JPH07291461A - Controlling method and device for continuous type unloader - Google Patents

Abstract

PURPOSE:To shorten the time required to perform playback process without changing the teaching process. CONSTITUTION:In the teaching process (Step S1), the positions of the raking part to be moved along the desired path by manual operation are detected at certain intervals, and a string of coordinates formed by laying in alignment the coordinates representing these positions in the sequence they are detected, is stored. This is followed by a correction process (Step S2) in which the coordinates are corrected so that the teaching path represented by the string of coordinates becomes smooth. Then a playback process (Step S3) is conducted, in which the raking part is moved automatically along the teaching path, and the load in a ship hold is raked by a plurality of baskets and landed.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a teaching / playback type continuous unloader control method and apparatus.

[0002]

2. Description of the Related Art An unloader is used, for example, when unloading a load of ore, coal, grain, etc. from a hold (hold section) 6 of a ship, and an example of its entire structure is shown in FIG. . The unloader shown in this figure is provided with a traveling unit 1 provided for traveling freely on a wharf which is a loading / unloading site, a boom 2 provided for swinging and undulating on the traveling unit 1, and a tip of the boom 2. The swinging mast 4 is rotatably supported by a top support frame 3 provided on the upper portion of the swinging mast 4 and is vertically suspended, and a scraping portion 5 provided at a lower end of the swinging mast 4 is mainly configured.

The unloader shown in this figure is generally called a chain bucket type unloader, and an endless chain having a plurality of buckets attached thereto is laid around the upper part of the swivel mast 4 and the outer periphery of the scraping part 5 to scrape it. A bucket located at the bottom of the picking section 5 scrapes the cargo in the cargo hold 6 and conveys the scraped cargo to the upper part of the turning mast 4. Then, the scraped load is unloaded via the boom 2 and the traveling unit 1. At this time, the scraping work needs to be sequentially performed from the upper layer of the cargo so that the upper surface of the cargo in the hold 6 becomes substantially horizontal.

By the way, in this kind of unloader, the transfer amount per unit time is often small with respect to the size of the hold 6, due to various circumstances, and it takes a very long time for the landing work. For this reason, a teaching / playback type continuous unloader has been developed which is controlled by a control device and automatically and continuously performs landing work. In the teaching process, this continuous unloader is manually operated, detects the position of each part, the turning angle, etc., and stores the operation information including the trajectory of the scraping unit 5, the turning angle of the turning mast 4, and the like. .

In the controller of the continuous unloader, the locus of the scraping section 5 in the operation information is usually expressed as a permutation of points at intervals of 1 cm to several cm, and the coordinates of each point are arranged in the order of detection. The column is stored in the controller. The distance between each point (1 cm to several cm) is determined based on the accuracy required for practical use, the length of the expected trajectory, and the memory capacity assigned to store the driving information.

Here, an example of the trajectory of the scraping section 5 is shown in FIG. As shown in this figure, each part of the continuous unloader is manually operated so that the front end part 5a and the rear end part 5b of the scraping part 5 move along the ideal paths LA and LB that should be originally obtained. Since each part of the continuous unloader has a length of several meters to several tens of meters, each part may be slightly bent or twisted depending on the state of the cargo in the hold 6.
Therefore, even if the scraping unit 5 is smoothly moved in the teaching process, a slight blur often occurs on the locus.

For example, in FIG. 8, a point AP among points AP1 to AP11 representing the locus of the tip 5a of the scraping section 5 is shown.
No. 6 deviates from the ideal route LA by several cm. Similarly, the point BP6 deviates from the ideal path LB by several cm. However, normally, a blur of about several cm is considered to be within an allowable range, and a path LA ′ including each point AP1, AP2, ... And each point BP.
A route LB 'composed of 1, BP2, ... Is respectively a teaching route. The teaching process ends when the operation information necessary for landing only one layer of the cargo in the hold 6 is stored.

Then, after the operator sets each part of the continuous unloader to the same state as at the time of starting the teaching process, the playback process is started. In this step, first, the control device lowers the scraping unit 5 by a predetermined distance and inserts it into the cargo in the hold 6. Then, the control device controls each part of the continuous unloader to reproduce the operation in the teaching process according to the stored operation information. As a result, the scraping unit 5 moves along the teaching path represented by the coordinate sequence stored in the control device, and the uppermost cargo is unloaded. This process is repeated until all the cargo is unloaded and the playback process ends.

[0009]

As described above, in the conventional control method or apparatus for the continuous unloader, the teaching paths LA 'and LB' of the scraping section 5 are the ideal paths L.
Often slightly deviates from A and LB. The deviation of each point representing the teaching path LA ′ or LB ′ is determined according to the load applied to each part at that time, so not only the deviation to the direction orthogonal to the ideal path LA or LB but also to some cases, In some cases, the point AP6 may deviate from the ideal path LA at an acute angle. When the coordinate of the point AP6 of such deviation is included in the coordinate sequence stored in the control device, the scraping unit 5 is moved along the teaching paths LA ′ and LB ′ represented by the coordinate sequence. In the playback process to be performed, it is necessary to significantly change the operation direction of each part of the continuous unloader so that the scraping part 5 passes the point AP6.

In the playback process, when the continuous unloader is caused to change the operation direction as described above, each part of the unloader often deviates from the teaching path. If this deviation exceeds the allowable range, it is necessary to temporarily stop the playback process, perform a predetermined process, and then restart the process, which requires a time and labor required for the playback process. There is a problem of increasing.

Further, generally, in the continuous unloader, in order to largely change the operation direction of each part, it is necessary to greatly reduce the operation speed of each part. That is, the time for causing the scraping unit 5 to follow the teaching paths LA ′, LB ′ becomes long. As described above, in the playback process, the processing of following the teaching paths LA ', LB' is repeatedly performed, and thus the teaching paths LA ', L'
If B'is a path with a large change in direction of motion, its time loss is extremely large. Therefore, the points AP6 and B in the coordinate sequence representing the teaching paths LA 'and LB' are
It is necessary to correct the coordinates corresponding to P6.

By the way, in the teaching process and the playback process, the teaching paths LA 'and LB' are used.
Is displayed on the display device in the remote control room together with a figure schematically showing the side wall of the hold 6 having a horizontal diagonal line of several meters to several tens of meters. However, as the display device,
Normally, since a display having a screen with a size of about 9 inches is used, several cm generated on the locus of the scraping unit 5
It is extremely difficult for the operator of the continuous unloader to recognize the degree of blurring.

Therefore, in the teaching process, a blur that causes a large change in the operation direction is overlooked, and the teaching path (coordinate sequence) including the blur is stored. Even if the operator recognizes a blur on the trajectory of the scraping unit 5, it is extremely difficult to determine whether or not the blur is a blur that causes a large change in the operation direction. Further, without making such a judgment, it is conceivable to immediately interrupt the teaching process and memorize the correct locus again when the blur is recognized, but as described above, the blur frequently occurs. , Very inefficient.

As described above, in the conventional controller for the continuous unloader, there is no effective method for eliminating the blur which is difficult for the operator to visually recognize, and it is inevitable that the playback process takes a long time. . The present invention has been made in view of the above circumstances, and it is an object of the present invention to provide a control method and apparatus for a continuous unloader that can reduce the time required for a playback process without changing the teaching process. To aim.

[0015]

According to a first aspect of the present invention, there is provided a continuous unloader control method, wherein a scraping section that causes a plurality of buckets to circulate along a circumference is inserted into a hold, and a manual operation is performed in a teaching process. The position of the scraping unit moved along a desired path is detected at predetermined distance intervals, and a coordinate sequence in which the coordinates representing the position are arranged in the order of detection is stored, and is represented by the coordinate sequence in the playback process. A method for controlling a teaching / playback type continuous unloader for automatically moving the scraping unit along a teaching path according to the above, scraping the cargo in the hold by the plurality of buckets and landing. Performing a correction step between the teaching step and the playback step to correct each coordinate so that the teaching path becomes smooth. It is characterized. In addition, claim 2
In the control method of the continuous unloader described in [3], in the correction step, the respective coordinates forming the coordinate sequence are sequentially read, and the respective coordinates are corrected based on at least three of the read coordinates. Is characterized by. The control device for the continuous unloader according to claim 3,
A continuous teaching / playback method in which a scraping unit that allows multiple buckets to circulate along the circumference is inserted into the hold, and the teaching process, the correction process, and the playback process are sequentially performed to unload the cargo in the hold. A device for controlling an unloader, which detects a position of an operation unit that outputs a command according to an operation content of an operator and a position of the scraping unit that moves according to the command at a predetermined distance interval in a teaching process. A detection unit that outputs a detection signal and a control signal for controlling each unit of the continuous unloader according to the command, and position information indicating the position of the scraping unit based on the detection signal in the teaching process. And a coordinate corresponding to the position information supplied from the controller in the teaching process are arranged in the supply order. A mark is stored, and in the correction step, each of the coordinates is corrected so that the teaching path represented by the coordinate series is smoothed, and in the playback step, the operation information obtained based on the coordinate series is used by the control unit. And a processing unit that supplies the control signal to the control information according to the operation information. Further, the control device of the continuous unloader according to claim 4,
In the correction step, the processing unit sequentially reads each of the coordinates forming the coordinate sequence, and corrects each of the coordinates based on at least three of the read coordinates.

[0016]

According to the above method or apparatus, the correction step is performed between the teaching step and the playback step so as to correct each coordinate forming the coordinate sequence representing the teaching path so that the teaching path becomes smooth. In the playback process in which each part of the continuous unloader follows the teaching path, each part of the continuous unloader operates so as to draw a smooth trajectory. That is, the time required for the playback process is shortened without changing the teaching process.

[0017]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a processing diagram for explaining a control method of a continuous unloader according to an embodiment of the present invention. As shown in this figure, the control method of the continuous unloader according to the present embodiment is the teaching process of step S1,
The correction process of step S2 and the playback process of step S3 are included. Since each of steps S1 and S3 performs the same processing as the conventional one, the description thereof will be omitted, and the correction step of step S2 will be described below with reference to FIG. It should be noted that the present embodiment is applied only when the ideal path for which the teaching paths are to be matched is a smooth straight line or curved line.

FIG. 2 is a flow chart showing the flow of processing performed in the correction step, and each processing shown in this figure is performed by the control device of the continuous unloader. here,
Prior to the description of the correction process, the control device of the continuous unloader will be described with reference to FIG. FIG. 3 is a block diagram showing an example of a control device of a continuous unloader,
The control device having the configuration shown in this figure operates so as to perform the teaching process, the correction process, and the playback process in response to an instruction from the operator. The configuration of the continuous unloader to which this embodiment is applied is the same as that of the continuous unloader shown in FIG. 7, except for the control device shown in FIG.

In FIG. 3, K1 to K6 are sensors, and the sensor K1 is the position of the traveling unit 1 on land and the sensor K.
2 is the swing angle of the boom 2, sensor K3 is the swing angle of the swing mast 4, sensor K4 is the expansion / contraction width of the scraping unit 5, and sensor K5.
Is the hoisting angle of the boom 2, and the sensor K6 detects the tilting angle of the scraping surface 5a of the scraping section 5. These sensors K1 to K6
Constitutes one detection unit and outputs a detection signal constantly or at predetermined time intervals.

Further, C1 to C6 are each a controller, the controller C1 is a traveling operation of the traveling unit 1, and the controller C2 is a boom 2
Of the swivel mast 4, the controller C4 of the scraping part 5 extending and retracting, the controller C5 of the boom 2 up and down, and the controller C6 of the scraping part 5. Chamfer 5a
Control the tilting motion of. These controllers C1 to C6 operate according to a control signal supplied from a control unit 7 which will be described later.

Next, 8 is a processing unit including a CPU, ROM, RAM, various I / O interfaces and the like, and 9 is a display unit such as various display lamps and CRT. Reference numeral 10 denotes an operation unit provided with an operation device such as a handle and a slide switch, which is operated by an operator and supplies a command according to the operation content to the control unit 7. Although not shown, the operation unit 10 includes a teaching start button for starting the teaching process, a teaching end button for ending the process,
A correction start button for starting the correction process and a playback start button for starting the playback process are provided.

The control unit 7 operates, for example, according to a program stored therein, and supplies position information of each unit of the continuous unloader to the processing unit 8 based on each detection signal supplied from the sensors K1 to K6. At the same time, the position information is compared with preset threshold information, and information corresponding to the comparison result is supplied to the processing unit 8 and the display unit 9. Also,
The control unit 7 supplies the operation information according to the command supplied from the operation unit 10 to the processing unit 8.

In the teaching process from when the teaching start button of the operation unit 10 is pressed to when the teaching end button is pressed, the processing unit 8 sequentially sets the coordinates represented by the position information supplied from the control unit 7. Memorize and operation unit 1
In the playback process started by pressing the 0 playback start button, the coordinates are sequentially read from the stored coordinate sequence, and driving information based on the coordinates is supplied to the control unit 7. The control unit 7 supplies the control information corresponding to the operation information supplied from the processing unit 8 or the command supplied from the operation unit 10 to the corresponding controllers C1 to C6.

Further, the processing section 8 constantly supplies a display signal corresponding to the coordinate sequence to the display section 9 in both the teaching / playback process. Therefore, the CRT of the display unit 9 constantly displays the state of each unit of the unloader and the teaching path in graphic form. Further, the various display lamps of the display unit 9 are turned on, for example, according to the information indicating the state of each unit supplied from the control unit 7. The operator operates the operation unit 10 to operate the continuous unloader while visually recognizing the display unit 9.

Next, referring again to FIG. 2, the correction process performed in the control device having the above-described configuration will be described. Since each processing shown in this figure is performed by the processing unit 8 of the above-described control device, the main body of the processing is the CPU of the processing unit 8 unless otherwise specified.

When the correction start button of the operation unit 10 is pressed while the teaching process is completed and the coordinate sequence representing the teaching path is stored in the processing unit 8, the process proceeds to step S.
Go to 4. In step S4, first, initial setting is performed. Specifically, the leading coordinates and the following coordinates in the coordinate sequence are read from the RAM. For example, the point AP shown in FIG.
When the coordinate sequence corresponding to 1, AP2, ... Is stored, the coordinate corresponding to the point AP1 and the coordinate corresponding to the point AP2 are sequentially read.

The read coordinates are written in a predetermined area of the RAM, as shown in FIG. At this time, RA
In the other area of M, the coordinates corresponding to the points BP1, BP2, ... And the coordinates corresponding to the other points constituting the teaching path are written in the same format. Here, in order to avoid making the description complicated, only the correction processing of the coordinates related to the ideal route LA (see FIG. 8) will be described. Further, in step S4 of FIG. 2, 0 is assigned to the variable FL. Since this variable FL is a variable for determining the content of the correction process, it will be referred to as a correction variable FL hereinafter.

Next, in step S5, each coordinate (hereinafter referred to as target coordinate) written in a predetermined area of the RAM as shown in FIG. 4A is shifted as shown in FIG. 4B. It Then, as shown in, the coordinates corresponding to the next point AP3 are written in the area vacated by the shift (see FIG. 4C). That is, the three points AP1 to AP
The coordinates of 3 are the target coordinates. 4 (a) to FIG.
The area shown in (c) is ensured so that the coordinates corresponding to at least three points can be stored.

Next, in step S6 of FIG. 2, is the smaller angle θ (see FIG. 8, 0 ≦ θ ≦ 180 °) of the two angles formed by the three points of the target coordinates less than 90 °? It is determined whether or not. When the above three points are points AP1 to AP3, the angle θ formed by them is an obtuse angle, as is clear from FIG. That is, since θ ≧ 90 °, the determination result in this step is “No”, and the processing is step S in FIG.
Proceed to 7.

In step S7, the correction variable FL is "1".
It is determined whether or not the above. Here, the correction variable F
Since L is "0", the determination result is "No", and the process proceeds to step S8. In step S8, it is determined whether the last coordinate has not been read yet, that is, whether there is a coordinate to be read next. While this determination result is "No", the process returns to step S5. In step S5, the target coordinates are shifted again,
Three coordinates including the subsequent coordinates are the target coordinates. That is, the processing described above is repeated while the angle θ formed by the three points of the target coordinates is 90 ° or more.

By the way, as shown in FIG.
When the coordinates corresponding to P4 to AP6 are the target coordinates, the determination result in step S6 of FIG. 2 is “Yes”,
The process proceeds to step S9. In step S9, it is determined whether the correction variable FL is "1" or more. Here, since the correction variable FL is "0", the determination result is "No", and the process proceeds to step S10.

In step S10, the coordinates read out earliest among the target coordinates (here, the coordinates corresponding to the point AP4) are overwritten in the correction start point area (not shown) of the RAM. Then, in the next step S11, "1" is added to the correction variable FL. Then, the process proceeds to step S6 via steps S8 and S5 described above. again,
In step S6, the angle θ corresponding to the target coordinate is 9
It is determined whether the angle is less than 0 °. At this time, the target coordinates are coordinates corresponding to the points AP5 to AP7 as shown in FIG. 4E, and the angle θ formed by the target coordinates is an acute angle as is clear from FIG. Therefore, the determination result in this step is “Yes”, and the process proceeds to step S9.

Here, since the correction variable FL is "1", the determination result in step S9 is "Yes", and the process proceeds to step S12. In step S12, it is determined whether the correction variable FL is 1. As described above, since the correction variable FL in this case is 1, the determination result is “Yes”, and the process proceeds to step S13. In step S13, the coordinates read out earliest among the target coordinates (here, the coordinates corresponding to the point AP5).
Is overwritten in the correction start point area of the RAM.

Next, in step S11, the correction variable FL
"1" is added to, and the process proceeds to step S6 via steps S8 and S5. Here, as shown in FIG. 4 (f), the target coordinates are the coordinates corresponding to the points AP6 to AP8, so the angle θ formed is an obtuse angle, as is apparent from FIG. Therefore, the determination result in this step is “No”, and the process proceeds to step S7.

In step S7, since the correction variable FL is "2", the determination result is "Yes", and the process proceeds to step S14. Step S14 is a step of performing a correction process, in which the coordinates read out second earliest among the current target coordinates (here, the coordinates corresponding to the point AP7) are set as the correction end point coordinates, and are stored in the RAM. The coordinates stored in the correction start point area are set as the correction start point coordinates (here, the coordinates corresponding to the point AP5). And FIG.
As shown in the enlarged view of FIG. 5, the equation of the straight line L passing through the correction end point coordinates and the correction start point coordinates is calculated, the coordinates (one or more) of the points interpolating the two are calculated, and the obtained coordinates are
Store in the area between them.

For example, instead of the coordinates corresponding to the point AP6, the coordinates corresponding to the point AP6 'are stored. That is,
The points represented in the coordinate sequence stored in the RAM are “..., AP
5, AP6 ', AP7, ... ". As is clear from FIG. 5, the teaching path TP represented by the above-mentioned array of points is a path that does not involve a significant change in the operation direction.

Next, the process proceeds to step S15 in FIG. 2 and "0" is substituted into the correction variable FL. Then, the process proceeds to step S8, and the same process as that described above is performed. In the target coordinates, when the latest read coordinate is the last coordinate in the coordinate sequence, the determination result in step S8 is “Yes”, and the process is step S16.
Go to. In step S16, it is determined whether the correction variable FL is "0". If the result of this determination is “Yes”, then the correction step ends.

On the contrary, if the correction variable FL is not "0",
The determination result in step S16 is "No", and the process proceeds to step S17. The fact that the correction variable FL is not “0” means that the angle θ formed by the current target coordinates is an acute angle, and the correction process is performed in step S17. The correction process performed here is the same as the correction process performed in step S14 except that the last coordinate is the correction end point coordinate, and therefore the description thereof is omitted. When the processing in step S17 ends, the correction process ends.

By the way, in the above description, the processing in the case where the angle θ formed by the target coordinates is continuously 90 ° or more and the case where the angle θ is continuously acute is described. The process in the case where the angle becomes 90 ° or more and the angle becomes an obtuse angle immediately thereafter will be described with reference to FIGS. 2 and 6. In step S5 of FIG. 2, the target coordinates are
In the case of the points P1 to P3 shown in FIG. 6, the size α of the angle θ formed by the target coordinates is less than 90 °. Therefore, the processing in this case is performed in steps S6, S9, S10, S in FIG.
11, the process returns to step S5 via S8. At this time, the correction start point coordinates are the coordinates corresponding to the point P1.

Next, in step S5, the target coordinates become the coordinates corresponding to the points P2 to P4 (see FIG. 6). In this case, the size β of the angle θ formed by the target coordinates is an obtuse angle,
The process proceeds to step S8 via steps S6, S7, S14 and S15. At this time, the correction process is performed in step S14. As described above, since the correction start point coordinates are the coordinates corresponding to the point P1, the correction start point coordinates pass through the coordinates corresponding to the point P1 and the coordinates corresponding to the point P3. Straight line to point P
2 ′ is obtained, and the coordinates corresponding to this point P2 ′ are the points P
It is stored instead of the coordinate corresponding to 2. In this way, the processing to be performed differs depending on whether the angle θ formed by the target coordinates becomes a continuous acute angle or when the angle becomes a sharp angle only once.

Next, a control method of the continuous unloader having the above-mentioned correction process will be described with reference to FIG. As shown in this figure, first, the operator operates the operation unit 10
By pressing the teaching start button (see FIG. 3), the teaching process of step S1 is performed. In this teaching process, the scraping unit 5 is manually operated along the smooth ideal path, and the RAM of the processing unit 8 (see FIG. 3) is used.
A coordinate sequence representing the teaching path is stored in.

Next, when the operator presses the teaching end button and then the correction start button, the process proceeds to the correction step of step S2. In this correction process,
The processing unit 8 performs the processing shown in FIG. 2 and corrects the coordinates in the coordinate sequence so that the teaching path TP becomes smooth (without a large change in the operation direction). Next, when the playback start button is pressed, the processing unit 8 causes the control unit 7
The operation information based on the coordinate sequence is repeatedly supplied to the controller 7, and the control unit 7 supplies the control signals corresponding to the operation information to the controllers C1 to C6. In this way, the cargo in the hold 6 is automatically unloaded. At this time, the teaching path T represented by the coordinate sequence
Since P is a smooth path that does not involve a large change in the operation direction, each part of the continuous unloader can be made to follow the teaching path without significantly lowering the operating speed.

As described above, the correction start point coordinates and the correction end point coordinates are obtained based on the angle θ formed by the target coordinates composed of the three points, and the coordinates corresponding to the points on the straight line passing through the two are calculated. Since the coordinates are stored instead of the coordinates of the point that causes a large change in the operation direction, the teaching path represented by the stored coordinate sequence can be made smooth. Therefore, it is possible to suppress the occurrence of deviation of each part of the continuous unloader in the playback process. Further, each part of the continuous unloader can be made to follow the teaching path without significantly lowering the operating speed.

Further, since the correction start point coordinate is changed depending on whether the angle θ formed by the target coordinates becomes an acute angle continuously or once, the correction start point coordinate is changed. You can Further, even when the angle θ formed by the target coordinates including the last coordinate in the coordinate sequence is an acute angle, the correction process is performed in step S17, so that the correction process can be reliably performed.

In addition, in the above-described embodiment, the example in which the coordinate series is one series is shown in order to avoid complication of the description, but normally, the above-described correction process is performed for a plurality of series of coordinate series. To do. Further, although the allowable angle of the angle θ formed by the target coordinates is 90 °, the allowable angle is not limited to this, and the allowable angle may be changed as necessary. Furthermore, in this embodiment,
Although the straight line passing through the correction start point coordinates and the correction end point coordinates is obtained, the present invention is not limited to this, and known curve interpolation may be performed. At this time, the slope of the curve used for interpolation coincides with the straight line passing through the correction start point coordinates and the coordinates immediately before it at the correction start point coordinates, and at the correction end point coordinates, the correction end point coordinates and immediately after that. It is set to match a straight line passing through the coordinates.

In the present embodiment, an example is shown in which the ideal route to be matched with the teaching route is a smooth straight line or curved line. However, by setting a section for correcting the coordinates in advance, It is also applicable when there is a large change in the direction of movement of the ideal route. Further, in the present embodiment, whether or not the coordinates should be corrected is determined according to the angle θ formed by the target coordinates, but the present invention is not limited to this, and a method that does not change the gist of the specification of the present application is used. Then, it may be determined whether or not the correction is performed.

[0047]

As described above, according to the present invention,
Between the teaching process and the playback process, a correction process is performed to correct each coordinate forming the coordinate sequence representing the teaching route so that the teaching route becomes smooth. Therefore, each part of the continuous unloader follows the teaching route. In the playback process, each part of the continuous unloader operates so as to draw a smooth trajectory. Therefore,
There is an effect that the time required for the playback process can be shortened without changing the teaching process.

[Brief description of drawings]

FIG. 1 is a processing diagram for explaining a control method for a continuous unloader according to an embodiment of the present invention.

FIG. 2 is a flowchart for explaining a correction process included in the control method.

FIG. 3 is a block diagram showing a schematic configuration of a control device of a continuous unloader that realizes the control method.

FIG. 4 is a conceptual diagram for explaining target coordinates.

FIG. 5 is a diagram for explaining a correction process.

FIG. 6 is a diagram for explaining a correction process.

FIG. 7 is a diagram showing a configuration example of a general continuous unloader.

FIG. 8 is a diagram for explaining a general teaching path.

[Explanation of symbols]

 S1 Teaching process S2 Correction process S3 Playback process

Claims (4)

[Claims] 1. A scraping part for moving a plurality of buckets along the circumference is inserted into a hold, and in the teaching process, positions of the scraping part moved by a desired route by manual operation are set at predetermined distance intervals. A coordinate sequence formed by arranging the coordinates representing the position while detecting is stored, and in the playback step, the scraping unit is automatically moved along the teaching path represented by the coordinate sequence. A method for controlling a teaching / playback type continuous unloader for scraping cargo in a cargo hold by a plurality of buckets and landing the cargo, wherein the teaching path is smooth between the teaching step and the playback step. A method of controlling a continuous unloader, which comprises performing a correction step of correcting each coordinate so that 2. In the correction step, the respective coordinates forming the coordinate sequence are sequentially read, and the respective coordinates are corrected based on at least three of the read coordinates. 2. The control method for the continuous unloader according to 1. 3. A teaching / playing method in which a scraping unit that allows a plurality of buckets to circulate along the circumference is inserted into a hold, and a teaching process, a correction process, and a playback process are sequentially performed to unload a cargo in the hold. A device for controlling a back-type continuous unloader, in which the position of the operation unit that outputs a command according to the operation content of the operator and the position of the scraping unit that moves according to the command in the teaching process are set to a predetermined distance. A detection unit that outputs a detection signal by detecting at intervals, outputs a control signal for controlling each unit of the continuous unloader according to the command, and in the teaching process, the scraping unit of the scraping unit based on the detection signal. A control unit that outputs position information indicating a position, and a coordinate that corresponds to the position information supplied from the control unit in the teaching process. The coordinate sequence that is arranged in the coordinate sequence is stored, in the correction step, each of the coordinates is corrected so that the teaching path represented by the coordinate sequence is smoothed, and in the playback step, the operation obtained based on the coordinate sequence is performed. A processing unit for supplying information to the control unit, wherein the control unit outputs a control signal according to the operation information. 4. The processing section, in the correction step, sequentially reads out each of the coordinates forming the coordinate sequence,
The control device for a continuous unloader according to claim 3, wherein the coordinates are corrected based on at least three of the read coordinates.