JPH06340336A - Material transfer system - Google Patents

Abstract

PURPOSE:To operate a material transfer system efficiently by eliminating the stoppage of production of products and making the automatic operation of a self-propelling work vehicle smoothly and efficiently. CONSTITUTION:A material transfer system comprises a wheel loader 1 as a self-propelling work vehicle, multiple guide cables 2 laied down in a work area, multiple material yards Z1 to Zn for storing carried-in material, multiple hoppers H1 to Hn, hopper residual amount detection sensors S1 to Sn for detecting the residual amount of each hopper, a storage set panel 5, a control station 10 for controlling the material transfer system, an inlet gate 6 and an exit gate 7 through which dump trucks enter and exit, and an inlet detection sensor 8 and an exit detection sensor 9 which detect the entry and exit of the dump trucks.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention transfers a plurality of kinds of materials from a plurality of material storage areas into a plurality of hoppers using a work vehicle in order to mix the materials in an asphalt mixture factory or a concrete plant. Accordingly, the present invention relates to a material transfer system for producing a product in which predetermined types of materials are combined at a predetermined mixing ratio in a predetermined amount within a predetermined time, and for managing receipt of the plurality of materials in the plurality of material storage areas. .

[0002]

2. Description of the Related Art Conventionally, in a material transfer system for an asphalt compound factory or a concrete plant, after an operator drives a work vehicle and scoops plural kinds of materials (sand, crushed stone, etc.) from plural material storages. , Each of the plurality of hoppers travels to a predetermined position, and supplies each material to each hopper. Then, the supplied material dropped onto a conveyor installed under each hopper, was conveyed by the conveyor, and was mixed in the factory to produce a predetermined product.

The work vehicle referred to here is a work machine such as a wheel loader, a pay loader, or a tractor shovel that has a boom and a bucket.

Regarding this material transfer system, there is "work vehicle control device of material transfer system" in Japanese Patent Application No. 3-260851.

The material transfer system described in the present invention has a command station for controlling a self-propelled work vehicle, and a plurality of material storage areas and a plurality of hoppers are provided in the work area. Then, in this work area, the self-propelled work vehicle transfers the material of the predetermined material storage area to the predetermined hopper along the guide line laid from the plurality of material storage areas to the plurality of hoppers according to the instruction of the command station. And so on.

Further, this material transfer system is provided with an entrance gate and an exit gate in order to detect the dump truck that receives the material in the material storage area in the work area,
The command station had the self-propelled work vehicle perform the predetermined work after all the dump trucks that had received the material left the work area.

[0007] Further, since the dump truck for receiving the material in the material storage area is not instructed where the material is to be discharged, the material is discharged to each arbitrary location. Therefore, each time the command station receives the material, the self-propelled work vehicle picks up the material in the entire material storage area, that is, the material discharged by the dump truck for material receipt reaches the back of the material storage area by the self-propelled work vehicle. They had to work by scraping it up so that the material could be easily scooped in.

[0008]

As described above, in Japanese Patent Application No. 3-260851, "Work Vehicle Control Device for Material Transfer System", the entry / exit of a dump truck for the arrival of material is detected to detect the material. The command station had the self-propelled work vehicle perform the predetermined work after all of the incoming dump trucks had left the work area. However, only the dump truck entering and leaving the work area is detected, and the dump truck newly entering the work area is not regulated.

Therefore, a large number of dump trucks enter the work area and the work area becomes crowded.

Further, because the dump truck is congested in the work area, the dump truck carrying the incoming material cannot be discharged smoothly and the dump truck cannot leave the work area promptly.

If the dump truck cannot leave the work area promptly, a material supply operation for supplying a predetermined material to a predetermined hopper from a predetermined material storage place performed after all the dump trucks receiving the materials have left the work area. However, there is a problem that the material in the hopper is reduced or the material in the hopper becomes empty and the production of the product is stopped.

[0012] Further, when the dump truck for receiving the material performs the soil discharging work, the dump truck driver does not instruct the dump truck driver where to discharge the material. Will be excavated. Therefore, the self-propelled work vehicle has a problem that it is not efficient because it has to carry out the work of scraping the material discharged to the material storage site in the entire material storage site.

Therefore, the present invention has been made in view of such a situation, and the dump truck for material arrival entering the work area is regulated on the assumption that the production of the product is not always interrupted. An object of the present invention is to provide a material transfer system that smoothly and efficiently operates a material supply work by a traveling work vehicle.

Further, according to the present invention, the command station grasps the material arrangement in the material storage area and instructs the driver of the dump truck receiving the material where to discharge the material so that the self-propelled work vehicle scratches the material. It is an object of the present invention to provide a material transfer system which minimizes lifting work and operates a self-propelled work vehicle smoothly and efficiently.

[0015]

SUMMARY OF THE INVENTION The present invention is a material transfer system in which a self-propelled work vehicle transfers a plurality of different materials placed in a plurality of material storage areas in a predetermined work area to a plurality of hoppers in the work area. In the mounting system, first detection means for detecting the number of vehicles that have entered the work area, second detection means for detecting the number of vehicles that have left the work area, and materials for each of the plurality of hoppers. If the residual charge of at least one hopper among the plurality of third detecting means for detecting the remaining amount of the plurality of hoppers and the plurality of hoppers detected by the plurality of third detecting means is equal to or less than a predetermined amount, the material is not received. If the remaining amount of all the plurality of hoppers is not less than or equal to the predetermined amount, the number of vehicles existing in the work area obtained from the detection results of the first detecting unit and the second detecting unit is prohibited. Basis There is characterized in that and a control means for controlling to regulate the material stock with.

Further, the present invention provides the material transfer system in which a self-propelled work vehicle transfers a plurality of different materials placed in a plurality of material storage areas in a predetermined work area to a plurality of hoppers in the work area. The material information of the material loaded by the vehicle that receives the material is input, and the material storage area of the material,
And a receipt setting means for displaying the detailed soil discharging place, a plurality of guide lines laid at predetermined intervals for guiding the self-propelled work vehicle for each of the material storage areas, and each material storage area In, the instruction means for indicating a common reference position provided on the plurality of guide lines, and a command station for instructing the self-propelled work vehicle and the arrival setting means, the self-propelled work vehicle, the Detecting means for detecting the reference position on the guide wire, measuring means for measuring distance information from the reference position detected by the detecting means to the material scooping processing start position by the bucket, and distance information measured by the measuring means To the command station, the command station storing the distance information received by the receiving means and the receiving means receiving the distance information transmitted from the transmitting means. Based on the storage means, the material information input to the arrival setting means, and the distance information stored in the storage means, the material storage area for the material to be received and the detailed earth discharging place are obtained, and the arrival setting is performed. And a control means for transmitting information to the self-propelled work vehicle while outputting the information to the means and the material storage place of the material to be received and the detailed earth discharging place.

[0017]

According to the material transfer system of the present invention, the first detecting means detects the number of vehicles entering the work area, and the second detecting means detects the number of vehicles leaving the work area. However, the plurality of third detection means detect the remaining amount of each material of the plurality of hoppers, and the control means detects at least one hopper of the plurality of hoppers detected by the plurality of third detection means. When the residual charge is less than or equal to a predetermined amount, the material arrival is prohibited, and when the residual amount of all of the plurality of hoppers is not less than or equal to the predetermined amount, from the detection results by the first detection means and the second detection means. Based on the obtained number of vehicles existing in the work area, control is performed to regulate material arrival.

Therefore, for vehicles that receive materials entering the work area, regulations are provided on the assumption that the production of products is not always interrupted, and smooth operation of the self-propelled work vehicle is facilitated.
And can operate efficiently.

According to the material transfer system of the present invention,
The material information of the material loaded by the vehicle that receives the material is input, and a self-propelled work vehicle is provided for each of the material storage area of the material and the arrival setting means for displaying the detailed soil discharge location and the material storage area. A plurality of guide wires laid at a predetermined interval for guiding, an indicating means indicating a common reference position on a plurality of guide wires for each material storage area, the self-propelled work vehicle and the arrival setting means. A command station for instructing is provided, the detecting means of the self-propelled work vehicle detects the reference position on the guide wire, and the measuring means from the reference position detected by the detecting means to the material scooping processing start position by the bucket. Measuring the distance information, the transmitting means transmits the distance information measured by the measuring means to the command station, and the receiving means of the command station receives the distance information transmitted from the transmitting means. The means stores the distance information received by the receiving means, and the control means stores the material for the material to be received based on the material information input to the arrival setting means and the distance information stored in the storage means. Further, the detailed soil discharging place is obtained and output to the arrival setting means, and the material storage place of the material to be received and the detailed soil discharging place are transmitted to the self-propelled work vehicle.

Therefore, the command station can grasp the state of the material in the material storage area and can instruct the vehicle receiving the material where to remove the material, so that the material scraping work of the self-propelled vehicle can be minimized. Smooth, automatic driving of self-propelled work vehicle,
And can operate efficiently.

[0021]

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 is a diagram showing the overall construction of a material transfer system which is an embodiment of the present invention. In this embodiment, a wheel loader is used as the self-propelled work vehicle.

In FIG. 1, the material transfer system includes a wheel loader 1 which is a self-propelled work vehicle, a plurality of guide wires 2 laid in a work area 11, and a plurality of material storages Z1 to Zn for storing received materials. , A plurality of hoppers H1 to Hn, a plurality of hopper remaining amount detection sensors S1 to Sn for detecting the remaining amount of material of each hopper, an entrance switch 5a, and a display device 5.
b arrival setting panel 5, consisting of b, command station 10 that manages the material transfer system, entry gate 6 for entry and exit of dump trucks, exit gate 7, entry detection sensor 8 for detecting entry and exit of dump trucks, and exit detection It is composed of a sensor 9. A work machine including a boom 3 and a bucket 4 is provided in a front portion of a wheel loader 1 (hereinafter, referred to as “vehicle”). Using this work machine, the vehicle 1 follows a command from a command station 10 and has a predetermined material. Scoop up the materials in the storage area,
Material supply work for supplying the material to a predetermined hopper, and material scraping work for scraping the material in the material storage area to the inner side to make it easier to scoop during the material supply work are performed.

An induction current of a predetermined frequency flows through the induction wire 2, and a plurality of material storage areas Z1 to Zn cause a plurality of hoppers H1.
It is laid along the traveling route of the vehicle 1 up to Hn. A plurality of guide wires 2 are laid in each of the material storage areas, and the vehicle 1 can travel over the entire material storage areas Z1 to Zn.

Above each of the hoppers H1 to Hn, each hopper H is
A plurality of hopper remaining amount detection sensors S1 to Sn for detecting the remaining amount of the material in 1 to Hn are provided.

The arrival setting board 5 is installed in the vicinity of the entrance gate 6 outside the work area. When the dump truck for the arrival of the material enters the work area 11, the entry switch 5a to be pressed and the command station is set to the dump truck. And a display device 5b for instructing the driver. The entrance detection sensor 8 and the exit detection sensor 9 are installed near the entrance gate 6 and the exit gate 7, respectively, and operate as detection sensors for vehicles and intruders. With such a configuration, in the material transfer management in the material transfer system of the present invention, the command station 10 obtains the number of dump trucks existing in the work area 11 from the number of vehicles detected by the entrance detection sensor 8 and the exit detection sensor 9. Together with the upper hoppers H1
To a plurality of hopper remaining amount detection sensors S installed at Hn
The remaining amount of the material in each hopper transmitted from 1 to Sn at any time is stored. Then, the command station 10 regulates the dump truck entering the work area 11 based on the stored number of dump trucks and the remaining amount of the material in each hopper when the dump truck that receives the material newly enters the work area 11. To do.

Further, in the material receiving place management in the material transfer system of the present invention having such a structure, the vehicle requests the instruction station 10 for the reduction of the material in each material storage area during the material supplying work. Then, the command station 10 instructs the driver of the dump truck that receives the material where to discharge the material based on the reduction of the material that the vehicle 1 has obtained, and instructs the vehicle 1 to check the dump truck that receives the material. Have the driver pick up the material at the location specified by the driver.

Next, material receipt management in the material transfer system of the present invention will be described with a functional block diagram.

FIG. 2 is a functional block diagram of material receipt management in the material transfer system.

Note that the same components as those of FIG.
The same reference numerals are used.

In FIG. 2, material arrival management in the material transfer system is performed by the entrance detection sensor 8, exit detection sensor 9, plural hopper remaining amount detection sensors S1 to Sn, entrance gate 6, exit gate 7, and command station 10. Material arrival control section 2
0, a storage unit 21, an entrance switch 5a of a stock setting panel 5 installed near the entrance gate 6, and a display device 5b.

The entrance detection sensor 8 is installed in the vicinity of the entrance gate 6 and detects a dump truck entering the work area 11 by using a photoelectric or ultrasonic type interception detection sensor or the like. Then, the detected information is transmitted to the material arrival control unit 20 of the command station 10.

The exit detection sensor 9 is installed in the vicinity of the exit gate 7 and detects a dump truck exiting from the work area 11 by using a photoelectric or ultrasonic interruption detection sensor or the like. Then, the detected information is transmitted to the material arrival control unit 20 of the command station 10.

The hopper residual amount detecting sensors S1 to Sn are installed on the hoppers H1 to Hn, respectively, and the residual amount of the material in each hopper is detected at any time by photoelectric or ultrasonic type sensors. Then, the detected information is transmitted to the material arrival control unit 20 of the command station 10.

The entrance switch 5a is installed near the entrance gate 6 outside the work area 11. This entry switch 5a is installed in the work area 1 when a dump truck that receives materials is used.
It is a switch to enter 1. Then, when the entrance switch 5a is pressed, the material arrival control unit 2 of the command station 10
Sent to 0.

The display device 5b is installed near the entrance gate 6 outside the work area together with the entrance switch 5a. Then, the material arrival control unit 20 displays and outputs a message such as "entry permitted" or "entry not permitted" to the driver of the dump truck for receiving the material. Material arrival control unit 20
Receives information from the entrance detection sensor 8, the exit detection sensor 9, and the plurality of hopper remaining amount detection sensors S1 to Sn. Then, based on the information detected by the entrance detection sensor 8 and the exit detection sensor 9, the number of dump trucks existing in the work area is calculated and stored in the storage unit 21. Further, the remaining amount of the material of each hopper from the plurality of remaining hopper detection sensors S1 to Sn is stored in the storage unit 21.

Then, when the driver of the dump truck receiving the material pushes down the entrance switch 5a, the material arrival control unit 20 determines the number of dump trucks existing in the work area 11 stored in the storage unit 21 and the hopper H1. ~ Hn
Based on the remaining amount of each material, it is determined whether or not the dump truck for receiving the material may enter the work area 11. As a result of the determination, when the dump truck may be allowed to enter the work area 11, “admission permission” is output to the display device 5b, the driver of the dump truck is notified, and opening / closing control of the entrance gate 6 and the exit gate 7 is performed. . On the other hand, when the dump truck is not allowed to enter the work area 11, “not allowed” is output to the display device 5b to notify the driver of the dump truck.

Next, the operation of material receipt management in the material transfer system of the present invention will be described with reference to a flow chart.

FIG. 3 is a flow chart showing the operation of material receipt management in the material transfer system.

Here, in the work area 11, the dump truck is not congested, the earth discharging work is performed smoothly, and the specified number of vehicles that the dump truck can leave quickly is preset in the material arrival control unit 20. .

While the dump truck enters the work area 11 and a predetermined work is being performed, each hopper H1
A specified remaining amount that defines a remaining amount of the material up to Hn is not set in the material arrival control unit 20 in advance.

Further, the remaining hopper sensors S1 to Sn detect the materials in the hoppers H1 to Hn at any time, and the detected information is transmitted to the material receipt control unit 20, which stores the information. It is stored in the section 21.

With the above-mentioned settings, the driver of the dump truck receiving the material presses the entrance switch 5a of the stock setting board 5 installed near the entrance gate 6 to enter the work area 11 (step 100).

When the entrance switch 5a is pressed, the material arrival control unit 20 newly operates based on the number of dump trucks stored in the storage unit 21 and the remaining amount of the material in the hoppers H1 to Hn. It is determined whether or not a dump truck may be allowed to enter the area 11 (step 10).
1).

That is, the conditions for entering the dump truck are
“The material in all the hoppers H1 to Hn is equal to or more than a preset specified residual amount, and the number of dump trucks existing in the work area 11 is less than the preset specified number of vehicles”.

When the conditions for entering the dump truck described above are satisfied, that is, the work of the vehicle 1 is temporarily interrupted when the dump truck enters, the materials cannot be supplied to the hoppers H1 to Hn. Therefore, all hoppers H1
~ If the material in Hn is sufficiently filled and is equal to or greater than the preset specified residual amount and the number of preset vehicles is less than the preset number of vehicles so that work of the dump truck in the work area 11 can be performed smoothly, the process proceeds to step 102. To do. On the other hand, when the above conditions are not satisfied, all hoppers H1 to Hn
The material arrival control unit 20 keeps the material in stock until the material in the working area 11 is more than the specified remaining amount that is set in advance and the number of vehicles is less than the specified number of vehicles so that the work of the dump truck in the work area 11 can be performed smoothly. Dump truck entry is prohibited. Then, the material arrival control unit 20 displays and outputs "entry not permitted" on the display device 5b of the arrival setting panel 5 to inform the driver of the dump truck that the work area 11 cannot enter.

In step 102, the material arrival control unit 20 outputs "entry permission" to the display device 5b, informs the driver of the dump truck that he / she can enter the work area 11, and opens the entry gate 6.

With the opening of the entrance gate 6, the entrance detection sensor 8 detects the dump truck that has entered the work area 11 and sends the fact that the dump truck has entered the work area 11 to the material arrival control unit 20 ( Step 103).

Then, the material arrival control unit 20 receives the information from the entrance detection sensor 8 and counts up the number of dump trucks in the storage unit 21 and stores it (step 10).
4) The entrance gate 6 is closed (step 105).

Next, when the dump truck entering the work area 11 performs a predetermined work and stops in front of the exit gate 7 to leave the work area 11, the exit detection sensor 9 detects that the dump truck is in front of the exit gate 7. It is detected that it has stopped at that time, and it is sent to the material arrival control unit 20 (step 1
06).

Upon receipt of the information from the exit detection sensor 9, the material arrival control unit 20 opens the exit gate 7 (step 107).

Then, the dump truck becomes the work area 11
When exiting from, the exit detection sensor 9 detects that the dump truck has exited from the work area 11 and sends it to the material arrival control unit 20 (step 108).

Upon receipt of the information from the exit detection sensor 9, the material arrival control unit 20 counts down and stores the number of dump trucks in the storage unit 25 (step 10).
9) The exit gate 7 is closed (step 110).

As described above, the command station 10 does not always interrupt the production of the product for the dump truck that receives the material, based on the remaining amount of the material in each hopper and the number of dump trucks existing in the work area 11. Regulations are made on the assumption that Therefore, the automatic operation of the vehicle 1 can be operated smoothly and efficiently, and the material transfer system that does not stop the production of the product can be operated.

Next, the material receiving place management in the material transfer system of the present invention will be described with a functional block diagram.

FIG. 4 is a functional block diagram of material receiving place management in the material transfer system. The same components as those in FIG. 1 are designated by the same reference numerals as those in FIG.

In FIG. 4, the management of the material receiving place in the material transferring system is performed by the wireless device 30 of the vehicle 1, the on-vehicle controller 31, the reference position detecting sensor 32, the distance measuring section 33, the working machine oil pressure sensor 34, and the command station 9. The wireless device 35, the arrival place control unit 36, the storage unit 37, the entrance switch 5a of the arrival setting panel 5, and the display device 5b.

An in-vehicle controller 31 is mounted on the vehicle 1. Then, the in-vehicle controller 31 controls the vehicle 1 according to the instruction of the receiving place control unit 36 to perform the material supply work, the material picking work, and the like.

Further, during the material supply operation, when the reference position detection sensor 32 of the vehicle-mounted controller 31 detects the reference position serving as the reference for the reduction of the material in the material storage area,
The distance measuring unit 33 is caused to start measuring the traveling distance. When the working machine oil pressure sensor 34 detects the operation of the working machine, the in-vehicle controller 31 causes the distance measuring unit 33 to end the measurement of the traveling distance. Then, the measured traveling distance is transmitted to the arrival place control unit 36 via the wireless device 30.

The entrance switch 5a of the arrival setting panel 5 has push button switches for only the types of materials to be received. And the dump truck for receiving the material is working area 1
1 At the time of entry, if the driver of the dump truck presses the push button of the same type as the incoming material, the incoming location control unit 3
6, the receiving place control unit 36 can recognize the type of the receiving material.

The display device 5b of the arrival setting panel 5 shows the material storage areas Z1 to Zn in the work area 11, and the arrival place control unit 36 displays the indicator 5b on the display device 5b by blinking a lamp or the like to the driver of the dump truck. Instruct where to remove the material.

The receiving place control unit 36 receives the traveling distance, which is the degree of material reduction measured by the vehicle 1, via the radio 35 and stores it in the storage unit 37.

Then, when the driver of the dump truck for receiving the material depresses the entrance switch 5a of the arrival setting panel 5, the arrival place control unit 36 reduces the amount of the material in each material place stored in the storage unit 37. From the mileage that is the condition, the mileage that is the degree of decrease of the material in the material yard where the same kind of material as the received material is placed is extracted. Then, based on the degree of reduction of the extracted material, an appropriate material discharging place is output to the display device 5b.

Next, the operation of the material receiving place management in the material transfer system of the present invention will be described with reference to a flowchart.

FIG. 5 is a flow chart showing the operation of material receiving place management in the material transfer system.

The remaining hopper sensors S1 to Sn detect the materials in the hoppers H1 to Hn at any time, and the detected information is transmitted to the receiving place control section 36, and the receiving place control section 3 is detected.
6 stores this information in the storage unit 37.

In FIG. 5, the receiving place control section 36 transmits a material supply work command via the wireless device 35 to cause the vehicle 1 to perform the material supply work.

Then, the vehicle 1 which has received the material supply work command instruction from the receiving place control section 36 via the radio device 30,
Material supply work processing is performed (step 120).

Next, the arrival place control section 36 controls the entrance switch 5a of the arrival setting panel 5 installed near the entrance gate 6.
Is determined by the driver of the dump truck receiving the material (step 121). That is, it is determined whether or not there is new material arrival. As a result of the determination, if the material is received, the process proceeds to step 122. On the other hand, when the material is not received, the material supply work process is continued.

In step 122, the receiving place control section 36 performs a material receiving place instruction process for instructing the driver of the material receiving dump truck of the material discharging place.

Next, the receiving place control section 36 judges whether or not all the dump trucks for receiving the materials have left the work area 11 (step 123). As a result of the determination, when all the dump trucks have exited, the process proceeds to step 124. On the other hand, when the dump truck exists in the work area 11, the process proceeds to step 121.

In step 124, when all the dump trucks have exited, the receiving place control unit 36 causes the storage unit 3
It is determined whether or not even one of the materials of the hoppers H1 to Hn stored in 7 is less than the specified remaining amount. That is, it is determined whether the vehicle 1 is to perform the material supply work or the vehicle 1 is to perform the scraping work of the material discharged by the dump truck. As a result of the determination, if even one of the materials of the hoppers H1 to Hn is less than the specified remaining amount, step 12
Go to 5. On the other hand, if the materials of the hoppers H1 to Hn are all equal to or more than the specified remaining amount, the process proceeds to step 126.

In step 125, the hoppers H1 to H
If even one of the materials of n is less than the specified remaining amount, the receiving place control unit 36 causes the vehicle 1 to perform the material supply work process of the hopper whose material is equal to or less than the specified remaining amount.

In step 126, the hoppers H1 to H
If all the materials of n are equal to or more than the specified remaining amount, the receiving place control unit 36 causes the vehicle 1 to perform the work of scraping the material. That is, the receiving place control unit 36 determines in step 122.
Instruct the driver of the dump truck to lift up the material at the same location as the material discharge location via the wireless device 35 to the vehicle 1
Send to. Then, the wireless device 30 sends a command to raise the material.
The vehicle 1 that has received via the scraper scrapes the material discharged to the material storage site according to the received command.

Next, the operation of the material supply work process of steps 120 and 125 of FIG. 5 will be described with reference to the flowchart.

FIG. 6 is a flow chart showing the operation of the material supply work process.

The material supply work process is a work for transferring the materials in the predetermined material storage areas Z1 to Zn to the predetermined hoppers H1 to Hn, respectively, but for convenience of explanation, the material in the material storage area Z1 is transferred to the hopper H1. Shall be transferred to.

In FIG. 6, the vehicle 1 starts traveling along the guide wire 2 toward the material storage area Z1 according to the instruction of the receiving place control section 36 (step 130).

The guide wire 2 is provided in a plurality of material storage spaces Z1.
~ Zn to the plurality of hoppers H1 to Hn are laid along the traveling route of the vehicle 1. Furthermore, a plurality of guide wires 2 are laid in each material storage area and the material storage areas Z1 to Z1
The vehicle 1 can run on Zn. Further, an induction current having a predetermined frequency is applied to the induction wire 2. Then, the sensor mounted on the vehicle 1 for detecting the induction wire detects the induced current, and the vehicle-mounted controller 31 controls the vehicle 1 based on the detected induced current to drive the vehicle 1. Here, a plurality of sensors and the in-vehicle controller 31 mounted for the vehicle 1 to automatically run and perform work such as material supply work will be described.

FIG. 7 is a diagram showing the configuration of a plurality of sensors mounted on the vehicle 1 and the in-vehicle controller 31.

In FIG. 7, the vehicle 1 is provided with an engine rotation sensor 40 for detecting the engine rotation speed, a transmission rotation sensor 41 for detecting the rotation speed of the output shaft of the transmission, a position of the working machine including the boom 3 and the bucket 4. A work machine position sensor 42 for detecting, a work machine oil pressure sensor 34 for detecting work machine oil pressure, a vehicle body angle sensor 43 for detecting an angle of a vehicle body, a guide wire frequency detection sensor 44 for detecting an induced current flowing in the guide wire 2, Safety monitoring sensor 4 for detecting rolling and pitching of vehicles
5. In addition, by detecting the frequency of the current flowing in the station line, it becomes a reference position for reference when determining the degree of material reduction, and a reference for work such as a retracted position, work start position, stop position, etc. A reference position detection sensor 32 for detecting the position is provided, and information detected by each of these sensors is output to the vehicle-mounted controller 31.

Then, the vehicle controller 31 receives a command from the command station 9 via the radio 30, and controls the engine based on this command and the information from the plurality of sensors 32, 34, 40 to 45. Engine accelerator control 4
7. Lifting / lowering of working equipment (boom 3, bucket 4, etc.),
Work implement control 48 for performing speed control, brake control during traveling, brake control 49 for performing brake control during parking, steering control 50 for controlling traveling direction, vehicle speed switching control 51 for controlling acceleration / deceleration. , Forward / backward switching control 52 for controlling forward / backward movement, and mileage measurement control 54 for measuring mileage from a reference position, which is a reference for the degree of material reduction, to the material.
Control the abnormal state and the current state (while running,
An abnormal state display 53 is displayed, which indicates (for example, waiting) by a lamp or the like not shown.

Next, returning to FIG. 6, whether or not the vehicle-mounted controller 31 of the vehicle 1 has detected by the reference position detection sensor 32 the reference position serving as a reference for the degree of reduction of the material laid immediately before the material storage area 11. (Step 13)
1). If the reference position detection sensor 32 detects the reference position as a result of the determination, the process proceeds to step 132. On the other hand, when the reference position is not detected, the in-vehicle controller 31
The vehicle 1 is run until the reference position is detected.

In step 132, when the reference position detecting sensor 32 detects the reference position which is the reference of the material reduction degree, the in-vehicle controller 31 resets the traveling distance (sets it to "0"), and the distance measuring section 33. To start measuring the mileage.

Next, the in-vehicle controller 31 of the vehicle 1
It is determined whether the vehicle 1 has started plunging the material into the material in the material storage Z1 (step 13).
3). That is, the vehicle 1 raises the boom 3 in order to scoop the material into the material in the material storage Z1 into the plunge bucket 4. When the boom 3 is raised, the working machine oil pressure sensor 34
Is detected. As a result of the determination, when the vehicle 1 starts scooping the material, the process proceeds to step 134. On the other hand, if the vehicle 1 has not started scooping the material, it waits for the scooping to start.

In step 134, when the vehicle 1 starts scooping the material, the vehicle controller 31
The distance measuring unit 33 ends the measurement of the traveling distance.

Then, the on-vehicle controller 31 sets the travel distance, which is the degree of material reduction measured by the distance measuring unit 33, and the travel lane (the guide line in the material storage area branched from the guide line 2), which measures the degree of material decrease. Is transmitted to the arrival place control unit 36 via the wireless device 30 (step 135).

Next, the vehicle-mounted controller 31 of the vehicle 1
In order to supply the scooped material to the predetermined hopper H1, the vehicle 1 is run along the guide wire 2 toward the predetermined hopper H1 (step 136).

When the vehicle 1 travels to the predetermined hopper H1 and the reference position detection sensor 32 detects the station line which is the stop line, the vehicle controller 31 stops the vehicle 1 and hoppers the material scooped into the bucket 4. It is put into H1 (step 137).

As described above, the vehicle 1 performs the material supply work for supplying the material in the predetermined material storage space to the predetermined hopper, and at the time of the material supply operation, the standard of the reduction degree of the material installed immediately before the material storage space is used. The distance traveled from the reference position to the position of the material in the material storage area (the degree of material reduction) is measured and transmitted to the command station 10.

Next, regarding the method of detecting the degree of material reduction during the material supply work process of FIG. 6, FIG. 8 (a), (b),
A specific description will be given with reference to (c).

8 (a), (b), and (c) show a method of detecting the degree of reduction of the material at the time of processing the material supply work in the material storage area Z1 by the vehicle 1.

FIG. 8A is a diagram showing that the vehicle 1 is traveling in the traveling lane R2 toward the predetermined material storage Z1 during the material supply work in accordance with the instruction from the instruction station 10 (step 130 in FIG. 6).

FIG. 8 (b) is a diagram in which the vehicle 1 detects and passes the reference position S which is a reference for the degree of reduction of the material laid immediately before the material storage area Z1.

That is, when the reference position detecting sensor 32 detects the reference position S which is a reference for the degree of material reduction,
The in-vehicle controller 31 sets the travel distance to "0" and causes the distance measuring unit 33 to start measuring the travel distance (steps 131 and 132 in FIG. 6).

FIG. 8C is a diagram in which the vehicle 1 scoops the material in the material storage Z1 into the plunging bucket.

That is, the boom 3 is used for the vehicle 1 to plunge the material into the material in the material storage Z1 and to scoop the material into the bucket 4.
And the boom 3 is lifted by the working machine oil pressure sensor 3
4 is detected, and the vehicle-mounted controller 31 causes the distance measuring unit 33 to end the measurement of the traveling distance (step 13 in FIG. 6).
3, step 134).

As described above, the vehicle 1 performs the material supply work in accordance with the instruction of the command station 10 and measures the traveling distance from the reference position S, which is the reference of the reduction degree of the material, to the material. That is, the material storage space Z1 in FIG.
Distances corresponding to the distances "D1", "D2", and "D3" from the reference position S to the materials on the traveling lanes R1, R2, and R3 are measured. The traveling distance from the detected reference position S to the material is measured and transmitted to the command station 10 every time the vehicle 1 supplies the material.

Next, the operation of the material arrival place instruction processing in step 122 of FIG. 5 will be described with reference to a flowchart.

FIG. 9 is a flow chart showing the operation of the material arrival place instruction processing.

In FIG. 9, the receiving place control section 36 sends an evacuation command to the vehicle 1 via the radio 35 to temporarily suspend the work of the vehicle 1 so that the dump truck of the material arrival enters the work area 11. (Step 14
0).

Then, the vehicle 1 sends an evacuation command to the wireless device 30.
Via the vehicle-mounted controller 31 and is retreated to a predetermined location (not shown) under the control of the vehicle-mounted controller 31 (step 141).

Next, the receiving place control section 36 measures the running distance, which is the reduction of the material in the material storage area where the same material as the incoming material is placed, from the pressed entry switch 5a, and the running distance measured. The lane and the lane are extracted from the storage unit 37 (step 142).

Then, the receiving place control section 36 obtains the longest traveling distance among the extracted traveling distances and also obtains the measured traveling lane (step 143). That is, in the material storage area where the same material as the material to be received is placed, the place where the material is the smallest is sought.

More specifically, referring to FIG. 8A,
The travel distance corresponding to “D1”, “D2”, and “D3” measured by the vehicle 1 is compared, and the location where the travel distance from the reference position S to the material is the longest, in other words, the location where the material is the least is the travel lane. It is required to be on R2.

Then, returning to FIG. 9, the receiving place control unit 36.
Outputs the traveling lane, which is the place with the least amount of material, obtained in step 143, to the display device 5b of the arrival setting board 5 (step 144).

Then, the display device 5b displays the traveling lane, which is the place where the material is the least, by blinking the lamp, and instructs the driver of the material receiving dump truck where to discharge the material (step 145).

In this way, the receiving place control unit 36 receives and stores the traveling distance and traveling lane from the reference position S to the material measured by the vehicle 1 at the time of the material supplying work every time. Then, by comparing the traveling distances, it is possible to find a place where the material is the smallest in the material storage area. Then, by instructing the driver of the dump truck receiving the material of the place where the material is the least, the material is discharged to an appropriate place, and the work of picking up the material by the vehicle 1 can be efficiently performed.

Next, the overall operation of the material transfer system in which the material arrival management and the material arrival place management in the material transfer system are combined will be described with reference to a flowchart.

FIG. 10 is a flowchart showing the overall operation of the material transfer system in which the material arrival management and the material arrival place management in the material transfer system shown in FIG. 1 are combined.

In the present embodiment, for the sake of convenience of explanation, it is assumed that a dump truck for receiving material enters the work area 11 during the material supply work by the vehicle 1.

In the command station 10, the work area 1
No. 1 is not congested with the dump truck, the earth discharging work is performed smoothly, and the specified number of vehicles in the work area 11 in which the dump truck can exit quickly is set in advance.
While the dump truck enters the inside of 1 and a predetermined work is performed, the specified remaining amount is set in advance so that the material of each hopper H1 to Hn is not emptied.

Further, the remaining hopper sensors S1 to Sn detect the materials in the hoppers H1 to Hn at any time, and the detected information is transmitted to the command station 10. The command station 10 stores the information in the storage unit. There is.

In the above-mentioned setting, the vehicle 1 performs the material supply work of scooping the material from the predetermined material storage area and transferring the material to the predetermined hopper according to the instruction of the command station 10, and at the same time, reducing the material in each material storage area. The condition is sought (step 150).

Next, the command station 10 determines whether or not a new dump truck for the arrival of material has arrived during the material supply work by the vehicle 1 (step 151). That is, it is determined whether or not the driver of the dump truck has pressed the entrance switch 5a of the stock setting panel 5 installed near the entrance gate 6. As a result of the determination, when the dump truck for receiving the material arrives, the process proceeds to step 152. On the other hand, when the dump truck for receiving the material has not arrived, the material supply work by the vehicle 1 is continued.

In step 152, when the driver of the dump truck for receiving the material pushes down the entrance switch 5a of the arrival setting panel 5, the type of the incoming material is transmitted to the command station 10. Then, the command station 10 that receives this transmission determines whether or not the dump truck for receiving the material is to enter the work area 11.

That is, the conditions for entering the dump truck are
“The material in all the hoppers H1 to Hn is equal to or more than a preset specified residual amount, and the number of dump trucks existing in the work area 11 is less than the preset specified number of vehicles”.

As a result of the judgment, when the condition for entering the dump truck described above is satisfied, the routine proceeds to step 153. On the other hand, if the above conditions are not met, the command station 1
“0” is displayed and displayed as “entry not permitted” on the display device 5b of the stock setting panel 5 installed near the entrance gate 6 to inform the driver of the dump truck that he / she cannot enter the work area 11.

In step 153, the command station 10
The evacuation command is transmitted to the vehicle 1 which is performing the material supply work in order to enter the material arrival dump truck into the work area 11.

Then, the vehicle 1 which receives the evacuation command from the command station 10 is evacuated to a predetermined evacuation position (not shown) (step 154).

Next, the command station 10 finds the place with the least amount of material in the material place where the same material as the received material is placed, based on the received material transmitted from the entry switch 5a. Then, the obtained location is output to the display device 5b as a material discharge location. Then, the display device 5b instructs the driver of the dump truck receiving the material, by blinking the lamp, of the material discharging place (step 155).

Then, the command station 10 opens the entrance gate 6 (step 156).

Next, with the opening of the entrance gate 6, it is judged whether or not the dump truck for receiving the material has passed through the entrance gate 6 (step 157). As a result of the determination, when the entrance detection sensor 8 detects the vehicle, the process proceeds to step 158. On the other hand, when the entrance detection sensor 8 does not detect the vehicle, it waits until the vehicle is detected.

At step 158, the command station 10
The work area 11 receives the information from the entrance detection sensor 8
The number of dump trucks inside is counted up and stored.

Then, the command station 10 closes the entrance gate 6 (step 159).

Next, the dump truck entering the work area 11 travels to the designated material discharging place according to the instruction of the command station 10 and discharges the material (step 160).

The dump truck from which the material has been discharged travels to the exit gate 7 to exit from the work area 11.

Then, the command station 10 judges whether or not the dump truck that has discharged the material before the exit gate 7 has stopped (step 161). Exit judgment sensor 9
Detects a vehicle, the process proceeds to step 162. On the other hand, when the exit detection sensor 9 does not detect the vehicle, the vehicle waits until the vehicle is detected.

When the exit detection sensor 9 detects the dump truck in step 162, the command station 10 opens the exit gate.

Then, the dump truck is used in the work area 1
Exit from 1.

Next, the command station 10 determines whether or not the dump truck has left the work area 11 (step 163). As a result of the determination, when the exit detection sensor 9 detects the exit of the vehicle, the process proceeds to step 164. on the other hand,
When the exit detection sensor 9 does not detect the exit of the vehicle,
Wait to detect the exit of the vehicle.

In step 164, the command station 10
The command station 10 counts down and stores the number of dump trucks in the work area 11 that have been stored.
The exit gate 7 is closed (step 165).

Next, the command station 10 determines whether or not the number of dump trucks in the stored work area is "0" (step 166). That is, the work area 1 is used to perform the material supply work by the vehicle 1 and the material picking work.
It is determined whether all the dump trucks in 1 have exited. As a result of the determination, when the number of dump trucks in the work area 11 is “0”, the process proceeds to step 168. on the other hand,
When the dump truck exists in the work area 11, the process proceeds to step 167.

At step 167, it is judged whether or not the dump truck for receiving the material has newly arrived. As a result of the determination, when the dump truck for receiving the material arrives, the process proceeds to step 152. On the other hand, when the dump truck for receiving the material has not arrived, the process proceeds to step 161 in order to determine whether or not the dump truck that has discharged the material before the exit gate 7 has stopped.

In step 168, if all the dump trucks have left the work area 11, the command station 10
Determines whether to cause the vehicle 1 to perform a scraping operation of the material dumped by the dump truck or a material supplying operation of transferring the material in the material storage place to the hopper. That is, the command station 10 performs the material supply operation based on the stored remaining amount of the material of the hoppers H1 to Hn when any one of the materials in the hoppers H1 to Hn is less than the preset remaining amount. On the other hand, when the materials in all the hoppers H1 to Hn are equal to or more than the preset specified residual amount, it is determined to perform the material scraping work. As a result of the determination, when the vehicle 1 is made to perform the material supply work, the process proceeds to step 169. On the other hand, in the case of causing the vehicle 1 to raise the material, the process proceeds to step 170.

At step 169, the command station 10
A material supply work command to the hopper, which is less than the specified remaining amount, is transmitted to the vehicle 1. Then, the vehicle 1 that has received the material supply work command travels along the guide wire 2 toward the material storage area in which the material of the hopper less than the specified remaining amount is placed. Then, the predetermined material is scooped from the predetermined material storage, runs along the guide line 2 toward the hopper, supplies the scooped material to the hopper, and proceeds to step 168.

At step 170, the command station 10
The dump truck transmits to the vehicle 1 a work command for picking up the material at the place where the material is discharged. Then, the vehicle 1 that has received the instruction travels along the guide wire 2 toward the place where the dump truck has discharged the material. Then, the material in the material storage area is scooped up so that the vehicle 1 can easily be scooped during the material supply work.

As described above, by combining the material arrival management and the material arrival place management, the material transfer system performs the entry regulation on the assumption that the production of the product is not always interrupted for the dump truck of the material arrival. . Further, by instructing the driver of the dump truck that receives the material where to discharge the material, the material is discharged to an appropriate place. Therefore, it is possible to prevent useless scraping work of the material by the self-propelled work vehicle, and operate the self-propelled work vehicle smoothly and efficiently.

Although the display device 5b instructs the driver of the dump truck to discharge the material by blinking the lamp, the present invention is not limited to this, and it is also possible to give an instruction by voice or the like.

Further, FIGS. 1 and 8 (a), (b),
In (c), three guide wires are laid in each material storage area for convenience of explanation, but the present invention is not limited to this, and this guide wire is provided so that the self-propelled work vehicle can travel over the entire material storage area. It is intended to be installed in multiple locations.

[0141]

As described above, the present invention regulates the entry of dump trucks on the assumption that the production of products is not always interrupted. Therefore, the automatic operation of the self-propelled work vehicle can be smoothly and efficiently operated.

Further, according to the present invention, the command station can grasp the degree of reduction of each material in each material storage area, and instruct the dump truck driver who receives the material where to discharge the material. The material is excavated. Therefore, it is possible to prevent useless scraping work of the material by the self-propelled work vehicle, and it is possible to smoothly and efficiently operate the self-propelled work vehicle automatically.

[Brief description of drawings]

FIG. 1 is a configuration diagram of an entire system of a material transfer system.

FIG. 2 is a functional block diagram of material arrival management in the material transfer system.

FIG. 3 is a flowchart showing the operation of material arrival management in the material transfer system.

FIG. 4 is a functional block diagram of material arrival place management in the material transfer system.

FIG. 5 is a flowchart showing an operation of material arrival place management in the material transfer system.

FIG. 6 is a flowchart showing an operation of a material supply work process.

FIG. 7 is a diagram showing a configuration of each sensor and an in-vehicle controller.

FIG. 8 is a diagram illustrating a method of detecting the degree of reduction of the material when the material is supplied.

FIG. 9 is a flowchart showing the operation of a material arrival place instruction process.

FIG. 10 is a flowchart showing the operation of a material transfer system that combines material arrival management and material arrival place management in the material transfer system.

[Explanation of symbols]

 1 Wheel loader 2 Guide wire 3 Boom 4 Bucket 5 Stock setting panel 5a Entrance switch 5b Display device 6 Entrance gate 7 Exit gate 8 Entrance detection sensor 9 Exit detection sensor 10 Command station Z1-Zn material storage H1-Hn hopper S1-Sn hopper Remaining charge detection sensor

 ─────────────────────────────────────────────────── ─── 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 (2)

[Claims] 1. A material transfer system in which a self-propelled work vehicle transfers a plurality of different materials placed in a plurality of material storage areas in a predetermined work area to a plurality of hoppers in the work area, wherein: A first detection unit that detects the number of vehicles that have entered, a second detection unit that detects the number of vehicles that have left the work area, and a plurality of a plurality of units that detect the remaining amount of each material of the plurality of hoppers. If the residual charge of at least one of the plurality of hoppers detected by the third detection means and the plurality of third detection means is less than or equal to a predetermined amount, material arrival is prohibited, and all of the plurality of hoppers are prohibited. If the remaining amount is not equal to or less than the predetermined amount, the material arrival is regulated based on the number of vehicles existing in the work area obtained from the detection results by the first detection unit and the second detection unit. Material transfer system characterized by comprising a control means for performing control. 2. A material transfer system in which a self-propelled work vehicle transfers a plurality of different materials placed in a plurality of material storage areas in a predetermined work area to a plurality of hoppers in the work area, wherein the material is received. The material information of the loaded material is input by the vehicle that performs the operation, and the self-propelled work vehicle is guided to each of the material storage and the stock setting means for displaying the material discharge place of the material and the material storage. A plurality of guide lines laid at a predetermined interval for each of the material storage areas, an instruction means for indicating a common reference position provided on the plurality of guide lines, the self-propelled work vehicle, and the arrival setting. And a command station that gives instructions to the means, and the self-propelled work vehicle detects the reference position on the guide wire, and scoops material by a bucket from the reference position detected by the detection means. And a transmission unit for transmitting the distance information measured by the measurement unit to the command station, wherein the command station is transmitted from the transmission unit. Based on receiving means for receiving distance information, storage means for storing the distance information received by the receiving means, material information input to the arrival setting means and the distance information stored in the storage means , The material storage place of the material to be received, and the detailed earth discharging place are output to the arrival setting means, and the information about the material storage place of the incoming material and the detailed earth discharging place is transmitted to the self-propelled work vehicle. A material transfer system comprising: a control means.