JP6656814B2 - Stacker control method - Google Patents

Description

  The present invention mainly relates to various non-metal ores represented by limestone and gypsum, various metal mineral ores represented by iron ore and chalcopyrite, and coal represented by lignite and anthracite. It is related to the control method of the stacker that conveys, stacks, and stores as a load as conveyed objects.Especially, when stacking conveyed objects with uneven quality in the stacker, equalize so as to reduce the quality variation. The present invention relates to a method for controlling a stacker suitable for stacking.

Conventionally, various mined materials such as non-metal ores such as limestone, metal mineral ores such as iron ore, and coal have been mined at mines, and useful components contained therein have been widely used in industry. I have.
Usually, many of these mined materials are mined and then crushed by a crusher or the like to a size that can be conveyed by a belt conveyor.
The crushed mined objects are conveyed as a conveyed object by a belt conveyor or the like, are stacked in a stacking yard (stacking yard), and are piled up to be a stacked object (pile).
Thereafter, the load is cut out and carried out by a carrying-out means such as a reclaimer or a truck as needed.

Here, as an apparatus for stacking mined objects and the like as objects to be conveyed and stacking them in a loading yard to form a load, a conveying and dispensing apparatus called a stacker is known.
Stackers that pile up mined materials are often installed outdoors in the vicinity of the loading yard, and have a structure in which a swivelable boom that extends to the loading yard is arranged on a movable bogie. Many. In general, a bogie used for a stacker is configured to travel by traveling on a track formed by rails, a dedicated traveling path, and the like.

Usually, a transport conveyor extending parallel to the track is installed adjacent to the stacker, and the conveyed objects supplied from the transport conveyor to the stacker are supplied to a payout conveyor arranged in a boom of the stacker. It has become.
The stacker moves the truck on the track and pays out the goods to be carried out by the payout conveyor arranged in the boom extending to the loading yard, thereby stacking the goods to be loaded in the loading yard to form a load. .

Here, an example of a stacker as a conventional technique is disclosed in Japanese Patent Application Laid-Open Publication No. H11-163873.
The stacker disclosed in Patent Literature 1 is a stacker for storing ore, coal, or the like as a transported material in a loading yard (a raw material yard in Patent Literature 1).
The stacker disclosed in Patent Literature 1 has a structure in which a boom that can turn up, down, left, and right is arranged on a bogie, and is arranged on tracks arranged side by side in a loading yard. The conveyed object supplied to the stacker is supplied to the storage yard from the boom tip side.

  The invention disclosed in Patent Literature 1 is an invention characterized in that a detector is provided at the tip of a boom of a stacker. By confirming the position of (1), it is understood that this is a technique for efficiently stacking the transported objects in the loading yard.

JP-A-54-130154

Here, nonmetallic ore such as limestone and gypsum, metal mineral ore such as iron ore, and coal etc., which are mined at the mining site, are naturally present in the area.
Even in the same mining site, the ratio of useful components included in the mining position is slightly different, and the quality is not always constant but has a variation.
Since the mining position changes as the mining progresses, the quality of the mined material usually varies little by little with the time of excavation and varies.
Therefore, there is a possibility that the quality of the transported object transported to the stacker varies depending on the transport time. In addition, the amount of conveyed articles may vary with time.

However, in the case where the objects to be conveyed are stacked and piled up by the stacker, if the quality or the like of the objects to be conveyed changes at a stage before being conveyed to the stacker, that is, at a stage upstream of the stacker, the stacking yard may be moved. There is a problem that the quality of the load differs depending on the position where the load is placed.
For example, when a stacker stacks parts in the morning and a part stacked in the afternoon, the quality of the stackers differs. That is, there occurs a phenomenon that the quality varies depending on the position of the piled loads.

As a result, in the case where a conveyed object is cut out from a pile of stacked articles and carried out as a product, the quality may be different depending on the position of the stacked article to be cut out, which is not a preferable state.
For these reasons, there has been a demand for a method in which conveyed objects whose quality and the like vary depending on the time of conveyance are piled up as evenly as possible and stored as a load.

  The present invention has been made in view of the problems described above, and a stacker control method suitable for equalizing and stacking conveyed objects whose quality or the like varies depending on the time of conveyance. I will provide a.

In order to solve the above-described problems, a stacker control method according to the present invention includes:
(1) A boom is arranged on a bogie traveling on a track, and a conveyed conveyor extending in parallel with the track is supplied with a conveyed object to a dispensing conveyor arranged in the boom, and the bogie is reciprocated on the track. This is a method of controlling a stacker in which a conveyed object is dispensed on a loading yard by dispensing the conveyed object on a delivery yard, wherein the conveyed object is supplied from a supply device onto a conveyer and conveyed. Detects the amount, calculates the amount of the conveyed object discharged from the dispensing conveyor, and travels when the amount of the conveyed object discharged from the discharging conveyor is equal to or larger than a predetermined set range with respect to the reference conveyance amount. the speed of the truck is increased, Contact with slowing the rate of the truck traveling if less than or equal to the specified range determined in advance, when reciprocating the carriage on the track, the feeder side and the counter-supply apparatus Position of the pile foot of the cargo is repetitively reciprocally and while narrowing the distance between the travel limit position of the traveling limit position and the anti-feeder side of the supply apparatus side carriage moves so as to become stowage limit hem position Te.

( 2 ) In the stacker control method according to ( 1 ), when calculating the amount of the conveyed object to be discharged from the dispensing conveyor, the conveying direction of the conveyed object by the conveying conveyor and the moving direction of the bogie are opposed to each other. In this case, the increase in the relative speed is calculated so as to increase, and the decrease in the relative speed is calculated so as to decrease when the transport direction of the transported object by the transport conveyor and the moving direction of the bogie are the same. .

( 3 ) In the stacker control method described in (1) or (2) , the predetermined setting range is a range from -10% to + 10% with respect to a reference transport amount.

According to the present invention, the traveling speed of the bogie is increased when the amount of the conveyed object delivered from the delivery conveyor is equal to or larger than a predetermined set range with respect to the reference carry amount, and is reduced to be equal to or smaller than the predetermined set range. In such a case, the traveling speed of the bogie is reduced.
According to the present invention, with the above-described configuration, the objects to be transported are repeatedly piled up with a uniform layer thickness in a tomographic manner, whereby the piled loads can be equalized as a whole.

It is a conceptual diagram explaining the composition of the stacker concerning the present invention from the front side (north side). It is a conceptual diagram explaining the composition of the stacker concerning the present invention from the side (east side). BRIEF DESCRIPTION OF THE DRAWINGS It is a layout drawing explaining the whole structure of the storage yard concerning this invention. It is a conceptual diagram explaining the stacking image of the stacker according to the present invention. It is a conceptual diagram explaining step by step the stacking image of the stacker according to the present invention. FIG. 4 is an explanatory diagram for explaining a control flow of the stacker according to the present invention. FIG. 3 is an explanatory diagram for explaining an influence of a transport amount by a relative speed between a stacker according to the present invention and a transported object on a transport belt conveyor.

Hereinafter, a preferred example of an embodiment according to the present invention will be described in detail with reference to the drawings and the like.
1 to 7 relate to an embodiment of the present invention, and FIG. 1 is a conceptual diagram for explaining the configuration of a stacker from the front side (north side). (1) shows an external appearance, and (2) shows a partial cross section. Indicated.
FIG. 2 is a conceptual diagram for explaining the configuration of the stacker from the side (east side). FIG. 2 (1) shows the appearance, and FIG. 2 (2) shows a partial cross section. FIG. 3 is an arrangement view for explaining the overall configuration of the stacking yard using the stacker from the top side. FIG. 4 is a conceptual diagram illustrating a stacking image of a stacker, and FIG. 5 is a conceptual diagram illustrating a stacking image in a stepwise manner. FIG. 6 is an explanatory diagram for explaining the control flow of the stacker. FIG. 7 is an explanatory diagram for explaining the influence of the transport amount due to the relative speed between the stacker and the transported object on the transport belt conveyor.

Hereinafter, a configuration of the stacker 1 will be described with reference to FIGS. 1 and 2 as a preferred example according to the present embodiment.
As shown in FIG. 1A, the stacker 1 includes a boom 3, a gantry 5, a traveling trolley 6, and an undulating device 9, and the boom 3 is vertically mounted on the gantry 5 formed on the traveling trolley 6. It is configured to be pivotally supported and arranged. The boom 3 is configured to be able to move up and down by an undulating device 9 installed on the gantry 5.

In the boom 3, as shown in FIG. 1 (2), a delivery conveyor 10 extending from the traveling vehicle 6 side (left side in the drawing) to the boom tip side (right side in the drawing) is arranged.
A payout port of a transport conveyor 20B, which will be described later, is provided at an upper portion of the payout conveyor 10 on the side of the traveling carriage 6, and the conveyed object H transported by the transport conveyor 20B travels in the stacker 1 by the payout conveyor 10. It is configured to be supplied to the carriage 6 side.
When the dispensing conveyor 10 starts operating, the transported objects H supplied above the gantry 5 of the dispensing conveyor 10 (left side in the drawing) move toward the boom tip side (right side in the drawing) of the discharging conveyor 10. Conveyed.

Here, as shown in FIG. 2, a tripper 4 for pulling in the transport conveyor 20B is provided on a side surface of the stacker 1.
As shown in FIG. 3, the transport conveyor 20 is a single conveyor that extends in the north-south direction adjacent to the loading yard Y, and moves the transported object H supplied from the supply device 30 arranged on the south side to the north side. Transport. In the present embodiment, the belt is pulled up onto the traveling carriage 6 by the tripper 4 in the middle of the transport path of the transport conveyor 20, and the transported object H is supplied onto the payout conveyor 10 there.

In FIGS. 1 and 2, for convenience of explanation, each portion of the transport conveyor 20 is a portion from the supply conveyor 30 to the tripper 4 (the upstream side of the tripper), a portion traveling inside the transport conveyor 20 </ b> A and the tripper 4 (tripper portion). ) Is pulled out from the transport conveyor 20B and the tripper 4, and then the portion traveling to the north (downstream of the tripper) is referred to as the transport conveyor 20C.

In the present embodiment, as shown in FIG. 2, the presence detection sensor S for detecting the transported object H on the transport conveyor 20B is disposed on the stacker 1 side of the tripper 4.
The presence detection sensor S can detect a transferred object H on the conveyor 20B passing below the presence detection sensor S and send a signal to a control device (not shown).
In the present embodiment, by using the presence detection signal transmitted from the presence detection sensor S, the timing at which supply of the conveyed object H from the conveyance conveyor 20 to the payout conveyor 10 is calculated.

Here, as shown in FIG. 3, in the present embodiment, two grooves extending parallel to the north and south provided adjacent to the east side of the loading yard Y are defined as the traveling path 8 of the traveling vehicle 6. A track is formed so that the traveling vehicle 6 can travel on the track.

The orbit is a fixed route along which the traveling vehicle 6 moves.
In the present embodiment, the traveling vehicle 6 is configured to travel on the track by traveling on the traveling path 8 as described above. However, it is needless to say that the method of securing a track applicable to the present invention is not limited to this, and a rail or the like may be used, or a laser or a position sensor may be used. The method is not particularly limited as long as it is configured to be able to repeatedly reciprocate along a certain path.

In addition, a reclaimer 50 is arranged in the storage yard Y shown in FIG. 3 in addition to the above-described stacker 1. The reclaimer 50 cuts out the conveyed object H from the pile of goods piled up in the loading yard Y while moving along the reclaimer traveling path 52.
The conveyed object H cut out by the reclaimer 50 is carried out from the storage yard Y via the reclaimer payout conveyor 54.
In the present embodiment, the transported objects H are piled up in the stacking yard Y by the stacker 1 and temporarily stored and stored as a load.
Thereafter, the reclaimer 50 is operated as needed, and the conveyed objects H are cut out from the piled products in the stacking yard Y, and the conveyed objects H are separated from the stacking yard Y via the reclaimer discharging conveyor 54. Take it out.

Hereinafter, the behavior of the transferred object H will be described.
The transported object H is supplied onto the transport conveyor 20A from the supply conveyor 30 disposed in the supply device 31. The transported object H supplied onto the transport conveyor 20A is transported in the direction of the stacker 1 (the right side in FIG. 2), and is drawn into the tripper 4. The transported object H drawn into the tripper 4 is lifted up on the traveling carriage 6 on the transport conveyor 20B, and supplied onto the payout conveyor 10. The conveyed object H supplied on the payout conveyor 10 is conveyed to the boom tip side (the right side in FIG. 1) and is discharged onto the storage yard Y.

When the conveyed objects H are discharged from the dispensing conveyor 10 to the loading yard Y, the traveling vehicle 6 stacks the conveyed objects H while repeatedly reciprocating in the north-south direction on the track. , Forming a pile of loads.
At this time, the boom 3 is moved up and down by the hoisting device 9 as needed to adjust the boom 3 to an appropriate height.

FIG. 4 shows a situation image when the transported objects H are piled up as a load.
The image assumes that the transported objects H are piled up from the first travel southernmost position to the sixth travel southernmost position to form a load.

In FIG. 4, the point between the first traveling southern limit position and the sixth traveling southern limit position is divided into the second traveling southernmost position and the third traveling southernmost position in order from the left side in the drawing. Eyes are increasing. Similarly, the point where the first-stage traveling northern limit position and the sixth-stage northernmost position are divided is that the second stage traveling northernmost position and the third stage traveling northernmost position are sequentially increased in order from the right side in the drawing. ing.

First, in the first travel, the transported objects H are piled up while being transported from the first traveling south limit position to the second traveling south limit position via the first traveling north limit position. Things.
That is, the stacker 1, which was located at the first-stage traveling southern limit position, travels northward (northward traveling) to reach the first-stage traveling northernmost position, changes its direction there, and travels southward (southern traveling). Travel to the 2nd stage southernmost position. During this traveling, the first stage is piled up by discharging the transported objects H from the boom tip side of the discharging conveyor 10.

In this case, the load is stacked in a mountain-like shape whose vertices are generally continuous from the first travel southern limit position to the first travel northern limit position, and is a so-called mountain shape having a ridge extending north and south. It has become. FIG. 5A shows a cross section of the load, which is cut along a line extending in the west-east direction. As shown in FIG. 4, the position of the skirt portion of the pile of the load is substantially in the vicinity of the loading southern skirt position and the loading northern skirt position.

The stacker 1 that has reached the second traveling southern limit position changes direction and travels north for the second time, reaches the second traveling northern limit position, changes direction there and performs second traveling south, and travels three times. Drive to the south limit position. During this traveling, the conveyed objects H are discharged from the boom tip side of the discharge conveyor 10 to pile up the second stage.

At this time, the load is stacked in a mountain-like shape whose vertices are substantially continuous from the second travel southern limit position to the second travel northern limit position.
FIG. 5B shows a cross section of the load. Regarding the loading status of the load, the load (the broken line portion) loaded in the first stage and the load (the solid line portion) loaded in the second stage are stacked in a tomographic manner.

In this embodiment, as shown in FIG. 4, the interval between the traveling south limit position and the traveling north limit position is set so as to be gradually narrowed. By stacking the H, the objects to be transported H are stacked tomographically (six levels in this embodiment) to form a stacked load.
5 (1) to (6), and the right diagram of FIG. 4 show the cross-sectional images of the load H when the load H is divided into six stages and stacked in a tomographic manner.

Hereinafter, a control method of the stacker 1 in the present embodiment will be described based on the control flow of FIG.
When the automatic speed control is started by a control device (not shown), the payout conveyor 10 and the transport conveyor 20 are started to start the operation, and are accelerated to the rated transport speed and become constant.
At this time, since the transported object H is not supplied on the payout conveyor 10 and the transport conveyor 20, the payout conveyor 10 and the transport conveyor 20 are in a so-called empty load operation state.

After the pay-out conveyor 10 and the transport conveyor 20 reach the rated transport speed, the supply conveyor 30 in the supply device 31 starts operating and accelerates to the rated transport speed.
When the operation of the supply conveyor 30 is started, the transferred object H on the supply conveyor 30 starts to be transferred, and the transferred object H starts to be supplied onto the transfer conveyor 20.
Here, the transport amount of the transported object H to be transported when the supply conveyor 30 is operated at the rated transport speed is calculated to be the rated transport amount SV.

The transported object H is transported on the transport conveyor 20, and moves from the transport conveyor 20A to the transport conveyor 20B disposed in the tripper 4.
Then, when the presence detection sensor S arranged on the conveyor 20B detects the transported object H, the presence detection sensor S transmits a presence detection signal to a control device (not shown).
When the control device (not shown) receives the presence detection signal, it determines that there is a presence detection signal, and starts traveling of the traveling carriage 6 of the stacker 1 and simultaneously starts counting of a later-described cargo flow timer.

The set time of the load flow timer is determined by calculating the transport distance and the transport speed of the payout conveyor 10 to calculate the time (payout time) from when the transported object H is supplied to when the transported object H is paid out. It is calculated and set.
In the present embodiment, when the traveling speed of the stacker 1 quickly reaches a predetermined reference set speed V, and thereafter, when the timer counts up, it is determined that the transported object H is paid out from the payout conveyor 10.

  In the present embodiment, when the timer counts up and the conveyed object H is dispensed from the dispensing conveyor 10, the standby position is adjusted so that the stacker 1 comes near the first-stage traveling south limit position.

Hereinafter, the traveling speed of the stacker 1 will be described.
Assuming that the supply amount of the transported object H supplied from the supply conveyor 30 is constant, when the transport direction of the transported object H on the transport conveyor 20 and the traveling direction of the traveling vehicle 6 are opposed to each other, the payout conveyor is used. The delivery amount PV of the transported object H delivered from 10 increases by an increase in the relative speed.
On the other hand, when the transport direction of the transported object H on the transport conveyor 20 and the traveling direction of the traveling vehicle 6 are the same direction, the above-described payout amount PV decreases by the decrease in the relative speed.

  For example, when the transport directions of the stacker 1 and the transport conveyor 20 are in the positional relationship shown in FIG. 3, the supply amount of the transported object H supplied from the supply conveyor 30 is constant, and the south travel and the north travel of the stacker 1 are performed. Even if the traveling speeds are the same, the layer thickness of the transported object H stacked in the southern traveling and the layered thickness of the transported object H stacked in the northern traveling are different.

  In other words, when the stacker 1 is traveling northward away from the flow of the load, the supply amount of the transported object H supplied from the transport conveyor 20 to the payout conveyor 10 is reduced by the decrease in the relative speed. On the other hand, when the stacker 1 is traveling southward toward the flow of the load, the supply amount of the transported object H supplied from the transport conveyor 20 to the payout conveyor 10 is increased by the increase in the relative speed. Therefore, in order to make the layer thickness of the load the same, it is necessary to reduce the traveling speed in the north running from the south running.

FIG. 7 shows the influence of the transport speed on the relative speed of the transported object H on the stacker 1 and the transport belt conveyor 20. In the present embodiment, the speed in the traveling direction toward the load flow (in the present embodiment, south traveling) is determined, and the north traveling speed is determined based on the characteristics shown in FIG.
That is, in the present embodiment, two types of the reference set speed V of the stacker 1 are set as the set speed V1 in the case of the south running and as the set speed V2 in the case of the north running, and the transported speed generated by the running of the stacker 1 is set. The effect of the difference in the relative speed with the object H was improved.

  For example, when the amount of the conveyed object H supplied to the pay-out conveyor 10 is 1200 (t / h), the frequency of the traveling motor (inverter type) is set based on the characteristics of FIG. When the vehicle travels north, the set speed V2 is set with the frequency of the traveling motor set to 30 Hz, and the traveling speed when traveling north is 3/4 (3/4) that when traveling south. ), V2 = 3/4 × V1, and the speed was reduced.

  In the present embodiment, first, the stacker 1 is stopped at the standby position (further south of the southern limit position), and when the in-stock detection sensor S detects the transported object H, the vehicle starts traveling north and sets the reference set speed V as the reference set speed V. , Until the vehicle reaches the set speed V2 of the north running.

  Then, when the stacker 1 reaches the set speed V2 and the timer counts up, the process proceeds to the next step, and sampling of the amount of the transported object H supplied from the supply conveyor 30 is started. In other words, in the present embodiment, by taking into account that the amount of the conveyed articles to be conveyed may vary with time, the conveyance amount actually supplied from the supply conveyor 30 is sampled for a certain period of time. Detected as

In the present embodiment, as a preferable example, the payout is performed by detecting the transport amount of the transported object H by the supply conveyor 30 and calculating a time delay from the transport distance and the transport speed of the supply conveyor 30 and the transport conveyor 20. The payout amount PV of the transported object H paid out from the conveyor 10 to the loading yard Y was calculated.
However, the method of detecting the payout amount PV applicable to the present invention is not limited to this, and may be directly measured by disposing a detector such as a weight measuring device on the payout conveyor 10 or from the transfer amount of the transfer conveyor 20. It may be calculated, and the detection method is not particularly limited.

  In the present embodiment, when the payout amount PV exceeds the rated carry amount SV by 10% or more with the reference carry amount as the rated carry amount SV, the set speed V of the stacker 1 (V1 in the case of south running, V2) is increased when traveling north. For example, when the payout amount PV exceeds the rated carry amount SV by 15%, the set speed V of the stacker 1 (V1 for south travel, V2 for north travel) is increased by 15%.

Further, in the present embodiment, when the payout amount PV does not reach 10% or more with respect to the rated transport amount SV, the set speed V of the stacker 1 (V1 for south travel, V2 for north travel) is reduced. Let it.
For example, when the payout amount PV is less than 15% of the rated carry amount SV, the set speed V of the stacker 1 (V1 for south traveling, V2 for north traveling) is reduced by 15%.

  In the present embodiment, when the payout amount PV is within the range of ± 10% of the rated carry amount SV, the set speed V of the stacker 1 (V1 for south travel, V2 for north travel). ) Was controlled as it was.

In the present embodiment, the above-mentioned range of ± 10% is defined as a particularly preferable range to prevent excessive behavior of the equipment, and the speed is maintained. However, the range of ± 5% to ± 15% is set. It is preferable to appropriately select and maintain the speed within the range.
However, the range of speed maintenance that can be applied to the present embodiment is not limited to this, and the range is not particularly limited as long as it does not deviate from the gist of the present invention.

In the present embodiment, the set speed V of the stacker 1 (V1 for south travel, V2 for north travel) is increased by the amount of the payout amount PV exceeding the rated transport amount SV, or The set speed V of the stacker 1 (V1 when traveling south, V2 when traveling north) is reduced by the amount that the payout amount PV has not reached the transport amount SV.
According to the present embodiment, the thickness of the load to be stacked in one travel in the north-south direction can be made uniform in comparison with the conventional technology.

  Note that, as in the related art, when the transported objects H are piled up in one place in the order in which the transported objects H are supplied from the supply device 31, the transported objects H are supplied depending on the position where the loaded items are stacked. Time concentrated and biased. As a result, the quality may be uneven depending on the position of the load.

According to the present embodiment, by gradually stacking the transported objects H in a tomographic manner in a plurality of reciprocating runs, the range of time for the transported objects H to be stacked at the same location and transported to the payout conveyor is expanded. Further, the thickness of the transported objects H stacked in one travel is also made uniform by changing the speed of the stacker 1.
In other words, according to the present embodiment, the conveyed objects H conveyed at the same time are distributed over a wide range and stacked, and the thickness of the conveyed objects H to be stacked in one travel is also made uniform. Therefore, the quality of the load is equalized.

  According to the present embodiment, when the transported objects H, whose quality may vary, are stacked in the loading yard Y and stored, the variation in the quality of the loaded items is reduced and the quality difference is reduced. it can.

  INDUSTRIAL APPLICABILITY The present invention can be suitably used for a stacker that stores conveyed objects that may vary in quality in a stacking yard.

DESCRIPTION OF SYMBOLS 1 Stacker 3 Boom 5 Stand part 6 Traveling trolley 8 Traveling path 9 Undulation device 10 Discharge conveyor 20 Transport conveyor 20A Transport conveyor (tripper upstream side)
20B conveyor (tripper part)
20C conveyor (downstream of tripper)
30 supply conveyor 31 supply device H conveyed object Y stowage yard

Claims (3)

A boom is arranged on a truck running on a track, and a transported conveyor extending in parallel with the track is used to supply articles to a dispensing conveyor arranged in the boom, and the dispensing conveyor moves the truck back and forth on the track. A method of controlling a stacker that dispenses a conveyed object tomographically in a loading yard by paying out the conveyed object,
The amount of the conveyed object supplied from the supply device to the conveyer and conveyed is detected, the amount of the conveyed object discharged from the dispensing conveyor is calculated, and the amount of the conveyed object discharged from the discharging conveyor is determined as the reference conveyance. For the amount, increase the speed of the traveling trolley when it becomes equal to or more than a predetermined setting range, and reduce the speed of the traveling trolley when it becomes equal to or less than the predetermined setting range,
When the bogie is reciprocated on the track, the travel limit on the supply device side where the bogie moves so that the position of the bottom of the pile of the load is the loading limit on the supply device side and the non-supply device side A stacker control method characterized by reciprocating repeatedly while narrowing the interval between the position and the travel limit position on the side opposite to the supply device. When calculating the amount of the conveyed object to be discharged from the discharge conveyor,
When the transport direction of the transported object by the transport conveyor and the moving direction of the bogie are opposed to each other, the increase in the relative speed is calculated so as to increase, and
2. The stacker control method according to claim 1, wherein when the transport direction of the transported object by the transport conveyor and the moving direction of the bogie are the same, the calculation is performed so that the decrease in the relative speed is reduced.   3. The stacker control method according to claim 1, wherein the predetermined setting range is a range from -10% to + 10% with respect to a reference carry amount.

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