JPH04121326A - Reclaimer control method - Google Patents

Abstract

PURPOSE:To enable automatic landing operation of a bucket wheel without limitation by making a reclaimer travel a calculated travel distance and gyrate its boom, and starting supply of raw material. CONSTITUTION:A control computer calculates a travel distance LX of a reclaimer up to a landing point A where a bucket wheel 13 is to touch down and a gyration angle theta of a boom 12, from landing point detection results of a landing point detecting device 15, i.e., distance information l obtained by a distance measuring device 21, horizontal angle information thetaSL obtained by a rotational drive means, a gyration angle thetaS of the boom 12 obtained by a gyration angle detector 31, an up-and-down angle thetaD of the boom 12 obtained by an up-and-down angle detector 32, and a distance LN between an original point obtained by a travel location detector 33 and the present location where the reclaimer stays now. A travel drive motor is driven for the travel distance LX, a gyration drive motor is driven for a gyration angle (theta-thetaS), and the bucket wheel 13 is made automatically land at the landing point A.

Description

[Detailed description of the invention] (Industrial application field) The present invention relates to coal and iron ore stored in a raw material yard.

Regarding the control method of a reclaimer that removes loose materials such as wood chips by moving a bucket wheel attached to the tip of a horizontally and vertically movable boom in a fixed movement pattern, the landing point of the bucket wheel is particularly important. This invention relates to a control method for a reclaimer that automatically lands a bucket wheel at an arbitrarily selected landing point.

(Prior Art) As an example of automatically landing a reclaimer, there is a reclaimer control device disclosed in Japanese Unexamined Patent Publication No. 62-27236 by the present applicant.

Roughly speaking, this control device includes a traveling machine base that travels along a raw material yard, and a boom that is attached to the traveling machine base and performs turning and raising and lowering operations.

A control device for a reclaimer having a bucket wheel provided at the tip of the boom and rotating to discharge raw materials, and a laser provided at a predetermined position of the reclaimer to measure the distance to the raw material yard. A distance measuring means such as a sensor, a rotational driving means for rotationally driving the distance measuring means, and a rotational driving means for driving the distance measuring means by the rotating means to calculate the distance from the minimum value of the distance information obtained from the distance measuring means to the bucket. The vehicle also includes landing point detection means for detecting the landing point of the wheel.

(Problem to be solved by the invention) This control device was able to improve the inefficient work caused by visual inspection by the operator and eliminate the operation that is prone to mistakes. However, there are constraints in that the distance measuring means must be swung many times with respect to the raw material yard, and as a result, complicated calculations must be performed to detect the minimum value.

Therefore, one object of the present invention is to provide a reclaimer control system that enables automatic landing operation of the bucket wheel without the above-mentioned restrictions.

(Means for Solving the Problems) In the present invention, a traveling machine base that runs along a raw material yard,
A boom that is attached to the traveling machine base and performs turning and raising and lowering operations using the turning center position as a starting point.

A reclaimer having a bucket wheel for discharging raw material provided at the tip of the boom.

A distance measuring means is provided at a predetermined position on the boom and measures the distance to the raw material yard, and the distance measuring means is rotatably driven in horizontal and vertical directions and receives rotation angle signals in the horizontal and vertical directions. determined in advance using a rotational drive means to output, a turning angle and a luffing angle of the boom, a distance from the origin to the current reclaimer, a distance measurement signal from the distance measurement means, and a rotation angle signal from the rotational drive means. and calculation means for performing the calculated calculation.

(2) The reclaimer is driven close to the bench-cut raw material yard, and the distance LN of the reclaimer's stopping position from the origin is measured using a traveling position detector.

(2) Set the boom at the payout start stage of the bench cut section.

(2) Measure the distance g to any point A on the bench cut portion with the distance measuring means in a horizontal state.

■ X from the origin to the arbitrary point A using the calculation means.
Along with calculating the coordinate XA and Y coordinate YA.

(2) Calculate the traveling distance of the reclaimer and the turning angle of the boom necessary to set the bucket wheel at the arbitrary point A based on the X coordinate XA and Y coordinate YA.

(2) The reclaimer is driven by the calculated travel distance, and the boom is rotated to start discharging the raw material.

(Function) The control system according to the present invention stops the work of discharging raw materials from the raw material yard midway through, moves the reclaimer away from the raw material yard,
The target is a raw material yard where bench cutting has already been performed, such as bringing the reclaimer bucket wheel closer to the bench cut section of the raw material yard and restarting raw material delivery. Such raw material yards have a patented tip section that is characterized by the distance from the center of rotation of the boom to the bucket wheel. Therefore, the reclaimer may be configured such that the bucket wheel lands on any part of the bench cut. In other words, control is performed such that point A, which was the measurement target by the distance measuring means in step (2), becomes the landing point.

That is, the X coordinate XA and Y coordinate Y of point A from the origin
Based on A, the travel distance of the reclaimer and the turning angle of the boom are calculated.

(Example) An embodiment of the present invention will be described with reference to the drawings.

First, an overview of the reclaimer will be explained.

Referring to FIG. 3, the reclaimer 14
A traveling machine base 11 runs on rails installed parallel to the base, a boom 12 is attached to the traveling machine base 11 and performs turning and raising and lowering operations, and a boom 12 is installed at the tip of the boom 12 and rotates while moving the raw material. Coal stored in yard 10,
A landing point detection device 15 consisting of a bucket wheel 13 for discharging loose materials such as iron ore and wood chips, and a distance measuring means and its rotation driving means provided at the lower end of the center of the boom 12.
have.

The landing point detection device 15 measures the distance to a target object (raw material yard) by emitting a laser beam 20, for example. At this time, the distance information to be measured is continuous signal information (
It may be an analog signal) or may be digital signal information measured at certain time intervals.

Referring to FIG. 4, an embodiment of the landing point detection device 15 using a mechanical rotation mechanism as the one-rotation driving means is shown. The illustrated landing point detection device 15 includes a laser beam 2
0, a vertical rotation mechanism 23 that rotates the distance measurement means 21 in the vertical direction according to the rotation of the vertical rotation drive motor 22, and a vertical rotation mechanism 23 that rotates the distance measurement means 21 in the vertical direction according to the rotation of the horizontal rotation drive motor 24. a horizontal rotation mechanism 25 that rotates the distance measurement means 21 in the horizontal direction; and a rotation drive controller 26 that controls the distance measurement means 21, the vertical rotation drive motor 22, and the horizontal drive motor 24.

It has support means 27 for supporting each of these means on the boom 15. Note that the horizontal turning angle of the distance measuring means 21 is such that the distance measuring means 21 can be turned by a certain angle (100 degrees in the embodiment) in the opposite direction from the point where the laser beam 20 is in the same direction as the boom 12. shall be taken as a thing.

FIG. 5 shows a block diagram of the landing point detection device 15.

The landing point detection device 15 is composed of both distance measuring means 21 and rotational driving means 28. Distance measuring means 21
is a distance measuring section 21-1 that irradiates the raw material yard with a laser.
and a distance measurement control section 21-2 that calculates the distance from the results measured by the laser, and a reclaimer control computer 3.
Based on the command from 0, it irradiates the target material yard with a laser beam and reports the distance information of the measurement results.

The one-rotation driving means 28 is composed of a rotational drive controller 26 that controls the rotational drive of a motor, and drive motors 22 and 24 that rotate to a commanded angle in the horizontal and vertical directions. The laser beam is rotated by driving each drive motor 22, 24 horizontally and vertically to the commanded angle according to the command.

Next, the landing point detection operation of this embodiment will be explained with reference to FIGS. 1 and 2. Raw material yard 10 targeted by the present invention
Since the raw material has been discharged once, it has a circular arc-shaped cut portion as shown in FIG. In reality, raw materials are removed by bench cutting, so the cut portion is in the shape of a circular arc.

As shown in FIG. 2, there is a bench-shaped step, and as a result, the bench cut portion is formed in an arc shape.

As shown in FIG. 6, the control computer 30 of the reclaimer 14
is a rotation angle detector 3 that detects the rotation angle of the boom 12.
1, a luffing angle detector 32 that detects the luffing angle of the boom 12, a running position detector 33 that detects the running position of the traveling machine base 11, and a distance measuring means 2 that detects the landing point A.
1 and rotation drive means 28, a swing drive motor 34 for swinging the boom 12, a luffing drive motor 35 for raising and lowering the boom 12, and a travel drive motor 36 for driving the traveling machine base 11, respectively.

Specifically, the control computer 30 uses the landing point detection result of the landing point detecting device 15, that is, the distance information g obtained from the distance measuring means 21, the horizontal direction angle information θSL obtained from the rotation driving means 28, and the turning point detection result. The turning angle θS of the boom 12 obtained from the angle detector 31, the luffing angle θD of the boom 12 obtained from the luffing angle detector 32, and the origin (the end position of the running rail or the reclaimer or stop) obtained from the running position detector 33. The traveling distance LX of the reclaimer 14 to the landing point A where the bucket wheel 13 lands + the turning angle θ of the boom are calculated from the distance LH between the previous position) and the current stopped position of the reclaimer. Based on these calculation results, the travel drive motor 36 is driven by the travel distance Lx, and the swing drive motor 34 is further driven by the swing angle (θ-θ,), so that the bucket wheel 13 automatically lands at the landing point A. let

The above operations will be explained in order of progress.

■First, set the reclaimer 14 as the origin (Xo, Yo
) to a position sufficiently before the raw material yard 10 for a distance h and then stopped. The rotation center position of the boom 12 at this time is defined as a temporary stop position (XB, YB). However, X
The axis shall be parallel to the running direction of the reclaimer.

■ Move the boom 12 to the unloading start stage (second stage) of the raw material yard 10.
Set it to the top row (in the figure).

■ Vertical rotation drive motor 2 in landing point detection device 15
2 to bring the distance measuring means 21 into a horizontal state, and at the same time, the distance p to the point A is measured so that the laser beam 20 hits any point A on the bench cut section.

(2) The control computer 30 calculates the distance g measured in step (2), the swing angle θS of the boom 12, and the origin (Xo).

Based on information such as the distance LN from Yo) to the temporary stop position (XB, YB), the X coordinate XA and Y coordinate YA of point A are calculated using equations (1) and (2).

xAmLN+LA eO8θo@cO8θ5+fl c
os (100-θSL+θs) (1) YA
-LAcosθo11slnθ.

+fl sin (100-θSL+θ5) (2) However, LA: distance from the turning center position to the distance measuring means 21, θ,: elevation angle of the boom 12.

θS: Turning angle of boom 12, θsL: Distance measuring means 2
1 rotation angle.

■ The control computer 30 further calculates the traveling distance Lx of the reclaimer and the boom 1 to position the bucket wheel 13 at the point A from the X coordinate XA and Y coordinate YA calculated in step ■.
The turning angle θ of 2 is expressed by equation (3).

Calculated using (4).

LN However, +LB: Distance from the turning center position to the bite point of the bucket wheel 13.

(2) The reclaimer 14 is moved by (distance, 10 excavation amount) and the boom 12 is controlled so that the turning angle is θ.

In the manner described above, the bucket wheel 13 can be positioned at point A and raw material delivery can be started.

In the above description, it is assumed that the distance measuring means 21 is located on the central axis of the boom 12 shown in FIG.
That is, if the amount of deviation in the direction perpendicular to and horizontal to the central axis of the boom 12 is known.

The X coordinate xA and the y coordinate YA can be calculated.

In addition, when calculating the traveling distance LX, the distance measuring means 2
Distance LX is calculated by shifting the laser beam from 1 by a fixed angle in a horizontal state to calculate multiple types of X and Y coordinates, and averaging multiple types of travel distances calculated from each X and Y coordinate. You can try to get it.

Furthermore, as mentioned above, the mileage is determined by multiple points.

If you choose to calculate , you can automatically land even within the initial stage other than bench cuts. In this case, the one with the lowest travel distance from the origin is adopted.

(Effects of the Invention) As explained above, according to the present invention, automatic landing operation of the bucket wheel can be performed with simple detection and calculation control operations.

[BRIEF DESCRIPTION OF THE DRAWINGS] FIG. 1 is a plan view for explaining how the reclaimer moves according to an embodiment of the present invention, FIG. 2 is a side view of how the reclaimer moves, and FIG. The figure shows a schematic configuration of the reclaimer, FIG. 4 is a schematic configuration diagram of a drive device for distance measuring means in the present invention, FIG. 5 is a block diagram of a landing detection device in the present invention, and FIG. 6 is a block diagram of a landing detection device in the present invention. The figure which showed the connection relationship between a control computer, various detectors, and a drive system of each part. In the figure, 10 is a raw material yard, 11 is a traveling machine stand, 12 is a boom, 13 is a bucket wheel, 14 is a reclaimer, and 15
is a landing point detection device. Figure 3 Figure 4 Figure 5

Claims (1)

[Claims] (1) A traveling machine base that travels along the raw material yard, a boom that is attached to the traveling machine base and performs swinging and luffing operations starting at the center of rotation, and a raw material dispensing machine installed at the tip of the boom. In the reclaimer having a bucket wheel, a distance measuring means is provided at a predetermined position of the boom and measures the distance to the raw material yard, and the distance measuring means is rotationally driven in horizontal and vertical directions, and and a rotational drive means for outputting a rotation angle signal in a vertical direction, a rotation angle and a luffing angle of the boom, a distance from the origin to the current reclaimer, a distance measurement signal from the distance measurement means, and a rotation angle signal from the rotation drive means. [1] The reclaimer is caused to travel close to the bench-cut raw material yard, and a travel position detector is used to determine the distance from the origin to the stop position of the reclaimer. L_N is measured, [2] the boom is set to the payout start stage of the bench cut section, [3] the distance measuring means is placed in a horizontal state, and the distance l to an arbitrary point A of the bench cut section is measured. [4] The calculation means calculates the X coordinate X of the arbitrary point A from the origin.
_A, Y coordinate Y_A are calculated, and [5] the travel distance of the reclaimer necessary to set the bucket wheel at the arbitrary point A based on the X coordinate X_A and Y coordinate Y_A, and the travel distance of the boom [6] A control method for a reclaimer, comprising: calculating a turning angle; and [6] causing the reclaimer to travel by the calculated travel distance and rotating the boom to start discharging raw materials.