JPH01232209A - Method for detecting pile shape - Google Patents

Abstract

PURPOSE:To detect the shape of a pile automatically by running a boom which is provided with distance measuring sensors to above the pile. CONSTITUTION:The boom 6 is provided on a stacker 2 which runs on a run rail 4. The boom 6 is provided on the stacker 2 at height H from a yard 1 and at an angle theta on the yard 1 so as to move above the top of the pile 5. Further, the boom 6 is provided with the distance measuring sensors 8 which face the yard 1 at proper intervals. The distance measuring sensors 8 measure the surface level of the pile 5 without contacting. Then each distance measuring sensor 8 is constituted by incorporating microcomputers in a transmitter and an output unit so that the sensor is not affected by misreflection due to dust. Thus, the stacker 2 provided with the boom 6 where the distance measuring sensors 8 are arranged is run on the run rail 4 along the pile 5 on the yard 1 to detect the pile shape from a relational expression.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a method for detecting the shape of a pile, and particularly to a method for automatically stacking cargo loaded onto a yard using a stacker or automatically discharging it using a claimer. The present invention relates to a detection method that can automatically grasp the shape of a pile.

[Prior art] Generally, the work involves driving a stacker or the like to stack cargo such as coal or iron ore piled up on a yard, or removing the piled cargo using a reclaimer or the like. When carrying out these operations, the first thing to do is to set the stacking section, which is provided at the tip of the boom of the stacker, at a predetermined position on the pile, or to move the claimer dispensing section to the stack. It was necessary to set the load in the specified position.

Conventionally, in these setting operations, stowage, and unloading operations, the operator visually inspects the shape of the pile while setting the setting location and the amount of stowage and unloading.

[Problems to be Solved by the Invention] However, in the above-mentioned work method, since the worker visually sets the position of the boom, the worker often misjudges the position on the pile for loading and unloading, which makes it difficult to efficiently There was a problem in that workers could not perform the work.However, there were other problems such as workers misdiagnosing the shape of the pile, causing the boom to collide with the pile, damaging the boom and interrupting the work.

The present invention has been made to solve the above-mentioned problems. The purpose of the present invention is to detect the shape of the pile, grasp the appropriate position for loading and unloading, and automatically adjust the shape of the pile to ensure efficient and safe loading and unloading. The purpose is to provide a method for detecting

[Means for Solving the Problems] In order to achieve the above object, the present invention allows a boom provided with a plurality of distance measurement sensors to travel above a pile, and
The distance sensor is configured to measure the vertical distance to the surface directly below the pile, and calculate the shape of the pile from the measured value.

[Function] With the above configuration, the distance measurement sensor installed on the boom,
Since the shape of piles can be detected, a yard map showing the shape can be easily created, and based on this yard map,
The loading section and the unloading section provided on the boom can be positioned at appropriate locations on the pile, and the amount of work can be set. Therefore, it is possible to improve work efficiency and work safety.

[Embodiment] A preferred embodiment of the present invention will be described below with reference to FIGS. 1 to 3.

A running rail 4 for running a stacker 2 or a clay claimer 3 is provided in the yard i-E, and the stacker 2 running on this running rail 4 stacks coal, ore, etc. and creates a pile 5. It is formed.

The present invention relates to a method for detecting the shape of the pile 5, and the configuration for that purpose is as follows.

A boom 6 is provided on the stacker 2 that travels on the traveling rail 4. This boom 6 is provided on the stacker 2 at a distance of height H from the yard 1 so as to move above the top of the pile 5, and is provided inclined at an angle of θ with respect to the yard 1. The boom 6 is provided with a plurality of distance measuring sensors 8 facing the yard 1 at suitable intervals of nj. The distance measuring sensor 8 is a sensor that measures the surface level of the stored material (piled pile) without contact. Therefore, an ultrasonic level meter or a laser distance meter is suitable. The distance measurement sensor 8 has a built-in microcomputer in the transmitter and output unit, and the distance measurement M sensor 8 has a self-cleaning function and is not affected by false reflections caused by dust, etc. It has become.

As described above, the stacker 2 equipped with the boom 6 equipped with the distance measurement sensor 8 is run on the traveling rail 4 along the pile 5 on the yard 1, and the shape of the pile is detected as shown in the figure.

As shown in FIGS. 1 and 2, the shape of the pile 5 is detected by measuring the undulating direction shown by arrow 2, the traveling direction shown by arrow X, and the turning direction shown by arrow Y. Here, the heights h1 to h2 of the piles located at each of the eight distance measurement sensors 8 attached to the boom 6 are calculated using the following formula.

That is, h+=(L+SInθ+H)−Jl.

ha = (L!l Sinθ+H)-J! .

Here, L1 to L are the distances from the stacker 2 to each distance measurement sensor 8 of the game 6, θ is the inclination angle between the yard 1 and the boom 6, and H is the boom 6 of the stacker 2 from the yard 1.
Distance to mounting part, 1. -18 is the distance from the distance measurement sensor 8 to the top surface of the pile, which is measured by the distance measurement sensor 8 of the boom 6.

The detected values h1 to h in the Z direction are measured and calculated at each predetermined traveling position of the stacker 2 traveling in the X direction.

In addition, when the boom 6 equipped with the distance measurement sensor 8 is rotated at an angle β with respect to the X direction, which is the running direction of the stacker 2, and the shape of the stack 5 is detected, the distance from the stacker 2 to the distance measurement sensor 8 is The actual distance, ~D8, is calculated using the following formula.

That is, D+=L+Cosβ? Da=LaCosβ Here, L, to Ls are the distances from the stacker 2 to the distance measurement sensors 8 of the boom 6, and β is the rotation angle of the boom 6 with respect to the direction perpendicular to the X direction, which is the traveling direction.

After setting it to be calculated from the measured value as described above,
Measurement ff [[The stacker 2 equipped with the boom 6 on which the sensor 8 is arranged is run on the traveling rail 4, and the undulation angle θ and turning angle β of the boom 6 and the position of the distance measurement sensor 8 arranged on the boom 6 are calculated. The shape of the pile 5 is detected by .

When an ultrasonic level meter is used as the distance measuring sensor 8 in this embodiment, the intervals at which the ultrasonic level meter is arranged on the boom 6 are as follows.

The measurement range when the ultrasonic radiation angle is 6° is when the maximum height of boom 6 from yard 1 is 17m, measurement range M = 17ja
n3°X2=1.7842m Add a margin of 1m to this
Add it up and you get 3m. Therefore, if the total length of the boom 6 is 40 m, if 40/3/13 pieces are arranged on the boom 6, measurement can be performed over the entire length of the boom 6, and the pile shape can be detected. Then, by measuring at intervals of 3 m in the running direction of the stacker 2, the shape of the entire pile can be detected from the measured values.

While performing the measurements as described above, the stacker 2 is arbitrarily moved along the pile 5, and the measured values of the distance measuring sensor 8 in the Y direction and the Z direction are obtained for each traveling (X direction) point, A yard map can be created by calculating detected values from these.

Above side 1? [[The detection value of the pile shape by the sensor 8 is transmitted to a control device installed on the stacker 2 or on the ground, such as Prog.
Processing is performed on the ranlmable Controller software to create a yard map. That is, this process prints the detected value using a printing device such as an X-Y Glock, by making the number of dots proportional to the height of the dot.
Create a hard copy by punching out reference lines for shading and running direction. FIG. 3 is an example of a hard copy in which reference lines are set at 5 m intervals, and the height of the pile 5 is indicated by the shade of diagonal lines. Based on the detected value of the pile shape described above, automatic stacking by the stacker and automatic dispensing by the reclaimer are performed at appropriate positions and safely.

Automatic payout by the reclaimer can also be performed as follows.

First, position information created based on the detected value of the pile shape is input to the control device of the reclaimer. The reclaimer travels to the vicinity of the first payout section based on the above position and information. The body frame installed on the reclaimer is equipped with distance sensors in several stages above and below, depending on the height of the pile, and the detected value from the distance sensor and the input position information are The first payout position is confirmed. Then, the traveling position (X direction), the undulating position of the reclaimer and pile (
The first dispensing position is determined based on the distance corresponding to the two directions), and dispensing work is started.

[Effects of the Invention] In summary, the present invention provides the following excellent effects.

(1) The shape of the pile is automatically detected by measurement using a distance sensor, and the position of loading and unloading can be easily determined.

(2) Since loading and unloading work is not visually observed,
It can improve work efficiency and improve safety.

(3) By detecting the pile shape immediately before loading and unloading, the influence of environmental factors such as wind and rain on the pile shape can be minimized, and the collapse of the pile can be minimized.6 This allows for highly accurate pile shape. detection becomes possible.

[Brief explanation of the drawing]

FIG. 1 is a front view showing the pile shape detection method according to the present invention, FIG. 2 is a plan view showing the rotation of the boom in FIG. 1,
FIG. 3 is a diagram showing the shape of piles detected by the present invention. In the figure, 2 is a stacker, 5 is a pile, 6 is a boom, and 8 is a distance sensor. Patent applicant: Patent attorney representing Ishikawajima-Harima Heavy Industries Co., Ltd.
Nobuo Kinutani Figure 1 Figure 2-X→ Figure 3

Claims (1)

[Claims] 1. A boom equipped with a plurality of distance sensors is moved above the pile, and the distance sensors measure the vertical distance to the bottom surface of the boom, and the shape of the pile is calculated from the measured values. Method for detecting pile shape.