JPH06228984A - Material soil discharge device for service car - Google Patents

Abstract

PURPOSE:To utilize the space of a material yard effectively by forming a load detecting means, a material soil-discharge position detecting means conducting detection as a material soil-discharge position and a material soil-discharge control means carrying out material soil discharge. CONSTITUTION:An induction line 2 is laid along a predetermined traveling path, on which a car 1 travels, a magnetic field generated from the induction line 2 is detected by a pair of pickup coils 3 mounted on the car 1, and the car 1 is steered and controlled. A command, by which a material is shifted from an upper floor Z1 to an upper floor Z2, is received from a control room 10 through a wireless installation 6 for the car 1, the head pressure and bottom pressure of a bucket cylinder are detected by a working-machine hydraulic sensor 23 and the rolling angle, etc., of a car body by a sensor 27 for detecting the inclination of the car body respectively in the course of the transport along the induction line 2, and a position, where the load applied to a bucket reaches a specified set value or more, is used as the position of the discharge of the material. The material is not discharged so far as the material does not collide with the bucket, and the material is discharged toward this side from the interior of the upper floor Z2.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an improvement in horizontal holding work for transferring a material placed in a material storage area by an unmanned vehicle to another material storage area in an asphalt mixture factory or a concrete plant.

[0002]

2. Description of the Related Art In an asphalt or concrete mix factory, an operator drives a work vehicle (a work loader such as a wheel loader or a pay loader having a boom and a bucket) to perform various works.

One of the above works is a horizontal holding work. This work is to transfer the material placed in the material storage area to another material storage area, and it is used when the damp material is transported to a roof without a roof in sunny weather and dried.

The applicant has already proposed a technique for automating such lateral holding work in Japanese Patent Application No. 3-260851.

In the earlier application, the work vehicle travels along a predetermined traveling route along the buried guide wire.
In the horizontal holding work, the earth discharging position of the material in the material storage side on the side where the material is unloaded is determined as follows.

That is, an earth discharging work starting station line is buried on the traveling path at a predetermined position of the material storage area on the unloading side, and the work starting station line is detected on the side of the work vehicle to detect the work. Determine the starting position. Then, when the work start position is detected, the earth discharging operation is performed, or the bucket is returned to the grounding position and then the scraping operation is executed to discharge the material.

[0007]

However, in the technique of this earlier application, if the earth removing operation is performed immediately after the work start station line is detected, the material always accumulates in the same position, and the material storage area Space cannot be used effectively. In addition, even if a part of the material is pushed deep into the material storage area by returning the bucket to the grounding position and then performing a scraping operation to discharge the material, in this case, in reality,
There was a problem that when the bucket was grounded, the loaded material spilled out of the bucket, and the material spilled out of the running path.

The present invention has been made in view of the above circumstances, and is of a working vehicle capable of effectively utilizing the space of a material storage space and realizing an efficient lateral holding work without spilling the material on a running path on the way. An object is to provide a material discharging device.

[0009]

According to the present invention,
In a work vehicle for automatically carrying out lateral holding work of loading materials placed in a material storage area and transferring them to another material storage area, load detection means for detecting a load applied to a work machine,
Material discharging position detecting means for detecting when the load detected by the load detecting means exceeds a predetermined threshold as the material discharging position, and material discharging operation is executed based on the detection output of the material discharging position detecting means. And a material discharging control means.

According to this invention, the material is discharged at a position where the load applied to the working machine exceeds a predetermined set value. Therefore, the material discharging position is always in front of the position where the material is placed. Therefore, the material can be discharged in order from the back to the front.

Further, according to the present invention, in a work vehicle for automatically carrying out a lateral holding work for loading materials placed in a material storage area and transferring them to another material storage area, a tilt angle of the work vehicle in a front-rear direction or a left-right direction. Of the vehicle body inclination detecting means, a material discharging position detecting means for detecting when the detected inclination angle of the vehicle body inclination detecting means exceeds a predetermined threshold as a material discharging position, and a material discharging position detecting means of the material discharging position detecting means. Material discharging control means for executing a material discharging operation based on the detected output is provided.

According to this invention, when the inclination of the vehicle body in the left-right direction and the front-rear direction exceeds a predetermined angle, the material is discharged at this point, so that the material of the shed has a gentle slope shape. However, even if only one side of the tire gets on the material, the material can be discharged to the proper position.

[0013]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described in detail below with reference to the embodiments shown in the accompanying drawings.

FIG. 1 shows the overall configuration of a system according to an embodiment of the present invention. In this case, a wheel loader is used as a work vehicle. In this system, different materials are placed in the material storage areas (shelf) Z1 to Zn, and the materials are appropriately transferred by the wheel loader 1 to hoppers H1 to Hn provided at a plurality of different positions. Further, the transfer between the material storage (shelf) Z1 to Zn can be executed.

Wheel loader 1 (hereinafter referred to as "vehicle")
A guide wire 2 is laid on the road surface on which the vehicle runs. The guide wire 2 is laid along the planned traveling path on which the vehicle 1 travels, and an induction current having a predetermined frequency is passed through the guide wire 2. In addition, stations (for example, electric wires that intersect the guide wire 2 vertically) indicating the origin position, the standby position, the stop / start position, the acceleration / deceleration position, etc. of the vehicle 1 are appropriately arranged on the guide wire 2. The vehicle 1 is a so-called articulating type loader, and the steering mechanism is a center pivot steering type.

At least a pair of pickup coils 3 are provided on the left and right sides of the vehicle body of the vehicle 1. The pair of pickup coils 3 detect the magnetic field generated from the induction wire 2 and detect the detected values of these coils (induction). The lateral deviation with respect to the guide wire 2 is obtained from the deviation of the voltage, and the vehicle 1 is steered so as to eliminate the lateral deviation.

A boom 4 and a bucket 5 are provided at the front of the vehicle 1.
Is provided, and the material placed on the sheds Z1 to Zn is unloaded using the working machine and supplied to the hoppers H1 to Hn, or another shed Z1. ~ Zn
I am trying to reprint it. The vehicle 1 is provided with a wireless device 6 for performing wireless communication with the command station 10. The command station 10 is also provided with a wireless device 11 for wirelessly communicating with the vehicle 1.

The vehicle 1 is provided with an in-vehicle controller 30 as shown in FIG.

That is, an engine speed sensor 20 for detecting the engine speed, a transmission speed sensor 21 for detecting the speed of the transmission output shaft, a work machine position sensor 22 for detecting the position of the work machine (boom 4 and bucket 5), Working machine oil pressure sensor 23 for detecting working machine oil pressure, and vehicle body angle sensor 2 for detecting refraction angle of the vehicle body
4, induction wire frequency detection sensor 25 for detecting the frequency of the current flowing in the induction wire 2, station frequency detection sensor 2 for detecting the frequency of the current flowing in the station
6. A vehicle body inclination detection sensor 27 for detecting rolling and pitching of the vehicle is provided, and the detection outputs of these are input to the vehicle controller 30.

Various commands from the command station 10 are input to the in-vehicle controller 30 via the wireless device 6, and the in-vehicle controller 30 operates the engine based on the commands from the command station 10 and the outputs of the various sensors. Accelerator command,
By appropriately outputting work equipment commands (work equipment up / down, speed control, etc.), brake commands (travel braking control, parking brake control), steering commands, vehicle speed switching commands, and forward / backward switching commands. While controlling the vehicle, it also detects abnormal conditions and current conditions (running,
(Standby etc.) is displayed by a lamp.

With this configuration, the vehicle 1 mainly executes the following control.

(A) Monitor control: Communicates current status information to the command station 10. Safety (emergency stop etc.) control, communication of vehicle information such as work progress, completion, etc. (b) Station detection control: Station detection as a mark for start / stop and acceleration / deceleration during traveling (c) Steering control: Guidance Correct the deviation angle of the vehicle body so that it does not go off course from the line 2.

(D) Travel control: Traveling is started by a start command from the command station 10, and until a predetermined operation is completed,
Controls start / stop and acceleration / deceleration.

(E) Working machine control: Positioning of the working machine at the time of start, scooping of material, transportation, and loading of material into the hopper. When the material is scooped, the output of the working machine oil pressure sensor 23 is used to execute the accelerator control and the working machine control so that as much material as possible can be scooped into the bucket 5. Further, when the material is discharged to the material storage area, the material discharging position is detected from the outputs of the working machine oil pressure sensor 23 and the vehicle body inclination detecting sensor 27 to execute the material discharging operation.

In such a system, an operation procedure for carrying out a horizontal holding work is shown in FIG. 1, and the operation will be described below with reference to this flowchart.

When the vehicle 1 receives the instruction to load the warehouse material from the instruction station 10 via the radio 6 (step 10)
0, 110), first, the vehicle travels forward to a work start station located at a predetermined position (step 120), and after passing through this station, travels to the commanded shed to detect the work start station and execute the loading work (step 1).
30, 140). When this loading operation is completed, the vehicle travels backward to the starting station and stops at this starting station, and then sends a work completion command to the command station 10 (steps 150 to 180).

In the command station 10 which has received the work completion command,
The next work for this work vehicle is determined, and if the next work is the transfer of the material to another warehouse, a material discharging work command to the material storage site is transmitted to the vehicle 1.

Upon receipt of this command, the vehicle 1 starts traveling forward and conveys the material to the instructed shed along the guide line (steps 190, 200). During this transportation, the head pressure and the bottom pressure of the bucket cylinder are detected by the output of the working machine oil pressure sensor 23, and the vehicle body rolling angle and the vehicle body pitching angle are detected by the output of the vehicle body inclination detection sensor 27. If one of the following four conditions is satisfied by the output of the sensor, (1) Bucket head pressure> Set value 1 (2) Bucket bottom pressure <Set value 2 (3) Vehicle body pitching angle> Set value 3 (4) Body rolling angle> set value 4 At this point, the material discharging operation is started (step 210).
~ 250).

That is, the load applied to the bucket is detected, and the position where this load exceeds a predetermined set value is set as the material discharging position. In this way, the material is not discharged when the material does not collide with the bucket, and eventually the material can be sequentially discharged from the back of the shed toward the front.

Further, at this time, in a situation where the material of the shed has a gentle slope shape or only one side of the tire rides on the material, the material discharge position cannot be detected only by the load applied to the bucket. In case of such a situation, the front and rear or left and right inclination angles of the vehicle body are detected,
When the vehicle body inclination angle becomes equal to or larger than a predetermined set value, the material is discharged at this point.

When the earth unloading operation is completed in this way, the vehicle travels backward along the guide line, and when the starting station is detected, it stops at this position and issues a work completion command to the command station 1.
0 (steps 260 to 290).

As described above, in this embodiment, the load applied to the bucket and the inclination of the vehicle body are detected at the time of the horizontal holding work, and when the detected values exceed the predetermined set values, the material is discharged at this point. Therefore, the material can be discharged from the back of the shed in order, and the space of the material discharge area can be effectively used.

In the embodiment, the material discharging operation is performed when either the load applied to the bucket or the vehicle body inclination exceeds a predetermined value. However, when both of these conditions are satisfied, the material discharging operation is performed. You may make it do soil.

Although the vehicle is run by the guide wire in the embodiment, the present invention may be applied to another radio system, a system for automatically running the vehicle by triangulation by laser projection, or the like. Good.

[0035]

As described above, according to the present invention,
The material discharge position is detected by the load applied to the bucket or the inclination angle of the vehicle body, and the material is discharged by this detection. Can be placed, the volume of the material storage space can be effectively utilized, and the lateral holding work can be efficiently performed.

[Brief description of drawings]

FIG. 1 is a flow chart showing an embodiment of the present invention.

FIG. 2 is a diagram showing an embodiment system of the present invention.

FIG. 3 is a block diagram showing a configuration of a control system of the work vehicle.

[Explanation of symbols]

 1 ... Vehicle 2 ... Guide line 6 ... Radio 10 ... Command station 11 ... Radio 70 ... Distance sensor H1 to Hn ... Hopper Z1 to Zn ... Material storage

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Kazuki Omiya 1-19-11 Kyobashi, Chuo-ku, Tokyo Within Japan Tamaido Co., Ltd. (72) Inventor Takehisa Hamaguchi 1-19-11 Kyobashi, Chuo-ku, Tokyo Japan (72) Inventor Masayuki Mori 1200, Manda, Hiratsuka, Kanagawa Prefecture, Komatsu Seisakusho Laboratories, Inc. (72) Inventor, Hiroshi Oshima, 1200, Manda, Hiratsuka, Kanagawa Prefecture, Komatsu Seisakusho, Ltd.

Claims (3)

[Claims] 1. A load detection means for detecting a load applied to a work machine in a work vehicle for automatically carrying out a lateral holding work for loading a material placed in a material storage area and transferring it to another material storage area. Material discharging position detecting means for detecting when the load detected by the load detecting means exceeds a predetermined threshold as the material discharging position, and material discharging operation is executed based on the detection output of the material discharging position detecting means. A material discharging device for a work vehicle, comprising: a material discharging control means. 2. In a work vehicle for automatically carrying out a lateral holding operation of loading materials placed in a material storage area and transferring them to another material storage area, the inclination angle of the work vehicle in the front-rear direction or the left-right direction is detected. The vehicle body inclination detecting means, the material discharging position detecting means for detecting when the detecting inclination angle of the vehicle body tilt detecting means exceeds a predetermined threshold as the material discharging position, and the detection output of the material discharging position detecting means. A material discharging device for a work vehicle, comprising: a material discharging control means for executing a material discharging operation based on the material discharging operation. 3. A load detection means for detecting a load applied to a work machine in a work vehicle for automatically carrying out a lateral holding work for loading a material placed in a material storage area and transferring it to another material storage area. A first material discharging position detecting means for detecting when a load detected by the load detecting means exceeds a predetermined threshold as a material discharging position, and a vehicle body inclination detection for detecting an inclination angle of the work vehicle in the front-rear direction or the left-right direction. Means, second material discharging position detecting means for detecting when the detected tilt angle of the vehicle body tilt detecting means exceeds a predetermined threshold as a material discharging position, and the first or second material discharging position A material discharging device for a work vehicle, comprising: a material discharging control unit that executes a material discharging operation when a detection signal is output from any of the detecting units.