positioning method specifically includes the following steps:

[0010] Step 1: Manually move the trolley to the location of the first coke oven. After zeroing, set the position of the absolute rotary encoder for the first coke oven to 0, and simultaneously set the current distance of the lidar to the lidar position of the first coke oven. Then, manually move the trolley to the location of the second coke oven. After correct alignment, set the current position of the absolute rotary encoder to the position of the second coke oven, and simultaneously set the current distance of the lidar to the lidar position of the second coke oven. Continue in this manner until the position of the last coke oven is set, thus achieving the distance setting between each coke oven number.

[0011] Step 2: Use the servo motion control system to control the movement of the trolley. After receiving the travel command information, the servo motion control system confirms the planned furnace number that needs to be positioned.

[0012] Step 3: The servo motion control system identifies the current furnace number of the trolley based on the vision camera. Using the X-axis coordinate system information established by subtracting the lidar position of the planned furnace number to be located from the lidar position of the current furnace number, the system calculates and compares the distance traveled by the trolley to determine the direction of travel. If the calculated distance value is positive, the trolley moves forward; if the calculated distance value is negative, the trolley moves backward.

[0013] Step 4: The servo motion control system controls the trolley drive unit to move forward or backward to the designated position according to the calculated trolley travel distance. During the trolley's movement, the absolute rotary encoder rotates with the servo motor, recording the number of motor rotations. The SSI encoder module calculates the trolley's travel distance S based on the wheel circumference and the number of motor rotations. b Meanwhile, the lidar monitors the travel distance S of the large vehicle in real time. c Servo motion control system real-time verification S b With S c Is it within the allowable error range? If yes, control the trolley to continue moving until it reaches the designated position and then stops. If no, the servo motion control system determines that the wheels are slipping and executes step 5.

[0014] Step 5: The servo motion control system calculates the wheel slippage distance S. aDetermine the distance S of wheel slippage a Is it less than the threshold S of the positioning superposition distance of the servo motion control system? th If yes, proceed to step 6; otherwise, proceed to step 7.

[0015] S a =S b -S c

[0016] Step 6: The servo motion control system adjusts the travel distance of the trolley to the distance S of wheel slippage. a As compensation data, the distance of wheel slippage is automatically added for superposition positioning to eliminate errors, while the trolley continues to move and stops after reaching the designated position.

[0017] Step 7: The servo motion control system automatically switches to JOG jog mode and calculates the distance S from when the trolley receives the stop command to when it comes to a complete stop using the deceleration set by the servo motion control system. o Determine the direction of travel of the trolley. If the trolley is moving forward, then the real-time position monitored by the lidar equals the lidar position of the planned furnace number minus S. o When the servo motion control system issues a stop command; if the trolley reverses, then the position monitored by the lidar in real time = the lidar position of the planned furnace number + S o When the servo motion control system issues a stop command, if the position monitored by the lidar in real time is within the allowable error range of the lidar position of the set furnace number when the trolley stops, the positioning is completed.

[0018] Step 8: When the trolley reaches the set position, the servo motion control system compares the furnace number collected by the vision camera with the set furnace to further determine whether the alignment is accurate. If it is not accurate, an alarm can be triggered.

[0019] As a preferred embodiment of the present invention, a Gray busbar coded cable is also provided along the direction of the trolley's travel, and an address detector is provided on the trolley. The address detector collects the Gray busbar coded cable position data along the entire trolley's travel distance to monitor the trolley's travel distance.

[0020] During the trolley's movement, when the trolley travels a distance exceeding the positions of the starting and last furnace numbers, the address detector sends an emergency stop command to the servo motion control system, which then controls the trolley to stop urgently.

[0021] As a preferred embodiment of the present invention, the servo motion control system includes a central controller, a lidar for real-time monitoring of the trolley's travel distance, a vision camera for identifying and reading the furnace number plate, and an absolute rotary encoder for recording the number of motor rotations. The lidar, vision camera, and absolute rotary encoder are all connected to the central controller.

[0022] As a preferred embodiment of the present invention, the driving device drives the trolley to move according to the travel distance calculated by the servo motion control system, thereby achieving precise positioning and movement. The driving device includes a servo driver, a servo motor, a coupling, and a reducer. The vision camera is an industrial camera with an automatic focusing function and a light source.

[0023] As a preferred embodiment of the present invention, when calculating and comparing the distance value of the trolley movement in step S4, the distance of the lidar of the i-th furnace number minus the distance of the lidar of the j-th furnace number is used; wherein, the i-th furnace number is the furnace number position of the coke oven where the trolley is currently located, and the j-th furnace number is the furnace number position of the coke oven to which the trolley is planned to travel, and the trolley moves forward or backward according to the positive or negative value of the value.

[0024] As a preferred embodiment of the present invention, S c =|Real-time location monitored by LiDAR - LiDAR location of the furnace number where the trolley is located, identified before the trolley travels| or S c =|The location of the furnace number of the trolley identified before the trolley travels - The location monitored by the lidar in real time|.

[0025] Advantages and beneficial effects of the present invention:

[0026] (1) The driving positioning system provided by the present invention is equipped with a laser radar with position data. The laser radar data is used to establish an X-axis coordinate system along the travel route of the trolley. The vision camera runs along the trolley and the furnace number plate collected throughout the process is used to determine the furnace number of the trolley, thereby accurately calculating the travel distance of the trolley. Then, the servo motion control system controls the trolley drive device to position the trolley. During the travel of the trolley, the absolute rotary encoder and the laser radar accurately measure the travel distance of the trolley. Real-time correction of the two values ​​can ensure the positioning accuracy of the trolley.

[0027] (2) The driving positioning system provided by the present invention is easy to install and construct, has accurate positioning, and strong resistance to environmental interference.

[0028] (3) When the travel distance of the trolley measured by the absolute rotary encoder and the lidar is not within the allowable error range, the driving positioning method provided by the present invention can calculate and compensate for the slippage distance in a timely manner by using the data calculated by the absolute rotary encoder and the lidar, thus solving the problem that the existing coke oven trolley cannot be accurately positioned due to wheel slippage.

[0029] (4) The driving positioning method provided by the present invention automatically switches to JOG jog mode when the slip distance exceeds the threshold, calculates the distance from when the trolley receives the stop command to when the trolley stops completely, and then controls the trolley to drive to the designated position and issues a stop command. This method is simple to control and the positioning is accurate. When the trolley stops, the position monitored in real time by the laser radar and the laser radar position of the set furnace number can be used to further verify whether the positioning is accurate. If it is within the allowable error range, it means that the positioning is completed.

[0030] (5) When the vehicle arrives at the set position, the furnace number plate collected by the vision camera can be used to verify whether the furnace number is correct, thus further ensuring the accuracy of the positioning.

[0031] (6) The driving positioning method provided by the invention automatically zeros the encoder after each positioning to eliminate errors caused by factors such as wheel slippage.

[0032] (7) The Gray busbar coded cable of the present invention monitors the operation of the trolley in real time. If it is found that the positioning distance is exceeded, an emergency stop is issued to ensure the safe operation of the trolley. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the structure of the coke oven trolley automatic driving positioning system of the present invention;

[0034] Figure 2 This is a flowchart of the coke oven trolley automatic driving positioning method of the present invention. Detailed Implementation

[0035] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0036] Example 1

[0037] like Figure 1 As shown, the present invention provides an automatic driving positioning system for a coke oven trolley, comprising a coke oven 1, a trolley 2, a vision camera 3, an oven number plate 4, a drive device 5, a Gray busbar encoding cable 6, a rotary encoder 7, a track 8, an address detector 9, a lidar 10, and a servo motion control system 12.

[0038] The coke oven 1 is provided with a track 8 on one side, and the trolley 2 moves on the track 8. On the side of the coke oven 1 adjacent to the trolley 2, there is a furnace number plate 4. There are multiple furnace number plates 4, which are respectively set on the furnace walls of different coke ovens 1 along the running direction of the trolley 2. Each furnace number plate 4 is printed with the furnace number of the coke oven 1 corresponding to it. That is, the furnace number plate 4 of coke oven No. 1 is printed with 1, the furnace number plate 4 of coke oven No. 2 is printed with 2, the furnace number plate 4 of coke oven No. 3 is printed with 3, and so on.

[0039] A vision camera 3 is installed on one side of the trolley 2, and the vision camera 3 is parallel to and opposite to the furnace number plate 4 installed on the coke oven 1. The bottom of the trolley 2 is equipped with wheels 11, which are driven by a drive device 5. The drive device 5 includes a servo driver, a servo motor, a coupling, and a reducer. The servo motor is equipped with a rotary encoder 7. A Gray busbar coded cable 6 is also installed along the running direction of the trolley 2. An address detector 9 is installed on the trolley 2. The address detector 9 collects the position data of the Gray busbar coded cable along the entire running distance of the trolley to monitor the running distance of the trolley.

[0040] The lidar 10 is installed at the rear end of the trolley 2. A radar reflective film 13 is installed on the end of the track 8 facing the lidar 10. The radar reflective film 13 works in conjunction with the lidar 10 to accurately measure the travel distance of the trolley.

[0041] In this embodiment, the servo motion control system includes a central controller, a lidar 10 that monitors the trolley's travel distance in real time, a vision camera 3 for identifying and reading the furnace number on the furnace number plate 4, and a rotary encoder 7 for recording the number of motor rotations. The lidar 10, vision camera 3, rotary encoder 7, and address detector 9 are all electrically connected to the central controller.

[0042] In this embodiment, coke oven 1 is the coke oven furthest from the radar reflective film 13, and is located at the forefront of the direction of travel of the trolley 2, where the distance measured by the lidar 10 is the largest.

[0043] Furthermore, in this embodiment, the vision camera 3 is an industrial camera with an automatic focusing function and a light source; the rotary encoder 7 is an absolute rotary encoder; and the trolley is a coke oven trolley.

[0044] Furthermore, in this embodiment, the driving device 5 drives the trolley 2 to move according to the travel distance calculated by the servo motion control system 12, thereby achieving precise positioning and movement.

[0045] Example 2

[0046] like Figure 2 As shown, this embodiment utilizes the positioning system described in Embodiment 1 to achieve automatic driving positioning of the coke oven trolley. The specific driving positioning method is as follows:

[0047] Step 1: Manually move the trolley to the location of the first coke oven. After zeroing, set the position of the absolute rotary encoder for the first coke oven to 0, and simultaneously set the current distance of the lidar to the lidar position of the first coke oven. Then, manually move the trolley to the location of the second coke oven. After correct alignment, set the current position of the absolute rotary encoder to the position of the second coke oven, and simultaneously set the current distance of the lidar to the lidar position of the second coke oven. Continue in this manner until the position of the last coke oven is set, thus achieving the distance setting between each coke oven number.

[0048] Step 2: Use the servo motion control system to control the movement of the trolley. After receiving the travel command information, the servo motion control system confirms the planned furnace number that needs to be positioned.

[0049] Step 3: The servo motion control system identifies the current furnace number of the trolley based on the vision camera. Using the X-axis coordinate system information established by subtracting the lidar position of the planned furnace number to be located from the lidar position of the current furnace number, the system calculates and compares the distance traveled by the trolley to determine the direction of travel. If the calculated distance value is positive, the trolley moves forward; if the calculated distance value is negative, the trolley moves backward.

[0050] Step 4: The servo motion control system controls the trolley drive unit to move forward or backward to the designated position according to the calculated trolley travel distance. During the trolley's movement, the absolute rotary encoder rotates with the servo motor, recording the number of motor rotations. The SSI encoder module calculates the trolley's travel distance S based on the wheel circumference and the number of motor rotations. b Meanwhile, the lidar monitors the travel distance S of the large vehicle in real time. c Servo motion control system real-time verification S b With S c Is it within the allowable error range? If yes, control the trolley to continue moving until it reaches the designated position and then stops. If no, the servo motion control system determines that the wheels are slipping and executes step 5.

[0051] Step 5: The servo motion control system calculates the wheel slippage distance S. a Determine the distance S of wheel slippage a Is it less than the threshold S of the positioning superposition distance of the servo motion control system? th If yes, proceed to step 6; otherwise, proceed to step 7.

[0052] S a =S b -S c

[0053] Step 6: The servo motion control system adjusts the travel distance of the trolley to the distance S of wheel slippage. a As compensation data, the distance of wheel slippage is automatically added for superposition positioning to eliminate errors, while the trolley continues to move and stops after reaching the designated position.

[0054] Step 7: The servo motion control system automatically switches to JOG jog mode and calculates the distance S from when the trolley receives the stop command to when it comes to a complete stop using the deceleration set by the servo motion control system. o Determine the direction of travel of the trolley. If the trolley is moving forward, then the real-time position monitored by the lidar equals the lidar position of the planned furnace number minus S. o When the servo motion control system issues a stop command; if the trolley reverses, then the position monitored by the lidar in real time = the lidar position of the planned furnace number + S o When the servo motion control system issues a stop command, if the position monitored by the lidar in real time is within the allowable error range of the lidar position of the set furnace number when the trolley stops, the positioning is completed.

[0055] Step 8: When the trolley reaches the set position, the servo motion control system compares the furnace number collected by the vision camera with the set furnace to further determine whether the alignment is accurate. If it is not accurate, an alarm can be triggered.

[0056] In this embodiment, the real-time monitoring position of the lidar, the lidar position of the current furnace number, and the lidar position of the planned furnace number all refer to the distance value between the location of the trolley and the radar reflective film determined by the lidar.

[0057] In this embodiment, when calculating and comparing the distance the trolley moves in step S3, the lidar position of the i-th furnace number minus the lidar position of the j-th furnace number set in step S2 is used; where the i-th furnace number is the furnace number position of the coke oven where the trolley is currently located, and the j-th furnace number is the furnace number position of the coke oven to which the trolley is planned to travel. The trolley moves forward or backward based on the positive or negative value of this value.

[0058] In this embodiment, the lidar monitors the travel distance S of the large vehicle in real time. c The calculation depends on the direction of travel of the trolley. If the trolley is moving forward, then S... c = Location monitored by LiDAR in real time - LiDAR location of the furnace number where the trolley is located, identified before the trolley moves; if the trolley reverses, then S c = The location of the furnace number where the trolley is located, identified before the trolley travels - the location monitored by the lidar in real time, i.e., S c =|Real-time location monitored by LiDAR - LiDAR location of the furnace number where the trolley is located, identified before the trolley travels| or S c=|The location of the furnace number of the trolley identified before the trolley travels - The location monitored by the lidar in real time|.

[0059] Furthermore, in this embodiment, during the trolley's travel, when the trolley's travel distance exceeds the positions of the starting furnace number and the last furnace number, the address detector sends an emergency stop command to the servo motion control system, which then controls the trolley to stop urgently, ensuring the safe operation of the trolley.

[0060] The above examples illustrate the present invention only to aid in understanding it and are not intended to limit the scope of the invention. Those skilled in the art can make various simple deductions, modifications, or substitutions based on the principles of this invention.

Claims

1. A method for positioning an automated driving system for a coke oven trolley, the method utilizing an automated driving system for a coke oven trolley, characterized in that, The system includes a coke oven, a trolley, a vision camera, a furnace number plate, a drive device, a rotary encoder, a track, an address detector, a lidar, and a servo motion control system. A track is provided on one side of the coke oven, and the trolley moves on the track. Multiple furnace number plates are provided on the furnace wall adjacent to the trolley, and these plates are respectively installed on the furnace walls of different coke ovens along the direction of the trolley's movement. Each furnace number plate is printed with the corresponding furnace number of the coke oven. A vision camera is installed on one side of the trolley body, and the vision camera is parallel and opposite to the furnace number plate installed on the coke oven; wheels are installed at the bottom of the trolley, and the wheels are driven by a drive device, and the servo motor of the drive device is equipped with a rotary encoder. The lidar is installed at the rear of the vehicle, and a radar reflective film is installed on the end of the track facing the lidar. The autonomous driving positioning method specifically includes the following steps: Step 1: Manually move the trolley to the location of the first coke oven. After zeroing, set the position of the absolute rotary encoder for the first coke oven to 0, and simultaneously set the current distance of the lidar to the lidar position of the first coke oven. Then, manually move the trolley to the location of the second coke oven. After correct alignment, set the current position of the absolute rotary encoder to the position of the second coke oven, and simultaneously set the current distance of the lidar to the lidar position of the second coke oven. Continue in this manner until the position of the last coke oven is set, thus achieving the distance setting between each coke oven number. Step 2: Use the servo motion control system to control the movement of the trolley. After receiving the travel command information, the servo motion control system confirms the planned furnace number that needs to be positioned. Step 3: The servo motion control system identifies the current furnace number of the trolley based on the vision camera. Using the X-axis coordinate system information established by subtracting the lidar position of the planned furnace number to be located from the lidar position of the current furnace number, the system calculates and compares the distance traveled by the trolley to determine the direction of travel. If the calculated distance value is positive, the trolley moves forward; if the calculated distance value is negative, the trolley moves backward. Step 4: The servo motion control system controls the trolley drive unit to move forward or backward to the designated position according to the calculated trolley travel distance. During the trolley's movement, the absolute rotary encoder rotates with the servo motor, recording the number of motor rotations. The SSI encoder module calculates the trolley's travel distance S based on the wheel circumference and the number of motor rotations. b Meanwhile, the lidar monitors the travel distance S of the large vehicle in real time. c Servo motion control system real-time verification S b With S c Is it within the allowable error range? If yes, control the trolley to continue moving until it reaches the designated position and then stops. If no, the servo motion control system determines that the wheels are slipping and executes step 5. Step 5: The servo motion control system calculates the wheel slippage distance S. a Determine the distance S of wheel slippage a Is it less than the threshold S of the positioning superposition distance of the servo motion control system? th If yes, proceed to step 6; otherwise, proceed to step 7. S a =S b -S c Step 6: The servo motion control system adjusts the travel distance of the trolley to the distance S of wheel slippage. a As compensation data, the distance of wheel slippage is automatically added for superposition positioning to eliminate errors, while the trolley continues to move and stops after reaching the designated position. Step 7: The servo motion control system automatically switches to JOG jog mode and calculates the distance S from when the trolley receives the stop command to when it comes to a complete stop using the deceleration set by the servo motion control system. o Determine the direction of travel of the trolley. If the trolley is moving forward, then the real-time position monitored by the lidar equals the lidar position of the planned furnace number minus S. o When the servo motion control system issues a stop command; if the trolley reverses, then the position monitored by the lidar in real time = the lidar position of the planned furnace number + S o When the servo motion control system issues a stop command, if the position monitored by the lidar in real time is within the allowable error range of the lidar position of the set furnace number when the trolley stops, the positioning is completed. Step 8: When the trolley reaches the set position, the servo motion control system compares the furnace number collected by the vision camera with the set furnace to further determine whether the alignment is accurate. If it is not accurate, an alarm can be triggered.

2. The method for positioning automatic driving of a coke oven trolley according to claim 1, characterized in that, A Gray busbar coded cable is also installed along the direction of the trolley's movement. An address detector is installed on the trolley. The address detector collects the position data of the Gray busbar coded cable along the entire length of the trolley's movement to monitor the trolley's travel distance. During the trolley's movement, when the trolley's travel distance exceeds the positions of the starting furnace number and the last furnace number, the address detector sends an emergency stop command to the servo motion control system, which then controls the trolley to stop urgently.

3. The method for positioning automatic driving of a coke oven trolley according to claim 1, characterized in that, The servo motion control system includes a central controller, a lidar for real-time monitoring of the trolley's travel distance, a vision camera for identifying and reading the furnace number plate, and an absolute rotary encoder for recording the number of motor rotations. The lidar, vision camera, and absolute rotary encoder are all connected to the central controller.

4. The method for positioning automatic driving of a coke oven trolley according to claim 1, characterized in that, The drive device drives the trolley to move according to the travel distance calculated by the servo motion control system, achieving precise positioning and movement. The drive device includes a servo driver, a servo motor, a coupling, and a reducer. The vision camera is an industrial camera with an automatic focusing function and a light source.

5. The method for positioning automatic driving of a coke oven trolley according to claim 1, characterized in that, When calculating and comparing the distance the trolley moves in step S4, the distance is calculated using the laser radar distance of the i-th furnace number minus the laser radar distance of the j-th furnace number, as set in step S2. Here, the i-th furnace number is the furnace number position of the coke oven where the trolley is currently located, and the j-th furnace number is the furnace number position to which the trolley is planned to travel. The forward or backward movement of the trolley is determined based on whether the value is positive or negative.

6. The method for positioning automatic driving of a coke oven trolley according to claim 1, characterized in that, S c =|Real-time location monitored by LiDAR - LiDAR location of the furnace number where the trolley is located, identified before the trolley travels| or S c =|The location of the furnace number of the trolley identified before the trolley travels - The location monitored by the lidar in real time|.

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