Automatic alignment system based on area array type CCD combined with magnetic sensing technology and positioning method of automatic alignment system

Abstract

The invention provides an automatic alignment system and a positioning method based on an area array type CCD combined magnetic sensing technology, and the system comprises a PLC programmable controller, an area array type CCD recognition system, a two-dimensional code with a laser etching metal plate as a carrier, a magnetic sensing positioning system, and a permanent magnet. Through an industrial Ethernet communication technology, the area array type CCD identification system scans the two-dimensional code in which furnace number information is stored; the furnace number information is subjected to data processing by the digital signal processor and then is transmitted to the PLC; the magnetic sensitive positioning system comprises a positioning plate and a power panel. And the magnetic sensitive positioning system realizes positioning through the magnetoresistive effect of the magnetic sensitive element arranged on the positioning plate under the change of the magnetic field of the permanent magnet. Compared with the existing reading head coded disc alignment technology, the method has the advantages that the development and manufacturing cost is lower and the maintenance rate is lower on the basis of ensuring the alignment precision through the image recognition technology.

Description

Technical Field

[0001] The present invention relates to the technical field of positioning systems and positioning methods, and in particular to an automatic alignment system and a positioning method based on an area array CCD combined with a magnetic sensing technology. Background Art

[0002] With the strategic development of the national intelligent manufacturing 2025, coke oven machinery has begun to develop in the direction of intelligence and unmanned operation. As its basic core technology, the automatic alignment system plays an increasingly important role. At present, domestic coke oven equipment mostly adopts the method of "a coke oven machinery furnace number recognition and automatic alignment system", that is, the "reading head + code disk" form of automatic alignment technology. This alignment technology is mature and reliable, but the cost is high, the installation and debugging are troublesome, and the later maintenance is large. With the promotion and popularization of unmanned operation, higher requirements are placed on the reliability and economy of the automatic positioning system. Therefore, it is imperative to develop a more reliable, lower-cost, and easier-to-maintain furnace number recognition automatic alignment system.

[0003] In the prior art, the patent "A method and device for rapid identification of image-based CCD barcodes" has been published, with the authorization announcement number CN106156676B. This patent is based on barcode image recognition processing, while the technology developed this time is based on the combination of area array CCD two-dimensional code image recognition and magnetic sensing technology, and the application field and principle are different.

[0004] In the prior art, the patent "A Linear CCD Image Acquisition System" has been published, with the authorization announcement number CN208540035U. This patent is based on barcode image recognition and processing, while the technology developed this time is based on the combination of area array CCD two-dimensional code image recognition and magnetic sensing technology, and the application field and principle are different.

[0005] In the prior art, the patent "A Linear CCD Image Acquisition System" has been published, with the authorization announcement number CN108810429A. This patent is based on barcode image recognition and processing, while the technology developed this time is based on the combination of area array CCD two-dimensional code image recognition and magnetic sensing technology, and the application field and principle are different. Summary of the invention

[0006] According to the technical problems mentioned in the above background technology, an automatic alignment system and a positioning method thereof based on an area array CCD combined with a magnetic sensing technology are provided.

[0007] The technical means adopted by the present invention are as follows:

[0008] Automatic alignment system based on area array CCD combined with magnetic sensing technology, including:

[0009] A PLC programmable controller, an array CCD recognition system, a two-dimensional code whose carrier is a laser-etched metal plate, a magnetic positioning system and a permanent magnet; through industrial Ethernet communication technology, the array CCD recognition system scans the two-dimensional code storing furnace number information; the furnace number information is transmitted to the PLC programmable controller after data processing by a digital signal processor; the magnetic positioning system includes: a positioning board and a power board; the magnetic positioning system realizes positioning through the magnetoresistance effect of the magnetic sensitive element arranged on the positioning board under the magnetic field change of the permanent magnet.

[0010] Furthermore, in the planar array CCD recognition system, the two-dimensional code scanned by the CCD sensor is encoded and decoded through an optical lens to restore the image into a number, namely the coke oven number.

[0011] Furthermore, the carrier is a laser-etched metal plate, and the two-dimensional code is a matrix two-dimensional code QR Code.

[0012] Furthermore, the carrier is a laser-etched metal plate whose two-dimensional code and the positioning plate have the same center point.

[0013] Furthermore, a magnetic sensor is arranged on the positioning plate; the magnetic sensor is distributed on both sides of the circuit board and has a differential layout to ensure that when the system is located at the center of the magnetic field, it outputs zero potential.

[0014] Furthermore, the magnetic sensor is a Hall element.

[0015] Furthermore, in the working state, the positioning plate is set on the mobile vehicle. As the vehicle approaches the permanent magnet that generates the magnetic field, the positioning plate will output an analog signal of 4mA to 20mA; when the permanent magnet is set at the exact center of the positioning plate, the output signal is 12mA, and at the same time a switch passive contact signal is output as the vehicle's positioning point.

[0016] The present invention also includes an automatic positioning method based on a planar array CCD combined with magnetic sensitive technology, comprising the following steps:

[0017] Step 1: The vehicle moves to the target furnace number area;

[0018] Step 2: Start the array CCD recognition system and magnetic sensitive positioning system;

[0019] Step 3: Scan the two-dimensional code storing the furnace number information through the area array CCD recognition system; the furnace number information is processed by the digital signal processor and then transmitted to the PLC programmable controller;

[0020] Step 4: Determine whether a positioning signal is received; if a positioning signal is received, execute step 5; if no positioning signal is received, execute step 6;

[0021] Step 5: Parking brake of the vehicle;

[0022] Step 6: Determine the vehicle's running direction and perform running correction at the same time. After correction, proceed to step 4.

[0023] Compared with the prior art, the present invention has the following advantages:

[0024] Compared with the existing reading head code disk alignment technology, the present invention uses image recognition technology to ensure alignment accuracy while having lower development and manufacturing costs and lower maintenance rates. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0026] Figure 1 It is a schematic diagram of the structure of the automatic alignment system of the present invention.

[0027] Figure 2 This is a schematic diagram of the recognition principle of the area array CCD of the present invention.

[0028] Figure 3 This is a flow chart of the identification and positioning control method of the present invention.

[0029] Figure 4 This is a schematic diagram of the induction principle of the positioning plate and the permanent magnet of the present invention.

[0030] Figure 5 This is a schematic diagram of the output signal of the positioning board of the present invention. DETAILED DESCRIPTION

[0031] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0032] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0033] like Figure 1 As shown, the automatic alignment system based on the area array CCD combined with the magnetic sensitive technology of the present invention includes: a PLC programmable controller 1, an area array CCD recognition system 2, a two-dimensional code 3 whose carrier is a laser-etched metal plate, a magnetic sensitive positioning system 4 and a permanent magnet 5.

[0034] Through industrial Ethernet communication technology, the area array CCD recognition system 2 scans the two-dimensional code 3 storing the furnace number information; the furnace number information is transmitted to the PLC programmable controller 1 after data processing by a digital signal processor.

[0035] like Figure 2 As shown, in the surface array CCD recognition system 2, the CCD sensor is set to scan the two-dimensional code through the optical lens and then decode the image to restore it to a number, that is, the coke oven number. The surface array CCD is a two-dimensional array composed of a one-dimensional linear array CCD image element and a shift register. When the image element generates photoelectron information under light irradiation, under the drive of the drive circuit, the pixel area transmits the entire frame of electronic information to the storage area, and then the information is read out by the horizontal shift register; the two-dimensional code can be divided into a matrix two-dimensional code and a row-column two-dimensional code, among which the matrix two-dimensional code is more commonly used, and the black and white pixel blocks are distributed in a rectangular space according to the coding principle. Among them, the black pixel block represents the binary "1", and the white pixel block represents the binary "0". Different arrangements and combinations determine the meaning represented by the two-dimensional code. This time, the representative matrix two-dimensional code QR Code is used, which has the characteristics of ultra-high-speed reading, all-round reading, and strong error correction ability.

[0036] In the present application, the two-dimensional code 3 whose carrier is a laser-etched metal plate is a matrix two-dimensional code QR Code; the two-dimensional code 3 whose carrier is a laser-etched metal plate and the positioning plate have the same center point.

[0037] The magnetic sensitive positioning system 4 includes: a positioning board and a power supply board; the magnetic sensitive positioning system 4 realizes positioning through the magnetoresistance effect of the magnetic sensitive element arranged on the positioning board under the change of the magnetic field of the permanent magnet 5. A magnetic sensitive sensor is arranged on the positioning board; the magnetic sensitive sensors are distributed on both sides of the circuit board and are differentially arranged to ensure that when the system is located at the center of the magnetic field, it outputs zero potential. The magnetic sensitive sensor is a Hall element. In the working state, the positioning plate is arranged on a moving vehicle, and as the vehicle approaches the permanent magnet 5 that generates the magnetic field, the positioning plate will output an analog signal of 4mA to 20mA; when the permanent magnet 5 is arranged at the exact center of the positioning plate, the output signal is 12mA, and at the same time a switch quantity passive contact signal is output as the positioning point of the vehicle. The schematic diagram of the positioning plate and the permanent magnet induction is shown in the figure. Figure 4 As shown in the figure; when the distance between the positioning plate and the induction magnet changes, the output signal follows Figure 5 To achieve this, the implementation process is as follows: the specific range of the 4-20mA signal generated when the positioning plate moves: when the vehicle is outside the sensing range, the positioning plate output signal is a constant 12mA; when approaching the magnet, the analog signal changes from 12mA to 4mA, and the distance covered in this process is 50mm. At the same time, when the PLC program detects that the current output by the positioning plate starts to change from a constant 12mA, the locomotive slows down (the deceleration distance is about 50mm); then the locomotive moves at a lower speed at a constant speed, and the signal changes from 4mA to a peak value of 20mA during this process. At the same time, the distance of the locomotive movement during this process is the central sensing area distance of 200mm in the figure; when the vehicle walks out of the central sensing area, the output signal changes from 20mA to 12mA. Generally, the speed of the locomotive will decrease by a part when passing through a positioning permanent magnet, so the speed of the locomotive has dropped very low before passing the last positioning permanent magnet in front of the furnace door. In order to ensure the accurate alignment of the locomotive and the furnace door, the final installation position of a permanent magnet (i.e., the positioning point) needs to be preceded by a braking distance S. The distance S is calculated based on the braking acceleration and braking time by the formula: S = 1 / 2at 2 To obtain.

[0038] As a preferred embodiment, in this application, Figure 3 As shown, the present invention also includes an automatic positioning method based on a planar array CCD combined with magnetic sensitive technology, comprising the following steps:

[0039] Step 1: The vehicle moves to the target furnace number area;

[0040] Step 2: Start the array CCD recognition system 2 and the magnetic sensitive positioning system 4;

[0041] Step 3: Scan the two-dimensional code 3 storing the furnace number information through the area array CCD recognition system 2; the furnace number information is processed by the digital signal processor and then transmitted to the PLC programmable controller 1;

[0042] Step 4: Determine whether a positioning signal is received; if a positioning signal is received, execute step 5; if no positioning signal is received, execute step 6;

[0043] Step 5: Parking brake of the vehicle;

[0044] Step 6: Determine the vehicle's running direction and perform running correction at the same time. After correction, proceed to step 4.

[0045] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0046] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0047] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0048] The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. In addition, the functional units in the various embodiments of the present invention may be integrated into a processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0049] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. Automatic alignment system based on area array CCD combined with magnetic sensing technology, characterized by: include: A PLC programmable controller (1), a planar CCD recognition system (2), a two-dimensional code (3) whose carrier is a laser-etched metal plate, a magnetic sensitive positioning system (4), and a permanent magnet (5); Through industrial Ethernet communication technology, the array CCD recognition system (2) scans the two-dimensional code (3) storing the furnace number information; the furnace number information is processed by a digital signal processor and then transmitted to the PLC programmable controller (1); the magnetic sensitive positioning system (4) includes: a positioning board and a power board; The magnetic sensitive positioning system (4) realizes positioning through the magnetoresistance effect of the magnetic sensitive element arranged on the positioning plate under the change of the magnetic field of the permanent magnet (5).

2. The automatic alignment system based on area array CCD combined with magnetic sensing technology according to claim 1 is characterized in that: In the surface array CCD recognition system (2), the CCD sensor is arranged to scan the two-dimensional code through an optical lens, and then the image is restored to a number, namely the coke oven number, after encoding and decoding.

3. The automatic alignment system based on area array CCD combined with magnetic sensitive technology according to claim 1 is characterized in that: The carrier is a laser-etched metal plate, and the two-dimensional code (3) is a matrix type two-dimensional code QR Code.

4. The automatic alignment system based on area array CCD combined with magnetic sensing technology according to claim 1 is characterized in that: The carrier is a laser-etched metal plate on which the two-dimensional code (3) and the positioning plate have the same center point.

5. The automatic alignment system based on area array CCD combined with magnetic sensing technology according to claim 1 is characterized in that: The positioning plate is provided with a magnetic sensor; the magnetic sensor is distributed on both sides of the circuit board and is differentially arranged to ensure that when the system is located at the center of the magnetic field, a zero potential is output.

6. The automatic alignment system based on area array CCD combined with magnetic sensing technology according to claim 5 is characterized in that: The magnetic sensor is a Hall element.

7. The automatic alignment system based on area array CCD combined with magnetic sensing technology according to claim 1 is characterized in that: In the working state, the positioning plate is arranged on a moving vehicle. As the vehicle approaches the permanent magnet (5) generating a magnetic field, the positioning plate will output an analog signal of 4mA to 20mA. When the permanent magnet (5) is arranged at the exact center of the positioning plate, the output signal is 12mA, and at the same time, a switch quantity passive contact signal is output as the positioning point of the vehicle.

8. The automatic positioning method based on the area array CCD combined with magnetic sensitive technology is characterized by: The following steps are involved: Step 1: The vehicle moves to the target furnace number area; Step 2: Start the area array CCD recognition system (2) and the magnetic sensitive positioning system (4); Step 3: Scanning the two-dimensional code (3) storing the furnace number information through the area array CCD recognition system (2); the furnace number information is processed by a digital signal processor and then transmitted to the PLC programmable controller (1); Step 4: Determine whether a positioning signal is received; if a positioning signal is received, execute step 5; if no positioning signal is received, execute step 6; Step 5: Parking brake of the vehicle; Step 6: Determine the vehicle's running direction and perform running correction at the same time. After correction, proceed to step 4.

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