CN115113550A - A kind of unmanned control device and method for crossing trolley - Google Patents

Abstract

The invention discloses an unmanned control device and method for a cross-over trolley, wherein a trolley sensor is used for measuring the weight of a steel billet on the cross-over trolley and the position of the cross-over trolley; the trolley driving mechanism is used for controlling the movement of the cross trolley; the travelling crane sensor is used for measuring the weight of the steel billet on the travelling crane and the position of the travelling crane; the trolley remote control unit is used for acquiring signals of the travelling crane sensor; and the trolley ground control unit is used for acquiring signals of the trolley sensor and receiving the signals of the trolley remote control unit through the wireless communication unit so as to control the trolley driving mechanism. The invention transmits detection signals such as the range of the traveling crane, the running speed state, whether blanks are loaded and the like through wireless communication signals, and adopts a cross-trolley running judgment method to automatically judge the running direction and control the trolley by combining data such as the weight change of the cross-trolley, thereby realizing the unmanned operation of the cross-trolley.

Description

A kind of unmanned control device and method for crossing trolley

technical field

The present invention relates to the control technology of over-crossing trolley, more particularly, to an unmanned control device and method of over-crossing trolley, in particular to an unmanned control device and method of over-crossing trolley for iron and steel enterprises.

Background technique

Cross-straddle trolleys are commonly used equipment in steel mills, and are mainly used for cross-straight handling of products and materials. Large workshops of iron and steel enterprises often occupy several spans. Products and materials can be transported by trolleys within the spans, and cross trolleys need to be used between the spans. In the traditional production process, the crane first transports the product or material to the designated location, and then uses the cross-straddle trolley as a handling vehicle to transfer the product or material to another span, waiting for another crane to lift it. Due to the influence of factors such as heavy load (up to tens of tons), large inertia, and vibration during operation, there are still many problems in actual use. Many processes have to be manually operated by personnel, so the operation efficiency is low and the production turnover is slow. The problem is prominent, and at the same time, improper coordination between ground operation and driving can easily lead to accidents. According to the normal operation process, the ground personnel start the over-crossing trolley to the driving position. Due to the inertia of the over-crossing trolley, the over-crossing trolley is not stable or stable. Misoperations by operators often lead to accidents, resulting in downtime.

For iron and steel enterprises, the most important thing is the fully automatic and unmanned control that can meet the industrial operation of two adjacent spans.

SUMMARY OF THE INVENTION

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 straddle trolley, which transmits detection signals such as the range of the vehicle, the running speed status, and whether the blank is loaded through wireless communication signals. Combined with the data such as the weight change of the over-cross trolley, the over-cross trolley operation judgment method is used to automatically determine the running direction and control the vehicle, so as to realize the unmanned operation of the over-cross trolley.

To achieve the above object, the present invention adopts the following technical solutions:

On the one hand, an unmanned control device for a crossover trolley:

a trolley sensor for measuring the weight of the billet on the straddle trolley and the position of the straddle trolley;

a trolley driving mechanism for controlling the movement of the over-riding trolley;

a running sensor for measuring the weight of the billet on the running vehicle and the position of the running vehicle;

The trolley remote control unit is used to collect the signal of the driving sensor;

The trolley ground control unit is used to collect the signal of the trolley sensor, and receive the signal of the trolley remote control unit through the wireless communication unit to control the trolley driving mechanism.

Preferably, the trolley sensor includes:

a trolley weight sensor, installed on the cross-over trolley, for measuring the weight of the steel billet on the cross-over trolley;

a trolley position detector for measuring the position of the straddle trolley; and/or

The driving sensor includes:

a traveling weight sensor, which is installed on the traveling vehicle and used to measure the weight of the steel billet hoisted on the traveling vehicle;

A driving position detector, mounted on the driving vehicle, for measuring the position of the driving vehicle and/or

The trolley position detector is arranged in the hoisting area.

Preferably, 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 method for determining the operation of the trolley, and controls the trolley. Travel to the target position.

Preferably, the method for determining the operation of the over-cross trolley is as follows:

When the trolley meets the hoisting conditions, the trolley ground control unit controls the trolley drive mechanism to move the over-cross trolley to a hoisting point in the hoisting area, and wait for the trolley to perform a loading operation;

When the loading operation of the trolley is completed and the conditions for the straddle transport are met, the trolley ground control unit controls the trolley drive mechanism to move the straddle trolley to the hoisting point in the hoisting area of the adjacent trolley, and waits for The billet is hoisted away;

After the loading operation of the trolley is completed and the trolley homing condition is satisfied, if the adjacent trolley meets the hoisting condition, the trolley ground control unit controls the trolley driving mechanism to move the over-cross trolley to The hoisting point in the hoisting area of the adjacent vehicle, if the adjacent vehicle does not meet the hoisting conditions, the trolley ground control unit controls the trolley drive mechanism to move the over-cross trolley to the parking point, and wait for New Transit Transshipment missions.

On the other hand, a method for unmanned control of a cross-over trolley adopts the unmanned control device for a cross-over trolley to perform the following steps:

1) Motion control is performed on the cross-over trolley;

2) The vehicle enters the hoisting area;

3) wireless signal transmission is performed between the traveling vehicle and the over-crossing trolley 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 method for determining the operation of the trolley, and controls the trolley to run to target location.

Preferably, in the step 1), the trolley ground control unit controls the trolley driving mechanism to realize the movement of the over-crossing trolley, and the trolley position detector measures the over-crossing trolley. the location of the vehicle; and/or

In the step 2): the driving position detector is used to measure whether the driving vehicle enters the hoisting area; and/or

In the step 3): the weight of the billet hoisted on the trolley and the position of the trolley are transmitted by the trolley remote control unit to the trolley ground control unit through the wireless communication unit.

Preferably, in the step 4), the method for determining the operation of the over-cross trolley is as follows:

When the trolley meets the hoisting conditions, the trolley ground control unit controls the trolley drive mechanism to move the over-cross trolley to a hoisting point in the hoisting area, and wait for the trolley to perform a loading operation;

When the loading operation of the trolley is completed and the conditions for the straddle transport are met, the trolley ground control unit controls the trolley drive mechanism to move the straddle trolley to the hoisting point in the hoisting area of the adjacent trolley, and waits for The billet is hoisted away;

After the loading operation of the trolley is completed and the trolley homing condition is satisfied, if the adjacent trolley meets the hoisting condition, the trolley ground control unit controls the trolley driving mechanism to move the over-cross trolley to The hoisting point in the hoisting area of the adjacent vehicle, if the adjacent vehicle does not meet the hoisting conditions, the trolley ground control unit controls the trolley drive mechanism to move the over-cross trolley to the parking point, and wait for New Transit Transshipment missions.

Preferably, the traveling vehicle meets the hoisting conditions including that the traveling vehicle is located in the hoisting area, the traveling vehicle has hoisted blanks, and the traveling vehicle moves at a low speed or stops.

Preferably, the crane loading operation is completed and the cross-span transportation conditions are met, and the crane loading operation is completed and the trolley homing conditions are met all include that there are blanks on the over-crossing trolley, the hoisted crane has no blanks, and all The vehicle moves at a high speed, and the vehicle leaves the hoisting area.

Preferably, in the step 1), the over-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.

The unmanned control device and method for a cross-straddle trolley provided by the present invention is the most important for the cross-straddle trolley of an iron and steel enterprise, which is a fully automatic and unmanned control method that can meet the driving operation of adjacent two spans. , Aiming at the current status and existing problems of the control technology of the cross-straddle trolley, the present invention proposes a fully automatic unmanned control device and method for the cross-straddle trolley. The method transmits the driving range, running speed status, Whether to load the blanks and other detection signals, and combined with the data such as the weight change of the over-crossing trolley, the over-crossing trolley running judgment method is used to automatically determine the running direction and control the vehicle, so as to realize the unmanned operation of the over-crossing trolley.

Description of drawings

Fig. 1 is the frame schematic diagram of the unmanned control device of the present invention for crossing the trolley;

FIG. 2 is a schematic diagram of the principle of the unmanned control method of the cross-straddle trolley according to the present invention.

Detailed ways

In order to better understand the above technical solutions of the present invention, the technical solutions of the present invention are further described below with reference to the accompanying drawings and embodiments.

Embodiment 1, as shown in FIG. 1, a kind of unmanned control device for cross-straddle trolley provided by the present invention:

The trolley sensor is used to measure the weight of the billet on the straddle trolley 100 and the position of the straddle trolley 100;

The trolley drive mechanism 1 is used to control the movement of the trolley 100 and drive the forward and reverse movement of the trolley 100;

a driving sensor for measuring the weight of the billet on the driving vehicle 200 and the position of the driving vehicle 200;

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

The trolley ground control unit 3 has weight and distance data collection, wireless signal transmission, data analysis and judgment, and a PLC controller or computer device that controls the movement function of the trolley 100, which receives the trolley weight sensor 5, the trolley The position detector 6, the relevant weight from the wireless communication unit 4, the position of the crossing trolley 100, the driving signal and other data are analyzed and judged, and the control vehicle driving mechanism 1 realizes the automatic operation of the crossing trolley 100;

The wireless communication unit 4 is respectively installed on the trolley ground control unit 3 and the traveling vehicle 200 for realizing wireless transmission of control signals.

Cart sensors include:

The trolley weight sensor 5, which is installed on the straddle trolley 100, is a weighing device used to measure the weight of the billet on the straddle trolley 100;

The trolley position detector 6 is a range finder used to measure the position of crossing the trolley 100 .

Driving sensors include:

The traveling weight sensor 7, which is installed on the traveling cart 200, is a weighing device used to measure the weight of the steel billet hoisted on the traveling cart 200;

The driving position detector 8, installed on the driving vehicle 200, is a position measuring sensor used to detect whether the driving vehicle 200 is within a certain range.

The trolley position detector 6 is provided in the hoisting area, and is used to measure whether the position of the straddle trolley 100 is located on the hoisting point.

Embodiment 2, again in conjunction with FIG. 1 and FIG. 2 , the present invention also provides a method for unmanned control of a cross-over trolley, using the unmanned control device for a cross-over trolley in Embodiment 1 to perform the following steps: :

1) Motion control of the trolley 100: The movement of the trolley 100 is driven by the trolley ground control unit 3 to control the vehicle drive mechanism 1 to drive the forward and reverse rotation of the wheels to realize the forward or backward movement of the trolley 100. 1 , the movement range of the cross-straddle trolley 100 is the hoisting point 9 of the A-span to the hoisting point 10 of the B-straddle. To load the billets or lift the billets away from the overpass trolley 100), the overpass trolley 100 must be located at the hoisting point 9 of the A-span or the hoisting point 10 of the B-span.

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

2) Detection of the traveling vehicle 200 entering the hoisting area: the position of the hoisting point of the same over-riding trolley 100 is fixed, and the traveling vehicle 200 can only load and unload the billet at the hoisting point position. For control, it is necessary to obtain whether the vehicle 200 is in the hoisting area.

The hoisting area refers to the area within a certain range with the hoisting point as the center. As shown in Figure 2, the hoisting area of the A-span vehicle 200 refers to the area within the distance L with the A-span hoisting point 9 as the center, and the B-span vehicle 200 same. The driving position detector 8 is used to detect whether the driving vehicle 200 is in the hoisting area.

3) Signal transmission between the trolley 200 and the trolley 100: The trolley 200 will automatically transmit signals to the trolley ground control unit 3 periodically, mainly including whether the trolley is in the hoisting area, whether there are hoisted blanks, and whether the trolley is moving at a high speed and other signals, these signals are collected by the trolley remote control unit 2 and transmitted to the trolley ground control unit 3 through the wireless communication unit 4 .

4) The control method of crossing the trolley 100: the trolley ground control unit 3 is used to receive the signal transmitted by the traveling vehicle 200, and at the same time collect signals such as the position and the loading weight of the crossing trolley 100, and determine the operation according to the operation of the crossing trolley 100. The method obtains the moving direction of the crossing trolley 100, and controls the crossing trolley 100 to run to the target position.

The specific method for judging the operation of over-cross trolley is as follows:

The trolley 100 with no load is generally parked in the middle of the two spans, that is, the parking point 11 .

When the trolley meets the hoisting conditions (the trolley is located in the hoisting area, the trolley has hoisted blanks, the trolley moves at a low speed or stops), the trolley ground control unit 3 controls the trolley drive mechanism 1 to move the over-cross trolley 100 to the hoisting area. Hoisting points (A-span hoisting point 9 to B-span hoisting point 10), waiting for the crane 200 to carry out the loading operation;

When the loading operation of the trolley is completed and the conditions for the transfer to the straddle are met (there are blanks on the trolley, the hoisting trolley has no blanks, the trolley moves at a high speed, and the trolley leaves the hoisting area), the trolley ground control unit 3 controls the trolley drive mechanism 1 Move the over-crossing trolley 100 to the hoisting point in the hoisting area of the adjacent trolley, and wait for the blank to be hoisted away;

When the crane loading operation is completed and the trolley homing conditions are met (there are blanks on the over-crossing trolley, the hoisting crane has no blanks, the crane moves at a high speed, and the crane leaves the hoisting area), if the adjacent cranes meet the hoisting conditions, the trolley The ground control unit 3 controls the vehicle drive mechanism 1 to move the trolley across 100 to the hoisting point in the hoisting area of the adjacent vehicle. If the adjacent vehicle does not meet the hoisting conditions, the trolley ground control unit 3 controls the vehicle drive mechanism. 1. Move the crossover trolley 100 to the parking point 11 and wait for a new crossover transportation task.

Example 3, the no-load straddle trolley 100 is located at the parking point 11, the A-span has blanks that need to be transferred to the B-span, the A-straddle trolley 200 with the blanks hoisted enters the hoisting area, and the trolley remote control unit 2 on the trolley 200 passes through the trolley After the weight sensor 7 and the driving position detector 8 detect the signal of the driving 200 in the hoisting area, the hoisting blank signal and the low-speed signal, they are transmitted to the trolley ground control unit 3 through the wireless communication unit 4, and the trolley ground control unit 3 receives the signal. From these signals, it is judged that the A-span trolley 200 meets the hoisting conditions, and the A-span has the billet transfer requirement, and immediately controls the trolley drive mechanism 1 to drive the A-span trolley 100 to the A-span hoisting point 9, and wait for the A-span vehicle 200 to load Operation.

After the loading operation of the A-straddle trolley 200 is completed, the empty car starts to leave the hoisting area of the A-straddle. The trolley ground control unit 3 detects through the trolley weight sensor 5 that there is a blank signal on the straddle trolley 100, and at the same time receives the A-straddle carrier. The trolley remote control unit 2 on the 200 sends the signal that there is no blank, high-speed running signal, and signal leaving the hoisting area on the trolley. It is judged that the conditions for the transfer of the straddle have been met, and the trolley 100 is immediately controlled to move to the B-span. The hoisting point 10 is waiting for the B-straddle vehicle 200 to perform the unloading operation.

After the unloading operation of the B-straddle trolley 200 is completed, the hoisting blank is started to leave the B-straddle hoisting area. The trolley ground control unit 3 detects through the trolley weight sensor 5 that there is no blank signal on the straddle trolley 100, and at the same time receives the B-straddle trolley. The trolley remote control unit 2 on the 200 has sent the blank signal, the driving high-speed running signal, and the driving leaving the hoisting area signal. It is judged that the unloading task of the B-straddle trolley 200 is completed and the trolley homing condition is met. At this time, it is divided into two parts. There are two cases: one is that when the trolley ground control unit 3 judges that the A-straddle vehicle 200 meets the hoisting conditions, it controls the cross-straddle 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-straddle vehicle 200 meets the lifting conditions If the trolley 200 does not meet the hoisting conditions, and there is no billet transfer requirement on the A-span, the cross-span trolley 100 is controlled to run to the parking point 11 and wait for a new job task.

Those skilled in the art should realize that the above embodiments are only used to illustrate the present invention, but not to limit the present invention. Changes and modifications will fall within the scope of the claims of the present invention.

Claims (10)

1. an unmanned control device for a crossover trolley, characterized in that: a trolley sensor for measuring the weight of the billet on the straddle trolley and the position of the straddle trolley; a trolley driving mechanism for controlling the movement of the over-riding trolley; a running sensor for measuring the weight of the billet on the running vehicle and the position of the running vehicle; The trolley remote control unit is used to collect the signal of the driving sensor; The trolley ground control unit is used to collect the signal of the trolley sensor, and receive the signal of the trolley remote control unit through the wireless communication unit to control the trolley driving mechanism. 2. The unmanned control device for a crossover trolley according to claim 1, wherein the trolley sensor comprises: a trolley weight sensor, installed on the cross-over trolley, for measuring the weight of the steel billet on the cross-over trolley; a trolley position detector for measuring the position of the straddle trolley; and/or The driving sensor includes: a traveling weight sensor, which is installed on the traveling vehicle and used to measure the weight of the steel billet hoisted on the traveling vehicle; A driving position detector, mounted on the driving vehicle, for measuring the position of the driving vehicle; and/or The trolley position detector is arranged in the hoisting area. 3 . The unmanned control device of the over-straddle trolley according to claim 1 , wherein the trolley ground control unit receives a signal from the trolley remote control unit, and then determines the operation of the over-straddle trolley according to the method of determining the operation of the trolley. 4 . The moving direction of the over-riding trolley is obtained, and the over-riding trolley is controlled to run to the target position. 4. The unmanned control device for crossing the trolley according to claim 3, is characterized in that: the method for determining the operation of the crossing trolley is as follows: When the trolley meets the hoisting conditions, the trolley ground control unit controls the trolley drive mechanism to move the over-cross trolley to a hoisting point in the hoisting area, and wait for the trolley to perform a loading operation; When the loading operation of the trolley is completed and the conditions for the straddle transport are met, the trolley ground control unit controls the trolley drive mechanism to move the straddle trolley to the hoisting point in the hoisting area of the adjacent trolley, and waits for The billet is hoisted away; After the loading operation of the trolley is completed and the trolley homing condition is satisfied, if the adjacent trolley meets the hoisting condition, the trolley ground control unit controls the trolley driving mechanism to move the over-cross trolley to The hoisting point in the hoisting area of the adjacent vehicle, if the adjacent vehicle does not meet the hoisting conditions, the trolley ground control unit controls the trolley drive mechanism to move the over-cross trolley to the parking point, and wait for New Transit Transshipment missions. 5. A method for unmanned control of a cross-over trolley, wherein the unmanned control device for a cross-over trolley as claimed in any one of claims 1-2 is adopted to perform the following steps: 1) Motion control is performed on the cross-over trolley; 2) The vehicle enters the hoisting area; 3) wireless signal transmission is performed between the traveling vehicle and the over-crossing trolley 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 method for determining the operation of the trolley, and controls the trolley to run to target location. 6. The method for unmanned control of a crossover trolley according to claim 5, characterized in that, In the step 1): the trolley driving mechanism is controlled by the trolley ground control unit to realize the movement of the trolley, and the position of the trolley is measured by the trolley position detector; and / or In the step 2): the driving position detector is used to measure whether the driving vehicle enters the hoisting area; and/or In the step 3): the weight of the billet hoisted on the trolley and the position of the trolley are transmitted by the trolley remote control unit to the trolley ground control unit through the wireless communication unit. 7. The unmanned control method for a crossover trolley according to claim 6, characterized in that, In the step 4), the method for determining the operation of the over-cross trolley is as follows: When the trolley meets the hoisting conditions, the trolley ground control unit controls the trolley drive mechanism to move the over-cross trolley to a hoisting point in the hoisting area, and wait for the trolley to perform a loading operation; When the loading operation of the trolley is completed and the conditions for the straddle transport are met, the trolley ground control unit controls the trolley drive mechanism to move the straddle trolley to the hoisting point in the hoisting area of the adjacent trolley, and waits for The billet is hoisted away; After the crane loading operation is completed and the trolley homing conditions are met, if the adjacent cranes meet the hoisting conditions, the trolley ground control unit controls the trolley drive mechanism to move the over-cross trolley to The hoisting point in the hoisting area of the adjacent vehicle, if the adjacent vehicle does not meet the hoisting conditions, the trolley ground control unit controls the trolley drive mechanism to move the over-cross trolley to the parking point, and wait for New Transit Transshipment missions. 8 . The unmanned control method for a cross-straddle trolley according to claim 7 , wherein the traveling meets the hoisting conditions, comprising that the traveling is located in the hoisting area, the traveling has hoisted blanks, the The vehicle moves at a low speed or stops. 9 . The unmanned control method for a cross-straddle trolley according to claim 7 , wherein the traveling loading operation is completed and the cross-span transportation condition is satisfied, and the traveling loading operation is completed and the trolley returning condition is satisfied. 10 . It includes that there are blanks on the crossover trolley, the hoisting trolley has no blanks, the trolley moves at a high speed, and the trolley leaves the hoisting area. 10. The method for unmanned control of a cross-over trolley according to claim 5, wherein: in the step 1), the cross-over trolley adopts variable speed control, that is, low-speed start, high-speed operation, and then Run at low speed to the target position, and finally stop the movement.

Images