JP2582209B2 - Mobile work vehicle - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a mobile work vehicle in which a distance between a first vehicle and a second vehicle that can move along a track is automatically controlled to a predetermined distance.

[0002]

2. Description of the Related Art In rejuvenating work on a rail floor of a train, there is a work of excavating and collecting an old ballast under a sleeper.
Conventionally, this type of work uses a power shovel 2, a hopper 3 and a ballast 4 that can run on a rail 1 as shown in FIG. 6, and removes an old ballast that the power shovel 2 excavates while moving forward in the direction of the arrow. Are continuously loaded onto the ballast vehicle 4 via the hopper 5 of the hopper vehicle 3 and the plurality of belt conveyors 6, 7, 8. Since the boom 9 of the power shovel 2 can turn and bend and extend within a predetermined range, the ballast is received by the hopper 5 while the hopper 3 is stopped until the power shovel 2 advances to some extent. When moving forward,
An operator other than the operator of the power shovel vehicle turns on the drive switch of the hopper vehicle 3 and moves forward so as to place the hopper 5 within the reachable range of the boom 9.

[0003]

Since the conventional forward operation of the hopper car 3 relies on manual labor, at least two persons, one who operates the excavator car 2 and one who pushes the hopper car 3, perform this kind of work. Was needed.

An object of the present invention is to reduce the labor and efficiency of this type of work by automatically moving the hopper truck 3 to follow the power shovel truck 2.

[0005]

According to the present invention, there is provided a mobile work vehicle having a first vehicle capable of traveling on a track and a second vehicle capable of following the first vehicle at an interval. One vehicle is inclined at a predetermined angle vertically with respect to the track.
A light projector that projects a slit light directed toward the second vehicle while spreading in a fan shape in the horizontal direction is installed on the second vehicle, and a light receiver to which a light spot of a light beam from the light projector is applied is installed on the second vehicle. Detecting the position information and speed information of the light spot on the container, calculating the mutual interval and relative speed of the first and second vehicles based on the position information and speed information , and quickly setting the relative speed to 0; A mobile work vehicle, comprising: a controller that automatically controls a moving distance , a moving direction, and a moving speed of the second vehicle so as to regulate a mutual distance to a predetermined distance.

[0006]

The inclination angle of the light beam incident on the light receiver of the second vehicle from the light emitter of the first vehicle is always constant. Therefore, if the distance between the first vehicle and the second vehicle increases or decreases, the light is received in a proportional manner. The position of the light spot on the vessel moves in the plus or minus direction. The position information of the light spot on the light receiver is detected by the controller, and the first and second positions are determined based on the position information.
The mutual interval between the vehicles is calculated, and the drive system of the second vehicle is controlled so that the mutual interval is set to a predetermined distance based on the calculation result. At this time, in addition to the mutual interval between the first and second vehicles, a mutual
The anti-speed is also calculated and this relative speed quickly becomes 0
The speed of the second vehicle is controlled as described above, and the locations of the first and second vehicles are controlled.
A constant mutual spacing is quickly obtained. Also, left from the floodlight
The slit light that spreads like a fan in the right horizontal direction is directed to the second vehicle
The second vehicle is also projected on the curved rail
The state where the slit light is always projected on the receiver is maintained,
Prevents the second vehicle from going out of control due to light diverging from the receiver.
Is stopped.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below with reference to the drawings. FIG. 1 shows a power shovel 2 and a hopper 3 that can travel on rails. The power shovel vehicle 2 has one worker, but the hopper vehicle 3 has a self-drive source and is unmanned.

A different point from the conventional one is that a light projector 10 is installed on the hopper wheel 3 side of the power shovel wheel 2 and a light receiver 11 is installed on the hopper wheel 3. As shown in FIG. 2, the light emitter 10 and the light receiver 11 receive the light beam B from any one of the light emitters 10 even when the power shovel 2 turns the boom 9.
Are arranged in a pair on the left and right sides so as to reach the light receiver 11. The positions where the light emitter 10 and the light receiver 11 are installed are not particularly limited, but a position convenient for maintenance and inspection is selected and installed.

As shown in FIG. 3, the light projector 10 is inclined upward by a predetermined angle θ with respect to the dashed line indicating the direction of the orbit, and the light receiver 11 is installed at a right angle to the light beam B from the light projector 10. I have. The light receiver 11 has a plurality of phototransistors 12 arranged in a vertical direction. When the power shovel wheel 2 moves relative to the hopper wheel 3 in the front-rear direction, the light spot on the light receiver 11 moves up and down. And
This moving position is detected by the phototransistor 12. The light receiver 11 can be constituted by a vertically long CCD in order to enhance detection accuracy.

The output of the photodetector 11 is input to a controller 13 as shown in FIG. 4 to perform a calculation described later, and the drive system 21 of the hopper car 3 is controlled based on the calculation result. The most convenient excavator 2 and hopper 3
3A is determined, and L in FIG. 3A represents the horizontal distance between the center point C of the light projector 10 and the light receiver 11 at this time. H represents the vertical distance between the light emitter 10 and the center point C of the light receiver 11, and tan θ = H / L is stored in the memory of the controller 13 in FIG. 4 in advance as a known value.

FIG. 5A shows a power shovel vehicle 2.
As shown in (B), a control panel 19 is arranged, and when the switch 14 of the control panel 19 is turned ON, the hopper car 3 automatically follows the power shovel car 2. Reference numeral 15 denotes a lever for manually remotely controlling the hopper car 3. When the switch 14 is turned off and the lever 15 is tilted toward the side, the hopper car 3 moves in a direction away from the power shovel car 2, When the lever 15 is moved down, the hopper car 3 moves in a direction approaching the power shovel car 2.

The hopper wheel 3 has an inclined first belt conveyor 6 having a hopper 5 attached to a lower end thereof, and a horizontal second belt conveyor 7 connected to an upper end of the first belt conveyor 6. The first belt conveyor can be moved back and forth to some extent in the direction of its extension by the swing of the column 16,
The second belt conveyor 7 can also be moved horizontally to some extent by the swing of the column 17. The swinging of the columns 16 and 17 is performed by a driving device (not shown). Therefore, even if the distance between the hopper wheel 3 and the ballast wheel 4 is slightly widened, it can be handled by extending the second belt conveyor 7 to the third belt conveyor 8 side. It works.

Next, a power shovel 2 and a hopper 3
The operation of will be described. First, the distance between the excavator wheel 2 and the hopper wheel 3 is adjusted to an optimum distance (the distance at which the distance between the light emitter 10 and the light receiver 11 becomes L), and the boom and the arm 20 of the power shovel wheel 2 are operated in this state. Then, the old ballast on the rail floor is excavated by the excavator 18 and the ballast is put into the hopper 5 of the hopper car 3. After excavating the ballast to some extent, the excavator 2 moves to the next position and repeats the same operation.

When the power shovel 2 moves, the light beam B from the projector 10 remains at a predetermined angle θ with respect to the moving direction of the power shovel 2, that is, the direction of the rail 1 as shown in FIG. It will move in parallel. Therefore, assuming that the amount of forward movement of the power shovel 2, that is, the amount of forward movement of the projector 10 is Δx and the amount of upward movement of the light spot from the center point C on the light receiver 11 in the vertical direction is Δy, Δx = Δy / tan θ. . Here, tan θ = H / L, and since this value is stored in the controller 13, the value of Δy is
3, the controller 13 calculates the value of Δx, and the controller 13 sends ΔΔ to the drive system 21 of the hopper vehicle 3 based on the calculation result.
A control signal is issued so that the vehicle moves forward to the power shovel 2 by x. Thereby, the mutual interval between the excavator wheel 2 and the hopper wheel 3 decreases from L + Δx to L, and the hopper wheel 3 reaches the optimum reach of the power shovel wheel 2 again. The moving speed of the hopper truck 3 at this time may be a constant speed regardless of the speed of the power shovel truck 2. However, the moving speed of the hopper truck 3 corresponds to the forward speed of the power shovel truck 2 so that the movement of the hopper truck 3 is completed quickly. The hopper car 3 may be moved forward at a speed. That is, if the power shovel 2 advances by Δx during Δt, the forward speed v is v = Δx / Δt = Δy / (Δt · tan θ). When the moving distance Δy and the moving time Δt are input to the controller 13, the forward speed v of the power shovel vehicle 2 is calculated, and the forward speed of the hopper vehicle 3 may be controlled to v based on the calculation result. . As a result, the distance between the two vehicles quickly becomes L.
Return to

By controlling the speed of the hopper wheel 3 in real time, when the speed v of the power shovel wheel 2 decreases, the speed of the hopper wheel 3 can also be lowered synchronously. This provides a perfectly synchronized speedy movement as if the excavator wheel 2 and the hopper wheel 3 were connected by an invisible coupler.

On the other hand, if the hopper car 3 is too close to the power shovel 2 for some reason, or if the power shovel 2 retreats, the position of the light spot on the light receiver 11 is shifted vertically from the center point C. Go down. Assuming that the reduced distance is −Δy, it is calculated that the distance between the two vehicles is reduced by −Δx = −Δy / tanθ, and based on the calculation result, the hopper vehicle 3 is controlled to retreat, and the distance between the two vehicles is calculated. L-Δx
Back to L.

Next, when the forward speed of the power shovel vehicle 2 is too fast to allow the forward traveling by the acceleration of the hopper vehicle 3 to follow, the light spot deviates from the light receiver 11. However, since the speed v of the power shovel 2 immediately before the light spot deviates from the light receiver 11 can be calculated by the controller 13, if the hopper wheel 3 is moved forward at the maximum speed based on the calculation result, the power shovel vehicle will eventually change. Catch up with 2. If you catch up with the excavator 2, the receiver 11
Since the light spot returns to the position, the distance between the two vehicles and the relative speed are calculated by the controller 13, the speeds of the two vehicles are synchronized, and the optimum distance L is obtained again.

If the distance between the power shovel vehicle 2 and the hopper vehicle 3 is too large, or if the optical axis of the light projector 10 deviates from the light receiver 11 such as a curved portion of the rail 1,
The driver of the power shovel vehicle 2 controls the drive system of the hopper vehicle 3 manually by remote control by wire or wireless to perform forward / backward movement control. The control panel 19 shown in FIG. 5 is used for such manual control. When the switch 14 for automatically following the hopper car 3 is turned off and the lever 15 is turned down, the hopper car 3 moves away from the power shovel car 2 in a direction away from the power shovel car 2. The hopper car 3 moves in a direction approaching the power shovel car 2 by moving and tilting the lever 15 toward the user.

The light beam B from the projector 10 is horizontally horizontal.
It is a slit light that spreads in the direction. Thereby, the deviation of the light from the light receiver 11 at the curved rail portion can be prevented.

The embodiment of the present invention has been described above.
The present invention can be variously modified without being limited to the above-mentioned embodiment. For example, the above-mentioned embodiment is an example in which the present invention is applied to adjustment of a vehicle interval between a power shovel vehicle and a hopper vehicle. The present invention is also applicable to a type vehicle, for example, a vehicle space adjustment between a rail joint space adjustment device and a motor vehicle.

[0021]

As described above, according to the present invention, the light beam from the light emitting device of the first vehicle is received by the light receiving device of the second vehicle, and the position information of the light spot on the light receiving device is detected by the controller. Since the distance between the two vehicles is arithmetically controlled, the distance between the vehicles can be automatically controlled to a predetermined distance, and the manpower required for moving the second vehicle (hopper vehicle) can be eliminated. In addition, since the control is optimally performed, the work efficiency can be improved. Also, in addition to the mutual distance between the first and second vehicles,
The speed is also calculated so that this relative speed quickly becomes zero.
The speed of the second vehicle is controlled, and the predetermined speed of the first and second vehicles is controlled.
Are quickly obtained. In addition, left from the floodlight
The slit light that spreads like a fan in the right horizontal direction is directed to the second vehicle
The second vehicle is also projected on the curved rail
The state where the slit light is always projected on the receiver is maintained,
Prevents the second vehicle from going out of control due to light diverging from the receiver.
Is stopped.

[Brief description of the drawings]

FIG. 1 is a side view of a power shovel vehicle and a hopper vehicle.

FIG. 2 is a plan view of a power shovel vehicle and a hopper vehicle.

FIG. 3 is a schematic side view of a light emitter and a light receiver.

FIG. 4 is a block diagram of a drive system of the hopper vehicle.

5A is a front view of a control panel, and FIG. 5B is a side view of the control panel.

FIG. 6 is a side view of a conventional power shovel vehicle, hopper vehicle, and ballast vehicle.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Rail 2 Power shovel car 3 Hopper car 4 Ballast car 5 Hopper 6,7,8 Belt conveyor 10 Emitter 11 Receiver 12 Phototransistor 13 Controller 21 Hopper car drive system

Claims (2)

(57) [Claims] 1. A mobile work vehicle having a first vehicle that can travel on a track and a second vehicle that can follow the first vehicle at an interval, wherein the first vehicle has a position relative to the track. Incline up and down by a predetermined angle and fan horizontally and horizontally
Spread a projector for projecting slit light toward the second vehicle and installed in the second vehicle, as well as installing a light receiver where the light spot of the light beam strikes from the projector, the position of the light spot on said photodetector Information and speed information ,
The distance between the first and second vehicles and the relative speed are calculated based on the position information and the speed information , and the relative speed is quickly calculated.
A mobile work vehicle, further comprising a controller for automatically controlling a moving distance , a moving direction, and a moving speed of the second vehicle so as to regulate the mutual distance to a predetermined distance while setting the distance to zero . 2. The vehicle according to claim 1, wherein the first vehicle is a power shovel capable of traveling on a reel, and the second vehicle is capable of traveling on rails, wherein the power shovel has a hopper capable of receiving a ballast dug out of a rail floor. 3. The mobile work vehicle according to claim 1, wherein the mobile work vehicle is a simple hopper vehicle.