JP3383059B2 - Cart position detection device - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for detecting the position of a bogie such as an industrial machine or a construction machine. 2. Description of the Related Art When a truck is driven by itself, as means for automatically controlling the truck to surely travel on a predetermined moving route, a rail is conventionally laid on the moving route and the truck travels on the rail. There are some things that cause cables and points to be placed on the movement route, and the bogie recognizes this and travel along this movement route.The former is used for unmanned trains and capsule transportation, and the latter is used for golf carts and large dump trucks. Used for automatic driving of trucks. However, it is easy to program such a traveling control of a bogie so that many bogies move on the same route, but when one bogie must travel on a different moving route each time. Must be moved each time a rail or a point is moved, which is troublesome and practically impossible. Therefore, as means for controlling the traveling of the carriage in such a case, the first and second reference points are provided at arbitrary positions, and the carriage and the respective distances are measured by a distance measuring device using a laser, a radio wave, a sound wave, or the like installed on the carriage. The controller measures the distance between the reference point and the control unit to determine the position of the cart on orthogonal coordinates based on the measurement data on the coordinate system with the straight line connecting the first and second reference points as coordinate axes. A device for controlling movement has been proposed (see Japanese Patent Publication No. 3-58039). However, a distance measuring device using a laser, a radio wave, a sound wave, or the like is a precise device and is expensive. If the device is used in an inferior working environment with a lot of dust and vibration, it tends to cause a failure, and repair at a site is difficult. It is difficult and may hinder the work. SUMMARY OF THE INVENTION The present invention solves the above-mentioned problem in detecting the position of a bogie, and has a simple structure, can be used even in a poor working environment with much dust and vibrations, It is an object of the present invention to provide an inexpensive bogie position detecting device that can reduce the number of bogies that can be easily repaired on site and can surely detect the position of bogies that must travel on different moving routes each time. According to the present invention, a bogie position detecting device is provided with a sensor base rotatably supported by a swivel shaft provided on a bogie base point, and a sensor base on a swivel axis of the sensor base. A one-stage sprocket rotatably supported by the vehicle, a two-stage upper and lower sprocket rotatably supported by a predetermined distance from the rotation axis of the one-stage sprocket on a sensor base reference line orthogonal to the axis of the turning shaft, One of the two-stage sprockets, one of the two-stage sprockets, and the other of the two-stage sprockets are sequentially wound from one of the two movement reference points set near two ends of the movement area, and the other movement reference point is set. A wire rope stretched to a point, a distance sensor provided on a rotating shaft of a single-stage sprocket to detect a wire rope length,
An angle sensor that detects an intersection angle between a sensor base reference line provided on each rotation axis of the stepped sprocket and a wire rope direction line, and a turning angle of the sensor base reference line with respect to a bogie base line provided on the sensor base turning axis. The rotation sensor to be detected and the distance between the two movement reference points are stored in advance, and the detection data of the distance sensor, the angle sensor, the rotation sensor,
And based on the stored distance data between the movement reference points,
The above problem is solved by a configuration including a control device that calculates the position coordinates of the bogie base point in a coordinate system based on two movement reference points. When the truck travels on its own, the position of the truck is detected in order to automatically control the truck to travel along a predetermined moving route without fail. First, a movement reference point is set at any two positions near both ends of the movement area of the bogie, distance data between the movement reference points is input to the control device and stored, and the bogie is positioned near the starting position of the movement route. With the cart base line oriented in the direction of travel, the wire rope is wound around one of the two-stage sprockets, one of the two-stage sprockets, the other of the two-stage sprockets sequentially from one of the movement reference points, and the other is moved. After extending to the reference point, a movement start command is given. [0008] Then, the distance sensor detects the length of the wire rope from the movement reference point to the sensor base reference line, the angle sensor detects the intersection angle between the sensor base reference line and the wire rope direction line, and the turning sensor detects the intersection with the bogie base line. The control device detects the turning angle of the sensor base reference line, and the control device determines the bogie base point in the coordinate system based on the two movement reference points based on the detected data and the stored distance data between the movement reference points. Is calculated. If the data of a predetermined moving route is input and stored in the control device in advance, the bogie can be reliably run along the moving route. FIG. 1 is a plan view showing a hydraulic crawler drill provided with a bogie position detecting device according to an embodiment of the present invention arranged in a moving area of a bogie. FIG. FIG. 3 is a plan view, FIG. 3 is a side view of the sensor base, FIG. 4 is an explanatory diagram of a method of detecting an intersection angle between a sensor base reference line and a wire rope direction line by an angle sensor, FIG. Is an illustration of the wire rope direction line intersection,
FIG. 7 is a block diagram showing a configuration of the control device. The hydraulic crawler drill 1 of the present embodiment has a sensor base 6 on a truck 5 running on a truck frame 2.
And a control device 7 and a boom 8. A guide shell 9 on which a rock drill (not shown) is mounted is supported at the tip of the boom 8, and a large number of blast holes H ₁ are formed in the rock of the face F. ~ H _i
To hole devote to H _n self-propelled the predetermined movement route on the moving area G. The sensor base 6 is supported by a turning shaft 10 provided on a bogie base point D, and the turning shaft 10 is turned by a sensor-based turning control motor 11. A single-stage sprocket 12 is supported by a rotating shaft 13 on the axis I of the turning shaft 10 of the sensor base 6, and a single-stage sprocket 12 is provided on a sensor base reference line J orthogonal to the axis I of the turning shaft 10. Two upper and lower sprockets 14 and 15 are supported by a rotating shaft 17 at a predetermined distance d from the rotating shaft 13 of the sprocket 12. A movement reference point A is set near one end of the movement area G of the carriage 5, and a movement reference point B is set near the other end. The sprocket 12 and the lower sprocket 15 are sequentially wound, and a wire rope 16 is stretched to the other movement reference point B. A wire reel for adjusting the length of the wire rope 16 in accordance with a change in the distance between the movement reference point A-the carriage 5 and the movement reference point B due to the movement of the carriage 5 and maintaining a constant tension. (Not shown) are provided. A rotary distance sensor 20 for detecting the length of the wire rope 16 from the amount of rotation of the sprocket 12 is provided on the rotary shaft 13 of the single-stage sprocket 12. The rotation shaft 1 of the two-stage sprockets 14 and 15
7 is provided with angle detection arms 18 and 19 and angle sensors 21 and 22 for detecting intersection angles γ and δ between the sensor base line J and the direction lines M and N of the wire rope 16. The angle detection arms 18 and 19 are provided with engagement members 25 and 26 that engage with the wire rope 16 at the distal ends,
When the direction of the wire rope 16 changes, the wire rope rotates, and this rotation is detected by the angle sensors 21 and 22. The actual detection values γ ₀ and δ ₀ of the angle sensors 21 and 22 are, as shown in FIG.
The rotation centers of 8 and 19 are the centers of the two-stage sprockets 14 and 15, and the sensor base reference line J and the wire rope 1
6 is different from the intersection point E with the direction lines M and N, an error ε occurs. The error ε is calculated from the radius R of the two-stage sprockets 14 and 15 and the distance 1 from the center of the two-stage sprockets 14 and 15 to the engaging members 25 and 26 at the tip ends of the angle detection arms 18 and 19 as follows: Is a constant obtained by Ε = tan ⁻¹ (R / l) Therefore, the intersection angles γ and δ are γ = γ ₀ −ε and δ = δ ₀ −ε
Can be detected by correcting as follows. Sensor base 6
A turning sensor 23 for detecting a turning angle of the sensor base line J with respect to the carriage base line K is provided below the turning shaft 10. The control device 7 includes an input unit 30 for inputting data of the distance L between the movement reference points A and B, and a storage unit 31 for storing the input data and a program for calculating the position of the bogie.
Based on the detection data of the distance sensor 20, the angle sensors 21, 22, and the turning sensor 23, and the stored data of the distance L between the movement reference points A and B, the movement reference point A is used as the origin. X- with a straight line passing through points A and B as the Y axis
A CPU 32 for calculating the position coordinates of the bogie base point D in the Y Cartesian coordinate system. The control device 7 includes a cart 5
A dedicated device for controlling the position of the hydraulic crawler drill 1 may be provided.
Can be used immediately for control of the hydraulic crawler drill 1, which is convenient. When the carriage 5 is allowed to travel by itself, the position of the carriage 5 is detected in order to automatically control the carriage 5 to travel along a predetermined moving route. First, the movement reference points A and B are set at two arbitrary positions near both ends of the movement area G of the carriage 5.
Is set, the data of the distance L between the movement reference points A and B is input to the control device 7 and stored, and a movement start command is given. Then, the angle sensors 21 and 22 detect the intersection angles γ and δ between the sensor base reference line J and the direction lines M and N of the wire rope 16, and the distance sensor 20 detects the wire rope length to determine the movement reference. Wire rope direction lines M and N from point A
The distance a to the intersection C is determined. At this time, FIG.
As shown in FIG. 6, when the magnitudes of the intersection angles γ and δ are different,
Direction line M as shown in (A), and the intersection point C of N, the sensor base reference line J and direction line M, the intersection of the _{N E (E m, E n} )
5A, the sensor base 6 is turned by the sensor base turning control motor 11 as shown in FIG. 5A, and the adjustment is performed so that γ = δ. In this state, the dolly base point D
Is the horizontal distance c from the point to the intersection C of the direction lines M and N, c = d
+ R cosec γ. The turning sensor 23 detects a turning angle θ of the sensor base line J with respect to the cart base line K. Now, in the triangle ABC, AB = L, AC = a, and the angle ACB = γ +
Since δ, if the angle BAC = α and the angle ABC = β,
Since L / sin (γ + δ) = a / sin β, β = sin ⁻¹ [{asin (γ + δ)} / L] α = 180 ° − (γ + δ) −β = 180 ° − (γ + δ) −sin ^{− 1} [{asin (γ + δ)}
/ L]. Therefore, the coordinates of the intersection C of the direction lines M and N are
(A sin α, a cos α), and the direction of the cart base line K is θ + β + δ−90 ° with respect to the X axis. Based on the above relationship, the control device 7 converts the detection data a, α, β, θ of the distance sensor 20, the angle sensors 21, 22, and the turning sensor 23 into the data of the stored distance L between the movement reference points A, B. Based on this, the position coordinates of the intersection C of the direction lines M and N in the XY rectangular coordinate system with the movement reference point A as the origin and the straight line passing through the movement reference points A and B as the Y axis, and the bogie base point D are calculated. . The blast holes H _{1 to} H _{i to} H _n are previously stored in the control device 7.
If Type of hole coordinates h ₁ to h _i to h _n, the data of the predetermined movement route Oke and stored, automatically fences hydraulic crawler drill 1 is reliably travels along the carriage 5 to the movement route Hole work can be performed. When changing the movement area G, new movement reference points A and B may be set. As described above, the bogie position detecting device of the present invention can reliably detect the position of a bogie that must travel on a different moving route each time, and has a simple structure. Since it is inexpensive and does not use precision equipment, it can be used in a poor working environment where there are many dusts and vibrations, and there are few failures and it is easy to repair on site.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a plan view showing a state in which a hydraulic crawler drill provided with a bogie position detecting device according to one embodiment of the present invention is arranged in a moving area of a bogie. FIG. 2 is a plan view of a sensor base. FIG. 3 is a side view of a sensor base. FIG. 4 is an explanatory diagram of a method of detecting an intersection angle between a sensor base reference line and a wire rope direction line using an angle sensor. FIG. 5 is an explanatory diagram of sensor-based turning adjustment. FIG. 6 is an explanatory diagram of a wire rope direction line intersection position. FIG. 7 is a block diagram illustrating a configuration of a control device. [Description of Signs] 1 Hydraulic crawler drill 2 Track frame 5 Cart 6 Sensor base 7 Control device 8 Boom 10 Swivel shaft 12 Single sprocket 13 Rotary shaft 14 Upper sprocket 15 Lower sprocket 16 Wire rope 17 Rotary shaft 18 Angle detection Arm 19 Angle detection arm 20 Distance sensor 21 Angle sensor 22 Angle sensor 23 Rotation sensor 30 Input unit 31 Storage unit 32 CPU A Movement reference point B Movement reference point C Intersection of wire rope direction line D Dolly base point E Wire rope direction line and sensor Intersection F of base reference line F Face G Movement area I Axis J Sensor base reference line K Truck base line L Distance between movement reference points M Wire rope direction line N Wire rope direction line

Claims (1)

(57) [Claim 1] A sensor base rotatably supported by a pivot provided on a base point of a bogie, and a one-stage sensor pivotally supported on the axis of the pivot of the sensor base. A sprocket, upper and lower two-stage sprockets supported by a predetermined distance from a rotation axis of the one-stage sprocket on a sensor base reference line orthogonal to the axis of the turning shaft, One of the two-stage sprockets, one-stage sprocket, 2
The other of the two-stage sprocket is sequentially wound around, and a wire rope stretched to the other movement reference point, a distance sensor provided on the rotation axis of the one-stage sprocket to detect the length of the wire rope, and a two-stage sprocket An angle sensor that detects an intersection angle between a sensor base reference line provided on each rotation axis and a wire rope direction line, and a turning sensor that detects a turning angle of the sensor base reference line with respect to a bogie base line provided on the sensor-based turning axis. The distance between the two movement reference points is stored in advance, and the two movements are performed based on the detection data of the distance sensor, the angle sensor, the turning sensor, and the stored distance data between the movement reference points. And a control device for calculating the position coordinates of the bogie base point in a coordinate system based on the reference point.