CN-122009759-A - Electric flat car control system and control method thereof

Abstract

The invention provides an electric flat car control system and a control method thereof, wherein a PLC, a photoelectric sensor, an RFID reader-writer and an encoder are arranged on a motor shaft of the electric flat car, which are arranged on a track, RFID tags matched with the RFID reader-writer in radio frequency communication and reflecting plates matched with the photoelectric sensor are arranged at positioning points on the track at intervals, after coordinates are input, the electric flat car accurately reaches coordinate points under the matching of the PLC, the photoelectric sensor and the RFID reader-writer, and the electric flat car is stopped at a designated position through a preset PLC program when in fault, so that fault investigation and maintenance are facilitated.

Inventors

• Gong Renshi
• LI YIN
• CHEN ZIHANG
• WU YONG
• HU JINGSHENG
• XU XIANGHUA
• DONG ZHIJIE
• XIE JUNYI

Assignees

• 铜陵有色金属集团股份有限公司

Dates

Publication Date

20260512

Application Date

20260209

Claims (4)

1. 1. The electric flatcar control system is characterized in that a PLC (21), a photoelectric sensor (23), an RFID reader-writer (22) and an encoder (24) are arranged on an electric flatcar (20) running on a track (10), a digital quantity input interface of the PLC (21) is connected with a digital quantity output interface of the RFID reader-writer (22) through a serial port, the digital quantity input interface of the PLC (21) is electrically connected with an output end of the photoelectric sensor (23), output ends A, B, Z of the encoder (24) are respectively connected with an input end of a high-speed counter of the PLC (21), RFID tags (11) in radio frequency communication fit with the RFID reader-writers (22) and a reflector (12) matched with the photoelectric sensor (23) are arranged at positioning points (30) arranged on the track (10) at intervals, and the positioning points (30) are provided with calibration coordinate values corresponding to real-time coordinate values of the PLC (21).
2. 2. The electric flat car control system according to claim 1, wherein the track (10) is laid along the X, Y-axis direction, and the calibration coordinate value is determined by X, Y-axis coordinates.
3. 3. The electric flat car control system according to claim 1 or 2, wherein the positioning point (30) comprises a calibration positioning point, and when the electric flat car (20) passes through the calibration positioning point, if the RFID reader-writer (22) reads the RFID tag (11) of the calibration positioning point and the PLC (21) receives the signal of the reflector (12) of the calibration positioning point transmitted by the photoelectric sensor (23), the PLC (21) updates the real-time coordinate value into the calibration coordinate value at the calibration positioning point.
4. 4. A control method of the electric flat car control system as claimed in claim 1,2 or 3, characterized by comprising the steps of: S1, when an electric flat car (20) stops at any positioning point (30), a preset target point A (Xa, ya) is input into a PLC (21), and the PLC (21) is respectively matched with a light shielding plate (12) and an RFID tag (11) at the position of the stopped positioning point (30) through a photoelectric sensor (23) and an RFID reader-writer (22) to generate current real-time coordinate values (Xt, yt) of the PLC (21); S2, the PLC (21) compares the real-time coordinate values (Xt, yt) with the coordinate values (Xa, ya) of the point A of the preset target point, when Xa > Xt and Ya > Yt, the PLC (21) controls the electric flat car (20) to advance in the axial direction of the track (10) X, Y, when Xa < Xt and Ya < Yt, the PLC (21) controls the electric flat car (20) to retreat in the X-axis and Y-axis directions of the track (10), and an encoder (24) outputs operation data in the operation process of the electric flat car (20) so that the PLC (21) updates the real-time coordinate values (Xt and Yt); S3, when the electric flat car (20) runs to a position close to the preset target point A, the RFID reader (22) of the electric flat car (20) detects the RFID tag (11) of the preset target point A, and the PLC (21) continues to run after receiving a signal fed back by the RFID reader (22); The electric flat car (20) runs to approach a preset target point A, and the following control is performed according to the related parameters received by the PLC (21) from the photoelectric sensor (23): S41, the electric flat car (20) runs in a signal continuous travel range near a preset target point A, the PLC (21) receives a continuous feedback signal transmitted by the photoelectric sensor (23) through the reflecting plate (12), and when real-time coordinate values (Xt, yt) of the PLC (21) are (Xa, ya) in the signal continuous travel range, the PLC (21) controls the electric flat car (20) to stop advancing, and at the moment, the electric flat car (20) stops at the preset target point A; S42, in the step S3, the real-time coordinate values (Xt, yt) of the PLC (21) are close to the point A coordinate values (Xa, ya), the PLC (21) does not read the signal of the RFID tag (11) at the point A fed back by the RFID reader-writer (22), the PLC (21) controls the electric flat car (20) to advance in the original direction, when the real-time coordinate values (Xt, yt) of the PLC (21) are (Xa, ya) and the PLC (21) receives a continuous feedback signal transmitted by the photoelectric sensor (23) through the reflector (12), and the PLC (21) controls the electric flat car (20) to stop and sends out an RFID fault alarm prompt in the PLC (21); S43, the RFID reader (22) detects the RFID tag (11) at the point A in the step S3, the PLC (21) does not receive a feedback signal of the photoelectric sensor (23) to the reflector (12) at the point A all the time within the continuous travel range of the signal near the target point A, and when the difference value between real-time coordinate values (Xt, yt) and (Xa, ya) of the PLC (21) reaches a threshold value 1500, namely meeting the conditions of |Xt-Xa| >1500 and |Yt-ya| >1500, the PLC (21) controls the electric flat car (20) to stop and sends out a fault alarm prompt of the photoelectric sensor (23) in the PLC (21); S5, when the PLC (21) passes through any locating point B (Xb, yb) in the travelling path in any step S1-S4, the PLC (21) reads the signal of the RFID tag (11) at the B point fed back by the RFID reader-writer (22), the PLC (21) controls the electric flat car (20) to continuously advance towards the B point (Xb, yb), the PLC (21) receives the continuous feedback signal transmitted by the photoelectric sensor (23) through the B point reflector (12), and at the moment, if the real-time coordinate values (Xt, yt) and (Xb, yb) of the PLC (21) meet the conditions of |Xt-Xb| >1500, |Yt-Yb| >1500, the PLC (21) controls the electric flat car (20) to stop and sends out a fault alarm prompt of the encoder (24) in the PLC (21).

Description

Electric flat car control system and control method thereof Technical Field The invention relates to an electric flat car control system and a control method thereof. Background The slag slow cooling area is a special process area for treating high-temperature molten slag in the copper smelting process, the area transfers slag to a slag port through an electric flat car, the electric flat car in the current slag slow cooling area is generally positioned by adopting an encoder or a proximity switch independently, the electric flat car is easy to generate positioning errors due to different abrasion conditions of a wheel set when the encoder is adopted for positioning in the scheme, and the electric flat car cannot operate at a preset speed to influence production if the proximity switch fails to position when the proximity switch is adopted for positioning independently, so that the positioning scheme of the electric flat car is required to be redesigned. The scheme of embedding a high-frequency cable, an intermediate-frequency cable, a magnetic nail, a communication cable under the running path of the transfer vehicle is proposed, the transfer vehicle is powered by the high-frequency cable matched with an electric taking plate, the guide operation of the transfer vehicle is realized by the intermediate-frequency cable matched with a guide antenna arranged on the transfer vehicle, the magnetic nail signal is read by a magnetic nail reading device, the position value of a position encoder arranged on a rotary rod 44 driving mechanism is instantaneously recorded to realize the positioning of the transfer vehicle, thus the positioning and the guide of the transfer vehicle are mainly improved by the magnetic nail reading device, the embedded magnetic nails, the intermediate-frequency cable and the guide antenna in the document 1, and the problems of high-temperature radiation, dust accumulation, heavy load rolling, slag leakage and the like are easily caused by the cable insulation, short circuit, signal attenuation and the like in the slag slow cooling region, the embedded magnetic nails are easily aged, the identification failure, the facility damage and the like are easily caused, and the bottom of the transfer vehicle is loaded with no contact in the document 1, so that the positioning and the guide are more easily damaged in the slag slow cooling region, and the scheme is difficult to realize in the slow cooling region. The scheme of positioning the transfer trolley 14 by matching the first sensor 1231, the first trigger piece 1241, the second sensor 142, the second trigger piece 143, the third sensor 1232, the third trigger piece 1242 and the like is provided (the document number is CN120504107a and a control method thereof is hereinafter referred to as document 2), whether the first support piece 1211 and the second support piece 1212 are butted with the first rail 111 is determined by matching the first sensor 1231 and the first trigger piece 1241 in the document 2, whether the transfer trolley 14 is in place is determined by matching the second sensor 142, whether the transfer trolley 14 is in place is determined by the first vertical transporter 12 based on the third sensor 1232, so that positioning in the transfer trolley 14 is realized mainly by a plurality of sensors and the trigger pieces, and the defect is that the plurality of sensors and the trigger pieces are easy to be in false touch, coding is complex, the whole fault process of a certain sensor is interrupted, the whole fault process is not interrupted, and the fault is not detected rapidly, and the fault is detected and the fault is recovered in the process is more complicated than the time-consuming process. Disclosure of Invention The invention aims at providing an electric flat car control system. In order to achieve the above purpose, the present invention adopts the following technical scheme: The utility model provides an electric flat car control system, be provided with PLC on the electric flat car of track, photoelectric sensor, RFID read write line and be provided with the encoder on the motor shaft of electric flat car, the digital quantity input interface of PLC is connected through the serial ports with the digital quantity output interface of RFID read write line, the digital quantity input interface of PLC is connected with photoelectric sensor's output electricity, encoder output A, B, Z inserts PLC's high-speed counter input mutually respectively, the setpoint department of interval arrangement on the track is provided with the RFID label with RFID read write line radio frequency communication complex, the reflector panel with the photoelectric sensor adaptation, the setpoint have the demarcation coordinate value that corresponds with PLC real-time coordinate value. It is still another object of the present invention to provide a control method of an electric flat car control system. In order to achieve the above object, th