JP3221630B2 - Fixed position stop control method for bucket of dump truck - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

The present invention relates to a fixed position stop control method for a bucket of a dump truck in a cable crane for transporting concrete in dam construction, for example.

[0002]

2. Description of the Related Art In the construction of a dam, as a method of transporting concrete, concrete kneaded in a concrete plant is transported by a transport vehicle, and then concrete is transferred to a bucket of a cable crane and transported to a predetermined position of the dam by a cable crane. Transport systems are commonly employed.

With respect to this system, the present applicant has disclosed Japanese Patent Publication No.
JP-17890 discloses a transport system including a transport track on which a transport vehicle travels and a cable crane having one end fixed and extending crossing the transport track and the other end being moved by a traveling cable or the like. We proposed a fixed position stop control method for a truck that automatically stops the truck at the optimal position for the bucket of the cable crane.

[0004] According to the proposal, a transport trajectory on which a transport vehicle travels and a cable crane having one end fixed and extending crossing the transport trajectory and the other end being moved by a traveling cable or the like. In the system, the deflection angle of the main cable of the cable crane is detected by the main cable angle detection device,
The detection signal is input to a microcomputer mounted on the transport vehicle to calculate the expected landing position of the bucket of the cable crane, and the travel distance of the transport vehicle is always detected by a travel distance detection device provided on the transport vehicle, and Input to the microcomputer, based on the expected landing position of the bucket of the cable crane, the microcomputer calculates the deceleration position and the stop position required for the traveling control of the carrier, and controls the acceleration motor that drives the carrier, and The stop position of the transport vehicle can be corrected by a reflector provided on the bucket and a photoelectric switch provided on the transport vehicle.

[0005] In the above-mentioned fixed-position stop control system for the carrier with respect to the bucket of the cable crane, in the one-side traveling cable crane shown in FIG. I have. In addition, the code | symbol B in a figure is a cable crane trolley, C is a cable crane main rope, D is a cable crane running rail, E is a moving tower, E1 is a fixed tower,
F is a transportation track, F1 is a water trough, H is a concrete plant, J is a bucket cradle, and K is a cable crane cab.

[0006]

On the other hand, as shown in FIG. 6, for example, as shown in FIG. 6, the transportation is carried out in parallel with the side chute type transport vehicle G1 under the conditions such as the topography and the number of crane cable main ropes C. On the track F, the use of the dump truck G is forced.

In the case of the dump truck G, the bucket A is landed on the same level as the track F, and transshipment with concrete is performed. Therefore, it is difficult to accurately stop the transport vehicle at the target stop position because the conventional photoelectric sensor or ultrasonic sensor alone cannot distinguish the obstacle from the bucket A.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a fixed position stop control method for a bucket of a dump truck capable of stopping accurately at a target stop position.

[0009]

According to the present invention, in a fixed position stop control method for stopping a transport vehicle for transporting concrete at a fixed position with respect to a bucket of a cable crane, concrete is loaded on the transport vehicle in a concrete plant. After moving into the vehicle, calculate the target stop position of the transport vehicle from the deflection angle of the cable crane main rope, and when it reaches the deceleration point of the pause, move forward at a slow speed and pause to determine whether the target position needs to be changed. If necessary, correct the target position, correct the target position, move the truck forward at low speed until the photoelectric sensor detects the bucket when the bucket has landed, and move it forward at a slow speed if the photoelectric sensor detects the bucket primary, and then separate If the photoelectric sensor detects the bucket secondarily, the truck stops when the bucket and the vessel of the truck face each other at the fixed position. Allowed, so as to dump up to final confirmation of the position of the bucket by the ID sensor.

[0010]

[Explanation of the operation and effect] Therefore, the transport vehicle travels at a deceleration point or at a high speed, and gradually travels slowly at a low speed and a very low speed as the vehicle approaches the target position. Can be achieved simultaneously. Finally, since the position of the bucket is confirmed by the ID sensor, there is no erroneous ejection, the position can be easily corrected, and a dumping operation can be performed at an accurate position. As described above, according to the present invention, the work of the transport vehicle can be accurately and automatically controlled, and the work efficiency is improved.

[0011]

Embodiments of the present invention will be described below with reference to the drawings.

FIGS. 1 to 3 show a dump truck G embodying the present invention. In these drawings, portions corresponding to those in FIG. 6 are denoted by the same reference numerals, and redundant description will be omitted.

1 to 3, a pair of wheels 3 driven by a driving device 2 are mounted on a vehicle body 1 of a dump truck G.
Is provided at the upper part by a hydraulic cylinder 4 at a chain line position 5A.
A vessel 5 is provided that is dumped up to the front (hereinafter, the right side of the drawing is referred to as the front).

A bucket ID sensor 6 is provided substantially at the center of the front surface of the vehicle body 1, and photoelectric sensors 8a and 8b are provided on both sides of the ID sensor 6.

On the other hand, the bucket A is provided with a reflection plate 9 and a data carrier 10 (FIG. 4). And I
The D sensor 6 and the photoelectric sensors 8a and 8b are connected to the main body control panel 11 (FIG. 4). An operation panel 12 is connected to the control panel 11, and the control panel 11 is connected to a cable crane operating room K by an optical fiber cable 13.
It is connected to an operation panel (not shown) (FIG. 7).

Next, the control mode will be described mainly with reference to FIG.

In FIG. 5, after initialization is performed (step S1), concrete is loaded in the concrete plant H, and the start signal is turned on (step S1).
2) The operation panel of the cable crane operation room K calculates the target stop position of the transport vehicle G from the deflection angle of the cable crane main rope C (step S3), advances the transport vehicle G, and the control panel 11 The current position is corrected using the upper reference point (steps S4 and S5). Next, it is determined whether or not the bucket A has landed before the carrier G by means (not shown) (step S6), and if NO, it is determined whether or not the target position needs to be changed (step S6). Step S8). If YES, the target position is corrected (step S9), and the process moves to step S10 with YES. In step S10, it is determined by means not shown whether or not the vehicle has reached the temporary stop deceleration point (step S10). If no,
Returning to step S6, if YES, the system temporarily stops (step S12) and determines whether or not the target position needs to be changed (step S14). If YES, that is, if the bucket A moves during the pause, the bucket A moves following the bucket A and corrects the target position (step S1).
3) Returning to step S12, if NO, the bucket A is landed, and the process proceeds to step S16. If step S6 is YES, that is, if the bucket A has landed, if it is in the deceleration position (step S7), the process proceeds to step S16. In step S16, the bucket A is advanced at a low speed until the photoelectric sensor 8a detects it (step S16), and when the photoelectric sensor 8a first detects the bucket A (step S17). The vehicle is advanced at a very low speed (step S18). Next, when the photoelectric sensor 8b secondary detects the bucket A (step S19), the bucket A is stopped when the vessel 5 of the transport vehicle G faces the home position. Therefore, it is determined whether the photoelectric sensor 8b continuously and secondarily detects the bucket A and the ID sensor 6 has detected the vessel 5, that is, whether or not the bucket A is at the target position (step S21). If NO, the position of the bucket A is corrected (step S22), and if YES,
The gate 5a is opened (Step S23), dumped up (Step S24), and it is determined whether a vibrator is necessary (Step S25). If YES, the vibrator (not shown) is operated manually or semi-automatically (step S26), dumped down (step S27), and the gate 5a is closed after a predetermined time (step S28).

[0018]

As described above, according to the present invention, the following excellent effects can be obtained. (A) The movement of the carrier can be controlled at high speed, low speed, and very low speed, the traveling time can be reduced, and the carrier can be stopped at a correct position. (B) Since the transport vehicle is controlled by the photoelectric sensor and the ID sensor after the landing of the bucket, the stop position of the transport vehicle can be set correctly. (C) Suitable for automatic control, and can improve work efficiency. (D) Since the ID of the bucket is read and discharged with concrete, there is no erroneous discharge.

[Brief description of the drawings]

FIG. 1 is a side view showing a dump truck embodying the present invention.

FIG. 2 is a top view of FIG. 1;

FIG. 3 is a front view of FIG. 1;

FIG. 4 is a circuit diagram of a main body control panel.

FIG. 5 is a control flowchart.

FIG. 6 is a perspective view illustrating a one-side traveling cable crane.

[Explanation of symbols]

 A: bucket B: cable crane trolley C: cable crane main rope D: cable crane traveling rail E: moving tower E1: fixed tower F: transport track F1: Water trough G ・ ・ ・ Dump truck G1 ・ ・ ・ Side chute truck H ・ ・ ・ Concrete plant J ・ ・ ・ Bucket cradle K ・ ・ ・ Cable crane operating room 1 ・ ・ ・ Body 2 ・ ・ ・ Drive Apparatus 3 Wheel 4 Hydraulic cylinder 5 Vessel 5a Gate 6 ID sensor 8a Photoelectric sensor (primary) 8b Photoelectric sensor (secondary) 9 ... Reflector 10 ... Data carrier 11 ... Main body control panel 12 ... Operation panel 13 ... Optical fiber cable

────────────────────────────────────────────────── ─── Continuing on the front page (72) Inventor Sakae Mihata 1-2-7 Moto-Akasaka, Minato-ku, Tokyo Kashima Construction Co., Ltd. (72) Hiroshi Hiroyama 1-2-7 Moto-Akasaka, Minato-ku, Tokyo No. Kashima Construction Co., Ltd. (72) Inventor Yuji Hiramatsu 1-1-5 Moto-Akasaka, Minato-ku, Tokyo Kaji Mamechatro Engineering Co., Ltd. (56) References JP-A-4-357273 (JP, A) 60-17890 (JP, B2) (58) Fields investigated (Int. Cl. ⁷ , DB name) G05D 1/02

Claims (1)

(57) [Claims] In a fixed-position stop control method for stopping a transporting vehicle for transporting concrete at a fixed position with respect to a bucket of a cable crane, a concrete plant is loaded into a transporting vehicle, and then the transporting vehicle is started to start the cable. The target stop position of the transport vehicle is calculated from the swing angle of the vehicle, and when it reaches the deceleration point of the stop, it is advanced at a very low speed and stopped, and it is determined whether or not the target position needs to be changed. Correct the bucket, if the bucket arrives, move the truck forward at low speed until the photoelectric sensor detects the bucket.If the photoelectric sensor detects the bucket primary, move it forward at a slow speed, then another photoelectric sensor detects the bucket secondary. When the bucket and the vessel of the cart face each other at a fixed position, the cart is stopped, and the ID sensor detects the bucket. A fixed position stop control method for a bucket by a dump truck, wherein the position is finally confirmed and dumped up.