JP2716873B2 - Automatic operation of stacker or reclaimer - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for managing stock quantity in a coal storage yard and a method for automatically operating a stacker or a reclaimer.

[0002]

2. Description of the Related Art Automatic operation of stackers and reclaimers in coal storage yards is based on standard values that are planned according to the width, pile height, and machine capacity of the coal storage yard. In order to form a dispensing operation pattern, the amount and speed of running, turning, and boom raising and lowering are set on a control unit, and this is performed by a method of performing sequence control.

[0003]

The above-mentioned prior art includes the following:
There are the following problems. At the coal storage yard, the daily stocking and stocking amount after the work is completed, the pile shape, height, quantity, etc. are checked with a TV camera arranged in the yard, and the work start place and order on the next day are determined. At the time of stocktaking that is performed once every few months, inventory is measured manually.
It is not yet possible to accurately grasp and manage inventory.
In addition, the conventional automatic operation controls the movement order and distance of the tip of the conveyor boom of the stacker or reclaimer necessary for loading or unloading work, and controls the stacker or reclaimer up to the work start place and start height on the next day. Both the movement and the alignment, and the adjustment of the depth of cut of the bucket during the automatic operation of dispensing by the reclaimer are performed by manual operation. In particular, positioning, landing, and adjustment of the depth of cut of the bucket are performed while visually observing a monitor of a television camera attached to the end of the conveyor boom in the cab, and requires experience and skill of the driver.

An object of the present invention is to propose a method for automatically operating a stacker or a reclaimer that solves the above-mentioned problems.

[0005]

A pile surface height detecting means comprising a light wave type distance detector capable of measuring the entire pile width from above is provided on a stacker or a reclaimer body which operates in a coal storage yard, and is loaded on a daily basis. After the dispensing operation is completed, while the stacker or the reclaimer is running from the starting point at one end to the end point at the other end of the pile, the pile surface height detecting means automatically measures the top height of the entire pile in a mesh form, and Based on the measured values, the machine calculates and generates stocking management data such as a stacking shape, a stacking amount, an additional stackable amount, and a work start position on the next day. Furthermore, at the start of daily work, the work start position of the day from the end data of the previous day,
By inputting a start height, a work pattern, and a schedule, the stacker or the reclaimer is automatically moved and adjusted to the work start position and height, and the automatic stacking or dispensing operation of the stacker or the reclaimer is started.

[0006]

When the daily loading and unloading operation is completed, the stacker or reclaimer is automatically or manually driven to return to the starting position at one end of the pile, and the stacker or reclaimer is determined from this position to the other end of the pile. While automatically moving at a high speed, the detecting means is operated to measure the pile surface height in a mesh-like manner on the entire pile. The measured data is transmitted to the host computer of the yard management building.
The stacker or reclaimer again travels back to the pile starting point and ends the day's work. From the transmitted data, the host computer calculates the stowage shape, stowage amount, and additional stowable amount for each pile, and outputs them.

From this material, the stowage start position, schedule, and work pattern for the next day, and the payout start position and start height, ie, the landing position of the bucket, work pattern, and schedule are determined. Before the next day's stacker or reclaimer operation starts, the work start position of the day determined above,
The bucket landing position, work pattern, and schedule are input and set to the automatic control unit on the stacker or reclaimer, respectively, and automatic operation is started. As a result, the stacker or the reclaimer automatically travels the set distance and turns the conveyor boom to automatically stop moving to the work start position. When the conveyor boom is moved downward at this position, the position is automatically adjusted to the set height, and the conveyor stops at the work start height or stops on the floor, and from this state, the automatic operation for loading and discharging is started.

[0008]

FIG. 1 shows an embodiment in which the present invention is applied to a coal storage yard.
This will be described with reference to FIGS. 1 is a quay line, 2 and 7 are rails,
3 is a stockyard quay unloader, 4 is a stockyard stockyard, 5 is a pile pile, 5a is an empty pile, 6 is a stockyard conveyor line, 8 is a stacker reclaimer, and 9 is a control device on a stacker reclaimer machine. , 10
Is the host computer of the management building, 13 is the revolving frame of the stacker / reclaimer, 14 is the onboard conveyor, 15 is the conveyor boom, 16 is the bucket wheel, 18 is the pile height detecting means on the machine, 19 is the frame on the unloader, 20
Is a rotation axis, 21 is a light wave type distance detector, 22 is a rotation axis 20
Therefore, the rotation range 25 of the detector 21 is a number of measurement points mounted on the mounting beam 26.

On the land side of the unloader 3 that travels on the rail 2 along the quay line 1, there is provided an open storage yard 4 in a row parallel to the quay line 1. The pile pile 5 is a pile of coal piled up in the coal yard 4, and the empty pile 5a is an open space of the trace that was paid out. The conveyor line 6 is laid between the coal storage yard and along the unloader, and conveys the load in the direction of the arrow. The stacker / reclaimer 8 is a combined use of a stacker and a reclaimer that runs on the rail 7. The control device 9 is mounted on the stacker / reclaimer 8 and incorporates a computer. Reference numeral 11 denotes a bulker docked on the shore. The coal discharged from the bulking ship 11 by the unloader 3 is put on the conveyor line 6 and sent in the direction of the arrow, and the stacker / reclaimer 8 piles up from the conveyor line 6 to the coal storage 4 via a tripper (not shown). The stacker / reclaimer 8 picks up coal from another pile of piles piled up in the coal yard 4 with a bucket wheel and continuously supplies the coal onto the conveyor line 6, and the conveyor line 6 transfers the coal to the nearest thermal power plant. It is operated to carry.

FIG. 2 shows the stacker reclaimer 8 and pile pile 5 from the side, and the stacker reclaimer 8
A boom 15 equipped with an up-and-down conveyer 14 is supported on a traveling gantry 12 traveling above via a turning frame 13, and a bucket wheel 16 is provided at the tip of the boom 15. When operating as a stacker, the conveyor line 6 drops coal to the hopper 17 on the revolving frame 13 by a tripper (not shown), and the conveyor 14 is driven toward the tip of the boom 15 to drop coal from the tip of the boom 15 to the coal storage 4. When operating as a reclaimer, boom 1
5, the bucket of the bucket wheel 16 is landed on the pile pile, the coal is picked up by the bucket and dropped on the conveyor 14, and the conveyor 14 is driven in the direction of the revolving frame 13 to pass from the lower hopper onto the conveyor line 6. work.

3 to 5 show an embodiment of the pile height detecting means provided on the body of the stacker / reclaimer 8. FIG. In the drawing, reference numeral 18 denotes a detecting means for detecting a pile height over the entire width of the pile mountain 5, and a pile boom having a constant height of the conveyor boom 15 on the pile 5 in a direction perpendicular to the pile row. A frame 19 fixed on the conveyor boom 15 is provided in accordance with the 5 center position, and a rotating shaft 20 is horizontally provided along the center line of the pile 5 at the projecting portion of the frame 19, and the rotating shaft 20 is provided on the rotating shaft 20 at intervals of, for example, 1 m. Five light wave type distance detectors 21 are attached, and the range shown by the arrow 22 in FIG. A control microcomputer for the detectors 21 is provided on each of the eight stacker / reclaimers.
While repeatedly emitting light in the steps 1 and 2, rocking is performed at a speed of detecting the pile height at intervals of 2 m.

FIG. 6 shows a pattern for detecting the pile height by the detecting means 18, wherein the stacker / reclaimer 8 is indicated by an arrow 8a.
After stopping at the position, the detecting means 18 is rotated at a predetermined speed in the width direction of the pile 5 and five rows of measurement are performed by five detectors 21 from right to left, and then the stacker / reclaimer 8 is moved. 8b
Position, move the detecting means 18 from left to right,
By repeating this, the pile 5 height measurement is advanced in the pile length direction. The mark 25 in FIG. 6 is a measurement point. The host computer 10 corrects the measurement value detected at such a mesh-like measurement point for each inclination angle of the detector 21, calculates the height of the pile measurement point, and calculates the inventory amount for each pile,
The management data such as the shape, the stowable amount, and the work start position of the next day is calculated and created. Configuration of the above-described detection means 18,
The number and mounting method of the lightwave distance detector 21 and any other method may be used. In addition, when the stacker / reclaimer is an independent machine that is not used for both purposes, similarly, the pile surface height detecting means 18 may be attached to each machine and used.

FIGS. 7 and 8 show the flow of the management system and the automatic operation system performed by using the pile height detecting means 18. FIG. FIG. 7 shows a flow performed by the host computer of the yard management building. Basic data for management such as coal storage capacity, planned ship entry schedule, and disbursement schedule are initially input in advance, and the pile height is set. In response to the input of the data measured by the detection means 18, the pile shape, stock amount, stock amount by pile, loadable amount by pile, planned load amount and planned payout amount of the next day at the end of the operation on the day are calculated. The calculation is performed, and the result is displayed, printed out, and stored. The operating conditions of the next day's stacker / reclaimer, such as the work execution place, start position, start height, work pattern, work sequence, etc., on the next day are determined based on the printed-out materials.

FIG. 8 is a control flow performed by the on-board controller on the stacker / reclaimer side. First, at the start of the work, the operating condition data of the day is input and set to the on-board controller. When the operation is started, the control device automatically moves the stacker or reclaimer to the operation start position according to the input conditions, and automatically adjusts the conveyor boom to the operation start height to stop or land.
The automatic operation is started by the loading / unloading pattern control by the reclaimer. The driver switches the operation mode to the manual operation and controls the operation when necessary, while monitoring the operation status, and proceeds with the operation. Under automatic operation, the conveyor boom is raised to the starting height at the scheduled work end position, and the stacker / reclaimer is automatically returned to the starting position. Next, from the starting position to the pile end position, the measurement traveling by the designated pattern and speed of the stacker / reclaimer and the measurement operation by the pile height detection means 18 are simultaneously activated, and when the end position is reached, the measurement traveling and the detection means operation are started. Automatic stop, transfer of measurement data to host computer, storage to floppy disk in control unit,
The reclaimer automatically returns to the starting position, and the work is completed.

As described above, the boom height adjustment at the start of the loading and dispensing operation, and the pile height measurement after the landing and the work are completed are automatically measured by the lightwave distance detector 21, so that the stock yard can be managed. It is possible to increase the accuracy and reduce the driver's difficulty, and to increase the operating efficiency of the stacker / reclaimer, especially at the start-up and at the end.

[0016]

According to the present invention, (1) a mesh-type pile height multi-point measuring means comprising a group of lightwave type distance detectors is provided on the body of the stacker / reclaimer, and automatic measurement is carried out. Accuracy is dramatically improved as compared with the prior art, and accurate yard management data can be quickly created, so that highly accurate checking of the stock amount and stock status, and determination and execution of a work schedule become possible.

(2) The work start position, landing height, and work sequence (pattern) of the day are input to the on-board control device of the stacker / reclaimer, and travel and landing operations from the start position to the work start position are performed. Due to the automation, operations requiring skill can be labor-saving and proceed quickly. In addition to the automation of the measuring operation, the operation efficiency of the stacker / reclaimer in the stockyard can be significantly improved, and the safety of the operation can be improved.

[Brief description of the drawings]

FIG. 1 is an overall layout view of a coal storage yard according to an embodiment of the present invention.

FIG. 2 is an enlarged side view of a reclaimer portion in FIG.

FIG. 3 is a side view similar to FIG. 2 showing a mounting state of a detection unit.

FIG. 4 is a plan view of FIG. 3;

FIG. 5 is a view taken in the direction of arrows XX in FIG. 4;

FIG. 6 is a plan view showing a detection operation pattern by the pile height detection means shown in FIGS. 3 to 5;

FIG. 7 is a flowchart of a management system by a host computer of the automatic driving method according to the present invention.

FIG. 8 is a flowchart of an automatic driving system by the on-board control device of the automatic driving method according to the present invention.

[Explanation of symbols]

 3 Unloader 4 Coal Storage 5 Pile Mountain 5a Empty Pile 6 Conveyor Line 8 Stacker / Reclaimer 9 Onboard Controller 10 Host Computer

 ──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-1-321206 (JP, A) JP-A-62-255321 (JP, A) JP-A-1-145932 (JP, A) 54217 (JP, B2)

Claims (1)

(57) [Claims] 1. A pile surface height detecting means comprising a light wave type distance detector capable of measuring the entire pile width from above is provided on a stacker or a reclaimer machine operated in a coal storage yard, and a daily loading or unloading operation is performed. After the completion of the above, the pile surface height detecting means automatically measures the height of the pile upper surface in a mesh shape while traveling the stacker or the reclaimer from the starting position of the pile to the end position, and the computer detects the detecting means. Based on the values, the data for stock quantity management such as the stowage shape, stowage amount, additional stowable amount, and the work start position of the next day is calculated and created at the time of daily work start, and the end time data of the previous day is calculated at the start of daily work. Work start position on the day,
By inputting a start height, a work pattern, and a schedule to the control device of the stacker or the reclaimer, the stacker or the reclaimer is automatically moved to a work start position and a start height, and an automatic loading or discharging operation is started. Automatic operation method of stacker or reclaimer.